Target detection method and device, computer device and computer readable storage medium

Abstract

The application discloses a target detection method and device, computer equipment and a computer readable storage medium, and belongs to the technical field of aircrafts. The method comprises the following steps: obtaining an existing tracking result; determining a target to be measured according to the existing tracking result; detecting a target belonging to a reference type in the target to be measured based on a reference characteristic possessed by the target of the reference type, the target of the reference type being a false target detected according to a reference false echo, and the reference false echo being an echo formed due to reflection of electromagnetic waves emitted by a radar by an aircraft. In this way, the target belonging to the reference type can be detected and timely suppressed, so that the target belonging to the reference type can be used to provide more reliable flight guidance for flight of the aircraft, and the aircraft can be prevented from mistakenly avoiding obstacles, thereby improving flight stability of the aircraft.

Description

Technical Field

[0001] This application relates to the field of aircraft technology, and in particular to a target detection method, apparatus, computer equipment, and computer-readable storage medium. Background Technology

[0002] With the rapid development of aircraft technology, various types of aircraft have emerged, such as unmanned camera drones and unmanned cargo drones. Currently, aircraft are used in multiple industries and can perform various tasks, such as film and television shooting, surveying and mapping, and goods delivery. To detect targets around the aircraft, radar is often installed inside. By studying the targets detected by the radar, guidance can be provided for the aircraft's flight. Summary of the Invention

[0003] This application provides a target detection method, apparatus, computer device, and computer-readable storage medium, which can be used to provide more reliable flight guidance for aircraft and improve the flight stability of aircraft. The technical solution is as follows:

[0004] On one hand, embodiments of this application provide a target detection method, the method comprising:

[0005] Acquire existing tracking results, which are obtained by tracking targets historically detected by radar installed inside the aircraft;

[0006] Based on the existing tracking results, the target to be measured is determined;

[0007] Based on the reference characteristics of the target of the reference type, a target belonging to the reference type is detected among the targets to be measured. The target of the reference type is a false target detected based on the reference false echo, which is an echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft.

[0008] In one possible implementation, the existing tracking results include the status information of the existing tracked targets; determining the target to be measured based on the existing tracking results includes:

[0009] In response to the fulfillment of the triggering condition, the status information of the candidate target is obtained, wherein the candidate target is the target detected by the radar at the moment when the triggering condition is met;

[0010] Based on the status information of the candidate target and the status information of the existing tracked target, the association result between the candidate target and the existing tracked target is determined;

[0011] The target to be measured is determined based on the correlation results.

[0012] In one possible implementation, the number of both the candidate target and the existing tracked target is at least one; the step of determining the target to be measured based on the correlation result includes:

[0013] In response to the association result indicating that the first candidate target is associated with the first existing tracked target, the status information of the first existing tracked target is updated based on the status information of the first candidate target, and the target with the updated status information is taken as a target to be measured. The first candidate target is any one of at least one candidate target, and the first existing tracked target is any one of at least one existing tracked target.

[0014] In one possible implementation, the number of both the candidate target and the existing tracked target is at least one, and the step of determining the target to be measured based on the correlation result includes:

[0015] In response to the association result indicating that the first candidate target is not associated with any of the existing tracked targets, the first candidate target is taken as a target to be measured, wherein the first candidate target is any one of at least one candidate target;

[0016] In response to the association result indicating that none of the candidate targets are associated with the first existing tracked target, the verification result of the first existing tracked target is obtained, wherein the first existing tracked target is any one of at least one existing tracked target; in response to the verification result indicating that the first existing tracked target is valid, the first existing tracked target is taken as a target to be measured.

[0017] In one possible implementation, obtaining the verification result of the first existing tracked target includes:

[0018] In response to the fact that the number of observed frames corresponding to the first existing tracked target is less than a first threshold and the number of lost observed frames corresponding to the first existing tracked target is greater than a second threshold, the result used to indicate that the first existing tracked target is invalid is used as the verification result of the first existing tracked target.

[0019] In response to the fact that the number of observed frames corresponding to the first existing falsely detected tracked target is not less than the first threshold, or the number of lost observed frames corresponding to the first existing tracked target is not greater than the second threshold, the result used to indicate that the first existing tracked target is valid is taken as the verification result of the first existing tracked target.

[0020] In one possible implementation, the number of targets to be measured is at least one, and the reference characteristics of the targets based on the reference type, detecting targets belonging to the reference type among the targets to be measured, includes:

[0021] Determine the measurement indicator corresponding to the first target to be measured, wherein the first target to be measured is any one of at least one target to be measured;

[0022] In response to the measurement index corresponding to the first target to be measured indicating that the first target to be measured has the reference characteristic, the first target to be measured is regarded as a target belonging to the reference type.

[0023] In one possible implementation, the metric corresponding to the first target to be measured includes the number of observed frames and the aircraft pose change parameters corresponding to the first target to be measured; before the method recognizes the first target to be measured as a target belonging to the reference type in response to the metric indicating that the first target to be measured has the reference characteristics, the method further includes:

[0024] In response to the fact that the number of observed frames corresponding to the first target to be measured is greater than the third threshold and the aircraft pose change parameters corresponding to the first target to be measured meet the pose change conditions, it is determined that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has the reference characteristics.

[0025] In one possible implementation, the measurement index corresponding to the first target to be measured includes the relative motion distance corresponding to the first target to be measured; before the method further includes, in response to the measurement index corresponding to the first target to be measured indicating that the first target to be measured has the reference characteristic, the first target to be measured is regarded as a target belonging to the reference type:

[0026] In response to the relative motion distance corresponding to the first target being measured not being greater than a fourth threshold, it is determined that the measurement index corresponding to the first target being measured indicates that the first target being measured has the reference characteristic; in response to the relative motion distance corresponding to the first target being measured being greater than a fifth threshold, it is determined that the measurement index corresponding to the first target being measured indicates that the first target being measured does not have the reference characteristic, wherein the fourth threshold is less than the fifth threshold.

[0027] In one possible implementation, the measurement index corresponding to the first target to be measured further includes an auxiliary index corresponding to the first target to be measured, and the method further includes:

[0028] In response to the relative motion distance corresponding to the first target being measured being greater than the fourth threshold and not greater than the fifth threshold, and in response to the auxiliary indicator corresponding to the first target being measured not meeting the screening conditions, it is determined that the measurement indicator corresponding to the first target being measured indicates that the first target being measured has the reference characteristic.

[0029] In one possible implementation, the auxiliary indicators corresponding to the first target to be measured include at least one of the number of lost observation frames, reference distance, and reference quantity corresponding to the first target to be measured. The reference distance is the minimum value among the distances between each target to be measured within a first reference range and the first target to be measured. The reference quantity is the number of each target to be measured within a second reference range. Both the first reference range and the second reference range are determined with the first target to be measured as the center.

[0030] On the other hand, a target detection device is provided, the device comprising:

[0031] The acquisition unit is used to acquire existing tracking results, which are obtained by tracking targets historically detected by the radar installed inside the aircraft.

[0032] The determining unit is used to determine the target to be measured based on the existing tracking results;

[0033] The detection unit is used to detect targets belonging to the reference type among the targets to be measured based on the reference characteristics of the target of the reference type. The target of the reference type is a false target detected according to the reference false echo, which is an echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft.

[0034] In one possible implementation, the existing tracking results include the status information of the existing tracked target; the determining unit is configured to acquire the status information of a candidate target in response to a trigger condition being met, the candidate target being a target detected by the radar at the moment the trigger condition is met; determine the association result between the candidate target and the existing tracked target based on the status information of the candidate target and the status information of the existing tracked target; and determine the target to be measured based on the association result.

[0035] In one possible implementation, the number of candidate targets and the number of existing tracked targets are both at least one; the determining unit is configured to, in response to the association result indicating that the first candidate target is associated with the first existing tracked target, update the state information of the first existing tracked target based on the state information of the first candidate target, and take the target with the updated state information as a target to be measured, wherein the first candidate target is any one of at least one candidate target, and the first existing tracked target is any one of at least one existing tracked target.

[0036] In one possible implementation, the number of candidate targets and the number of existing tracked targets are both at least one. The determining unit is configured to: in response to the association result indicating that the first candidate target is not associated with any of the existing tracked targets, select the first candidate target as a target to be measured, wherein the first candidate target is any one of the at least one candidate targets; in response to the association result indicating that each candidate target is not associated with the first existing tracked target, obtain the verification result of the first existing tracked target, wherein the first existing tracked target is any one of the at least one existing tracked target; and in response to the verification result indicating that the first existing tracked target is valid, select the first existing tracked target as a target to be measured.

[0037] In one possible implementation, the determining unit is configured to, in response to the number of observed frames corresponding to the first existing tracked target being less than a first threshold and the number of lost observed frames corresponding to the first existing tracked target being greater than a second threshold, use the result indicating that the first existing tracked target is invalid as the verification result of the first existing tracked target; and in response to the number of observed frames corresponding to the first existing falsely detected tracked target being not less than the first threshold, or the number of lost observed frames corresponding to the first existing tracked target being not greater than the second threshold, use the result indicating that the first existing tracked target is valid as the verification result of the first existing tracked target.

[0038] In one possible implementation, the number of targets to be measured is at least one, and the detection unit is used to determine the measurement index corresponding to the first target to be measured, wherein the first target to be measured is any one of the at least one targets to be measured; in response to the measurement index corresponding to the first target to be measured indicating that the first target to be measured has the reference characteristic, the first target to be measured is regarded as a target belonging to the reference type.

[0039] In one possible implementation, the measurement index corresponding to the first target to be measured includes the number of observed frames and the aircraft pose change parameters corresponding to the first target to be measured; the detection unit is further configured to determine, in response to the number of observed frames corresponding to the first target to be measured being greater than a third threshold and the aircraft pose change parameters corresponding to the first target to be measured satisfying the pose change condition, that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has the reference characteristic.

[0040] In one possible implementation, the measurement index corresponding to the first target to be measured includes the relative motion distance corresponding to the first target to be measured; the detection unit is further configured to determine, in response to the relative motion distance corresponding to the first target to be measured not being greater than a fourth threshold, that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has the reference characteristic; and to determine, in response to the relative motion distance corresponding to the first target to be measured being greater than a fifth threshold, that the measurement index corresponding to the first target to be measured indicates that the first target to be measured does not have the reference characteristic, wherein the fourth threshold is less than the fifth threshold.

[0041] In one possible implementation, the measurement index corresponding to the first target to be measured further includes an auxiliary index corresponding to the first target to be measured. The detection unit is further configured to determine that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has the reference characteristic in response to the relative motion distance corresponding to the first target to be measured being greater than the fourth threshold and not greater than the fifth threshold, and in response to the auxiliary index corresponding to the first target to be measured not meeting the screening conditions.

[0042] In one possible implementation, the auxiliary indicators corresponding to the first target to be measured include at least one of the number of lost observation frames, reference distance, and reference quantity corresponding to the first target to be measured. The reference distance is the minimum value among the distances between each target to be measured within a first reference range and the first target to be measured. The reference quantity is the number of each target to be measured within a second reference range. Both the first reference range and the second reference range are determined with the first target to be measured as the center.

[0043] On the other hand, a computer device is provided, the computer device including a processor and a memory, the memory storing at least one computer program, the at least one computer program being loaded and executed by the processor to enable the computer device to implement any of the target detection methods described above.

[0044] On the other hand, a computer-readable storage medium is also provided, wherein at least one computer program is stored in the computer-readable storage medium, the at least one computer program being loaded and executed by a processor to enable a computer to implement any of the target detection methods described above.

[0045] On the other hand, a computer program product is also provided, which includes a computer program or computer instructions, which are loaded and executed by a processor to enable a computer to implement any of the target detection methods described above.

[0046] The technical solution provided in this application has at least the following beneficial effects:

[0047] The technical solution provided in this application, based on existing tracking results and the reference characteristics of reference type targets, realizes the process of detecting some targets belonging to the reference type, expands the research scope of targets, and by detecting targets belonging to the reference type, timely suppression of targets belonging to the reference type can be achieved, thereby providing more reliable flight guidance for the flight of the aircraft based on targets belonging to the reference type, avoiding the aircraft from making accidental obstacle avoidance, and thus improving the flight stability of the aircraft. Attached Figure Description

[0048] To more clearly illustrate the technical solutions in the embodiments of this application, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0049] Figure 1 This is a schematic diagram of the implementation environment of a target detection method provided in an embodiment of this application;

[0050] Figure 2 This is a flowchart of a target detection method provided in an embodiment of this application;

[0051] Figure 3 This is a schematic diagram illustrating a process for monitoring whether triggering conditions are met, as provided in an embodiment of this application.

[0052] Figure 4 This is a schematic diagram illustrating a process for detecting targets belonging to a reference type from targets to be measured, as provided in an embodiment of this application.

[0053] Figure 5 This is a schematic diagram illustrating a process for determining whether a first target to be measured is reliable, as provided in an embodiment of this application.

[0054] Figure 6 This is a schematic diagram of a target detection device provided in an embodiment of this application;

[0055] Figure 7 This is a schematic diagram of the structure of a server provided in an embodiment of this application;

[0056] Figure 8 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. Detailed Implementation

[0057] To make the objectives, technical solutions, and advantages of this application clearer, the embodiments of this application will be described in further detail below with reference to the accompanying drawings.

[0058] It should be noted that the terms "first," "second," etc., used in this application are used to distinguish similar objects and are not necessarily used to describe a specific order or sequence. It should be understood that such data can be interchanged where appropriate so that the embodiments of this application described herein can be implemented in orders other than those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with this application. Rather, they are merely examples of apparatuses and methods consistent with some aspects of this application as detailed in the appended claims.

[0059] Figure 1 A schematic diagram of the implementation environment of the target detection method provided in the embodiments of this application is shown. The implementation environment includes: computer equipment 11.

[0060] Computer device 11 can acquire existing tracking results and, based on the reference characteristics of the target of the reference type, detect targets belonging to the reference type among the targets to be measured determined based on the existing tracking results. The target of the reference type is a false target detected based on a false reference echo, which is an echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft. For example, computer device 11 can report the detected targets belonging to the reference type to a control device used to control the flight of the aircraft. The control device then formulates a flight strategy that avoids accidental obstacle avoidance of targets belonging to the reference type, and uses the flight strategy to control the aircraft to perform obstacle avoidance flight.

[0061] Exemplarily, the implementation environment also includes an aircraft equipped with radar that has the function of detecting targets. In one possible implementation, the aircraft refers to an unmanned aerial vehicle, which may also be called a drone. Exemplarily, the types of aircraft include, but are not limited to, fixed-wing drones, unmanned helicopters, multi-rotor drones, paragliding drones, flapping-wing drones, etc. Exemplarily, the aircraft establishes a communication connection with computer equipment 11 through a wired or wireless network.

[0062] In one possible implementation, computer device 11 can refer to either a terminal or a server. For example, a terminal can be any electronic product capable of human-computer interaction with a user through one or more methods such as a keyboard, touchpad, touchscreen, remote control, voice interaction, or handwriting device, such as a PC (Personal Computer), mobile phone, smartphone, PDA (Personal Digital Assistant), wearable device, PPC (Pocket PC), tablet computer, smart car system, smart TV, smart speaker, etc. A server can be a single server, a server cluster consisting of multiple servers, or a cloud computing service center.

[0063] Those skilled in the art should understand that the computer device 11 and the aircraft described above are merely examples. Other existing or future computer devices or aircraft that are applicable to this application should also be included within the scope of protection of this application, and are hereby incorporated by reference.

[0064] Based on the above Figure 1 The implementation environment shown in this application embodiment provides a target detection method to detect targets belonging to a reference type. This target detection method is applied to a computer device 11, which can be a terminal or a server. Figure 2 As shown, the target detection method provided in this application embodiment may include the following steps 201 to 203.

[0065] In step 201, the existing tracking results are obtained by tracking targets historically detected by the radar installed inside the aircraft.

[0066] The existing tracking results are those acquired during the target detection process. These results are obtained by tracking targets historically detected by the radar installed inside the aircraft. Radar is an electronic device that uses electromagnetic waves to detect targets. This application does not limit the type of radar installed inside the aircraft. For example, the radar installed inside the aircraft may be a millimeter-wave radar, or a pulse radar, etc. Furthermore, this application does not limit the location or method of installation of the radar inside the aircraft. For example, the radar may be installed inside the nose of the aircraft, or inside the fuselage. For example, the radar may be installed by embedding the radar circuit board inside the aircraft to improve system integration and reduce the size and weight of the aircraft system. For example, the radar may be installed inside the aircraft by installing a radar with a housing inside the aircraft.

[0067] The radar installed inside the aircraft can continuously emit electromagnetic waves or emit electromagnetic waves at fixed intervals to detect targets around the aircraft. For example, the radar works as follows: the radar transmitter directs electromagnetic waves in a certain direction through its antenna; targets in that direction reflect the electromagnetic waves they encounter; the radar antenna receives the reflected echoes and sends them to processing equipment for processing to extract information about the target. The radar can detect one or more targets with each emitted electromagnetic wave. The specific number of targets detected with each emitted electromagnetic wave depends on the actual surrounding environment of the aircraft and the radar's detection capabilities; this application does not limit this. The number of targets detected by the radar with different emitted electromagnetic waves may be the same or different.

[0068] Each time the radar detects a target, it sends relevant target information to the computer equipment, enabling the computer equipment to track the target. The computer equipment uses the target detected by the radar for the first time as a reference and employs a reference tracking method to track subsequent targets detected by the radar. During the tracking process, the tracking results are continuously updated. In this embodiment, the existing tracking results refer to the latest tracking results that have been acquired.

[0069] The reference tracking method is used to define the method by which the computer device tracks targets detected by radar. The reference tracking method is set based on experience or flexibly adjusted according to the actual application scenario; this application embodiment does not limit this. Exemplarily, the reference tracking method includes at least one of a first tracking method and a second tracking method. The first tracking method and the second tracking method are two different tracking methods.

[0070] In an exemplary embodiment, the first tracking method assumes the target detected by the radar for the first time as a false target and tracks it accordingly. During the tracking process, filtering is performed using the filtering conditions corresponding to the false target. In other words, the first tracking method is used to track false targets. Under the first tracking method, the tracked target is considered a false target by the computer device. False targets tracked under the first tracking method may include targets of the reference type or targets that do not belong to the reference type. False targets of the reference type refer to those detected based on reference false echoes, where the reference false echo is the echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft. False targets belonging to the reference type are those that need to be reported to the aircraft's control equipment. Therefore, in scenarios where the first tracking method is used for tracking, the detection of targets belonging to the reference type needs to be considered.

[0071] In an exemplary embodiment, the second tracking method refers to a conventional tracking method. This method assumes the target detected by the radar for the first time as a real target and tracks it accordingly. During the tracking process, filtering is performed using the filtering conditions corresponding to the real target. In other words, the second tracking method is used to track real targets; the tracked target is considered a real target by the computer equipment. However, when using the second tracking method, because the basic characteristics (such as intensity and stability) of reference-type targets are similar to those of real targets, tracking them as normal targets can easily create tracking trajectories. This means that reference-type targets can be mixed in with the tracked targets, potentially causing the aircraft to mistakenly avoid obstacles. Therefore, in scenarios using the second tracking method, the detection of reference-type targets also needs to be considered.

[0072] False targets are targets detected by radar that do not need to be considered during the obstacle avoidance flight of the aircraft. Considering false targets would cause unnecessary interference to the obstacle avoidance flight of the aircraft. In an exemplary embodiment, false targets are targets detected by radar based on false echoes. This application embodiment does not limit the way false echoes are generated. Exemplarily, one type of false echo is the echo formed by the aircraft reflecting the electromagnetic waves emitted by the radar. This type of false echo mainly comes from two aspects: on the one hand, because the radar is installed inside the aircraft, the shielding performance of electromagnetic waves is reduced, and electromagnetic waves have a certain probability of being reflected multiple times inside the aircraft, forming this type of false echo; on the other hand, because the radar is installed at the front of the aircraft's nose, the radar beam coverage may interfere with the front of the fuselage, such as the arms / supports / rotors, and electromagnetic waves may also be reflected multiple times between these structures, forming this type of false echo.

[0073] Generally, false echoes generated by electromagnetic waves reflecting off the aircraft's fuselage are of low intensity due to multiple reflections and usually do not pass the intensity detection threshold. However, under certain geometric relationships, such false echoes may accumulate and exhibit a strong amplitude, passing the detection threshold and ultimately leading to the detection of false targets. These geometric relationships may be formed during installation or arise from a deformation during aircraft operation. Therefore, radar data processing needs the capability to detect and suppress false targets detected by false echoes generated by electromagnetic waves reflecting off the aircraft's fuselage. In this embodiment, the false echo formed by the aircraft reflecting electromagnetic waves emitted by the radar is called a reference false echo, and the false target detected based on the reference false echo is called a reference-type target. This embodiment can detect targets belonging to the reference type based on existing tracking results, thereby providing more reliable guidance for the aircraft's flight.

[0074] Existing tracking results are used to indicate the status of targets that have been tracked (hereinafter referred to as existing tracked targets). For example, existing tracking results include the status information and feature parameters of the existing tracked targets. The status information of the existing tracked targets is used to characterize the state of the existing tracked targets, and the feature parameters of the existing tracked targets are used to characterize the features of the existing tracked targets. This application does not limit the types of the status information and feature parameters of the existing tracked targets. The status information and feature parameters of the existing tracked targets may differ under different tracking methods.

[0075] For example, in the first tracking mode, the state information of the existing tracked target includes the position information of the existing tracked target, the distance between the existing tracked target and the radar, and the radial motion speed of the existing tracked target relative to the radar; the characteristic parameters of the existing tracked target include the number of observed frames corresponding to the existing tracked target, the number of lost observation frames corresponding to the existing tracked target, the initial attitude of the aircraft corresponding to the existing tracked target, and the current attitude of the aircraft corresponding to the existing tracked target.

[0076] The existing tracking target's position information is used to locate the target's position. In an exemplary embodiment, the existing tracking target's position information refers to its position in the radar coordinate system. For example, the existing tracking target's position information includes its abscissa xt and ordinate yt in the radar coordinate system. The radar coordinate system is a coordinate system established with the radar center as its origin. Of course, in an exemplary embodiment, the existing tracking target's position information can also refer to its position in other coordinate systems; this application does not limit this aspect.

[0077] The distance between the tracked target and the radar refers to the distance between the location of the tracked target and the location of the radar. For example, the distance between the tracked target and the radar can also be called the slant range of the tracked target, and is denoted as rt. The radial velocity of the tracked target relative to the radar indicates the relative velocity between the tracked target and the radar. For example, the radial velocity of the tracked target relative to the radar can also be called the Doppler velocity of the tracked target, and is denoted as vt.

[0078] The number of observed frames corresponding to an existing tracked target indicates the number of times filtering has been performed to obtain the state information of that existing tracked target; that is, the number of filtering operations performed from the state information of the initial target corresponding to the existing tracked target to the state information of the existing tracked target. The existing tracked target is obtained by tracking the initial target, and the number of observed frames corresponding to the initial target is 0. During the tracking process, if the initial target becomes associated with a target detected by the radar, the state information of the associated target is used to filter the state information of the initial target to obtain new state information. This new state information corresponds to a new tracked target, and the number of observed frames corresponding to this new tracked target is the number of observed frames corresponding to the initial target plus a first reference value, such as 1. In this way, when an existing tracked target is obtained, the number of observed frames corresponding to the existing tracked target can be obtained. For example, the number of observed frames corresponding to the existing tracked target is denoted as "tick".

[0079] The number of lost observation frames corresponding to an existing tracked target indicates the number of times the target's status information has not been updated during tracking. If a target does not form an association during a tracking process, its status information is not updated. When a target is first detected, its corresponding number of lost observation frames is 0. In subsequent tracking processes, if the target does not form an association with a target detected by radar, its status information remains unchanged, and the corresponding number of lost observation frames is incremented by 1. If it forms an association with a target detected by radar, its status information is updated to the new status information, and the number of lost observation frames corresponding to the new target with the new status information is reset to 0. For example, the number of lost observation frames corresponding to an existing tracked target is denoted as age.

[0080] The initial pose of the aircraft corresponding to the existing tracked target refers to the pose of the aircraft at the moment when the initial target corresponding to the existing tracked target is detected; the current pose of the aircraft corresponding to the existing tracked target refers to the pose of the aircraft when the existing tracked target is obtained. The pose of the aircraft is used to indicate the position and attitude of the aircraft. For example, the pose of the aircraft is represented by the three-dimensional coordinates x, y, z of the aircraft in the world coordinate system and the yaw angle of the aircraft. In an exemplary embodiment, the pose of the aircraft is measured by sensors installed on the aircraft. For example, the three-dimensional coordinates x, y, z of the aircraft in the world coordinate system are measured by GPS (Global Positioning System), and the yaw angle of the aircraft is measured by an inertial sensor. For example, the initial pose of the aircraft corresponding to the existing tracked target is denoted as pos_s = [x(s), y(s), z(s), yaw(s)]; the current pose of the aircraft corresponding to the existing tracked target is denoted as pos_c = [x(c), y(c), z(c), yaw(c)].

[0081] For example, the state information of the existing tracked target includes the position information of the tracked target, the distance between the existing tracked target and the radar, and the radial motion speed of the existing tracked target relative to the radar; the feature parameters of the existing tracked target include the number of observed frames corresponding to the existing tracked target, the number of lost observation frames corresponding to the existing tracked target, the initial pose of the aircraft corresponding to the existing tracked target, and the current pose of the aircraft corresponding to the existing tracked target. Each existing tracked target has 14 feature values ​​used to characterize the existing tracked target.

[0082] For example, when the reference tracking method is the second tracking method, the status information of the existing tracked target includes the position information of the existing tracked target, the distance between the existing tracked target and the radar, and the radial motion velocity of the existing tracked target relative to the radar; the characteristic parameters of the existing tracked target include the number of lost observation frames corresponding to the existing tracked target, the relative motion distance corresponding to the existing tracked target, etc.

[0083] For example, the relative motion distance corresponding to the existing tracked target refers to the maximum change in distance between each target and the radar during the process from the initial target corresponding to the existing tracked target to the determination of the existing tracked target.

[0084] In the exemplary embodiment, regardless of the tracking method used, the tracking results are stored in the computer device after tracking. That is, existing tracking results are stored in the computer device, and the computer device can directly retrieve existing tracking results from the storage. In the exemplary embodiment, the existing tracking results are stored temporarily. After a new tracking result is determined, the new tracking result replaces the existing tracking result in storage.

[0085] In an exemplary embodiment, if the reference tracking method includes only the first tracking method or the second tracking method, the number of existing tracking results is one; if the reference tracking method includes both the first tracking method and the second tracking method, the number of existing tracking results is two, and the existing tracking targets recorded in the two existing tracking results are different.

[0086] In an exemplary embodiment, this application uses the existence of existing tracking results as an example for illustration. In an exemplary embodiment, if there are no existing tracking results before the target detection process is executed, the execution of the target detection process is paused, and execution continues after the existing tracking results are obtained.

[0087] In step 202, the target to be measured is determined based on the existing tracking results.

[0088] The target to be measured refers to the target corresponding to the existing tracking results that needs to be tested to determine whether it belongs to the reference type. The reference type target refers to a false target detected based on a reference false echo, which is the echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft. In other words, the reference type target is a target detected based on the false echo generated by the reflection of electromagnetic waves within the aircraft itself.

[0089] Depending on the tracking method used to obtain the existing tracking results, the method for determining the target to be measured will differ. For example, if the reference tracking method is only the first or second tracking method, there is only one existing tracking result, and the target to be measured is determined directly based on this single result. If the reference tracking method includes both the first and second tracking methods, there are two existing tracking results, and the target to be measured needs to be determined separately for each of these two results.

[0090] In an exemplary embodiment, the existing tracking results include the status information of the existing tracked target. For cases where the reference tracking method only includes the first tracking method, the process of determining the target to be measured based on the existing tracking results includes steps 2021 to 2023.

[0091] Step 2021: In response to the fulfillment of the triggering condition, obtain the status information of the candidate target, which is the target detected by the radar at the moment when the triggering condition is met.

[0092] In the first tracking mode, after acquiring the existing tracking results, it is necessary to further acquire the state information of the candidate targets detected by the radar at the moment the triggering condition is met, so as to determine the target to be measured based on the state information of the candidate targets. The triggering condition is set based on experience or flexibly adjusted according to the application scenario. In the exemplary embodiment, meeting the triggering condition means reaching the radar's electromagnetic wave transmission period. In this case, the triggering condition is a time-determined triggering condition.

[0093] In an exemplary embodiment, the method for determining whether a triggering condition is met is as follows: acquiring a first pose and a second pose of the aircraft; and determining that the triggering condition is met in response to a difference condition being satisfied between the first pose and the second pose. In this case, the triggering condition is a triggering condition determined based on the change in the aircraft's pose, and is a condition set by taking into account space.

[0094] Here, the first pose is the aircraft's pose when acquiring existing tracking results, and the second pose is the aircraft's real-time pose after acquiring existing tracking results. The difference between the first and second poses satisfying a difference condition indicates that the aircraft's pose has changed significantly after acquiring existing tracking results. In this case, acquiring the state information of the candidate target can reduce the waste of computational resources. For example, the aircraft's first pose is denoted as pos0 = [x, y, z, yaw]. For example, the aircraft's first pose is stored in a discrete pose unit for easy retrieval and updating.

[0095] After acquiring the existing tracking results, the aircraft continues to move over time, and its real-time pose is continuously monitored during this continuous movement. In this embodiment, the real-time pose of the aircraft is referred to as the second pose of the aircraft. For example, it is assumed that the second pose of the aircraft is the pose of the aircraft at time t after acquiring the existing tracking results, denoted as pos(t)=[x(t),y(t),z(t),yaw(t)].

[0096] It should be noted that the second pose of the aircraft is continuously updated over time. Each time a second pose of the aircraft is acquired, a process is performed to determine whether the trigger condition is met. For example, if the trigger condition is not met, the next second pose of the aircraft is acquired, and the trigger condition is re-evaluated until a second pose that meets the trigger condition is acquired or the aircraft completes flight. If the trigger condition is met, the second pose that meets the trigger condition is directly obtained. In an exemplary embodiment, after obtaining a second pose that meets the trigger condition, it is used as the new first pose of the aircraft to provide data support for subsequent determinations of whether the trigger condition is met. For example, using the second pose that meets the trigger condition as the new first pose of the aircraft refers to updating the pose stored in the discrete pose storage unit, that is, updating pos0 stored in the discrete pose storage unit to pos(t), which is the second pose that meets the trigger condition.

[0097] In an exemplary embodiment, the method for determining whether a triggering condition is met based on a first pose and a second pose is as follows: in response to the difference between the first pose and the second pose satisfying a difference condition, it is determined that the triggering condition is met. The specific circumstances under which the difference between the first pose and the second pose satisfies the difference condition are set based on experience or flexibly adjusted according to the actual application scenario, and this embodiment does not limit this.

[0098] In an exemplary embodiment, the difference between the first pose and the second pose satisfies the difference condition if the maximum value among the first difference value, the second difference value, and the third difference value is greater than the difference threshold. The first difference value is the absolute value of the difference between the x-coordinate in the first pose and the x-coordinate in the second pose; the second difference value is the absolute value of the difference between the y-coordinate in the first pose and the y-coordinate in the second pose; and the third difference value is the absolute value of the difference between the z-coordinate in the first pose and the z-coordinate in the second pose. The difference threshold is set empirically or flexibly adjusted according to the actual application scenario, and this embodiment does not limit it. For example, if the difference between the first pose and the second pose satisfies the formula max{|xx(t)|,|yy(t)|,|zz(t)|}>D, then the difference between the first pose and the second pose is considered to satisfy the difference condition. Here, |xx(t)| represents the first difference value; |yy(t)| represents the second difference value; |zz(t)| represents the third difference value; and D represents the difference threshold.

[0099] It should be noted that the above description is merely an exemplary description of how the difference between the first pose and the second pose satisfies the difference condition, and the embodiments of this application are not limited thereto. For example, the difference between the first pose and the second pose satisfies the difference condition when the average difference value of the first difference value, the second difference value, and the third difference value is greater than a difference threshold. For example, the difference between the first pose and the second pose satisfies the difference condition when the Euclidean distance between the positions in the first pose and the positions in the second pose is greater than a distance threshold.

[0100] For example, the process of monitoring whether the triggering conditions are met is as follows: Figure 3 As shown. The first pose of the aircraft is obtained as the initial discrete pose of the aircraft. The real-time pose of the aircraft is obtained through external pose input. Based on the initial discrete pose and the real-time pose, pose changes of the aircraft are detected. It is determined whether the difference between the discrete pose and the real-time pose meets the difference condition. If the difference meets the difference condition, the process of determining the target to be measured is executed based on the external pose input and the candidate target input. During the process of determining the target to be measured, the discrete pose is updated based on the external pose input, and the current round of monitoring ends. If the difference between the discrete pose and the real-time pose does not meet the difference condition, the current round of monitoring ends. After the current round of monitoring ends, the next round of monitoring can continue. When executing the next round of monitoring, if the discrete pose was not updated in the previous round, the discrete pose before the update is still used as the initial discrete pose; if the discrete pose was updated in the previous round, the updated discrete pose is used as the initial discrete pose.

[0101] Candidate targets are those detected by the radar at the moment the triggering conditions are met. The state information of the candidate targets is used to characterize their state. This embodiment does not limit the state information of the candidate targets and can be flexibly adjusted according to actual application needs. In an exemplary embodiment, the state information of the candidate targets includes the position information of the candidate targets, the distance between the candidate targets and the radar, and the radial velocity of the candidate targets relative to the radar. The principles of the position information of the candidate targets, the distance between the candidate targets and the radar, and the radial velocity of the candidate targets relative to the radar are the same as those of the position information of existing tracked targets, the distance between existing tracked targets and the radar, and the radial velocity of existing tracked targets relative to the radar, and will not be repeated here. For example, the position information of the candidate targets includes the horizontal coordinate xp and the vertical coordinate yp of the candidate targets in the radar coordinate system. For example, the distance between the candidate targets and the radar is denoted as rp, and the radial velocity of the candidate targets relative to the radar is denoted as vp. That is, each candidate target has four feature values ​​used to characterize the candidate target.

[0102] In an exemplary embodiment, the radar processing equipment installed inside the aircraft has the function of obtaining position information, range, and radial velocity by processing the reflected echo. The position information of the candidate target, the distance between the candidate target and the radar, and the radial velocity of the candidate target relative to the radar are all obtained by the radar processing equipment. That is, the state information of the candidate target is obtained by the radar processing equipment.

[0103] This application does not limit the method by which the computer device acquires the status information of the candidate target. In an exemplary embodiment, a radar installed inside the aircraft establishes a communication connection with the aircraft, and the aircraft establishes a communication connection with the computer device. After processing and obtaining the status information of the candidate target, the radar's processing device can send the status information of the candidate target to the aircraft, thereby enabling the aircraft to acquire the status information of the candidate target. After acquiring the status information of the candidate target, the aircraft sends the status information of the candidate target to the computer device. Thus, the computer device acquires the status information of the candidate target.

[0104] In an exemplary embodiment, the radar installed inside the aircraft establishes a communication connection with the aircraft's control equipment, and the aircraft's control equipment establishes a communication connection with a computer. After processing and obtaining the status information of the candidate target, the radar's processing equipment can send the candidate target status information to the aircraft's control equipment, thereby enabling the aircraft's control equipment to acquire the candidate target status information. After acquiring the candidate target status information, the aircraft's control equipment sends the candidate target status information to the computer. Thus, the computer equipment acquires the candidate target status information.

[0105] In an exemplary embodiment, the radar installed inside the aircraft establishes a communication connection with the computer equipment. After processing and obtaining the status information of the candidate targets, the radar's processing equipment can directly send the status information of the candidate targets to the computer equipment. Thus, the computer equipment acquires the status information of the candidate targets.

[0106] Step 2022: Based on the state information of the candidate target and the state information of the existing tracked target, determine the association result between the candidate target and the existing tracked target.

[0107] After obtaining the status information of candidate targets, the association results between candidate targets and existing tracked targets are determined based on the status information of both candidate targets and existing tracked targets. It should be noted that there is at least one candidate target and at least one existing tracked target, and the association results between candidate targets and existing tracked targets refer to the association results between all candidate targets and all existing tracked targets. The association results between candidate targets and existing tracked targets indicate the association status of both candidate targets and existing tracked targets. For a candidate target, its association status may be that it is associated with one existing tracked target, or it may be that it is not associated with any existing tracked targets. For an existing tracked target, its association status may be that it is associated with one candidate target, or it may be that it is not associated with any candidate targets.

[0108] In an exemplary embodiment, the process of obtaining the association results between the candidate target and the existing tracked targets is as follows: select one candidate target from among the candidate targets, and based on the status information of the candidate target and the status information of each existing tracked target, determine the existing tracked target that is closest to the candidate target. If the candidate target is associated with the existing tracked target, then the association status of the candidate target is determined to be that the candidate target is associated with the existing tracked target; if the candidate target is not associated with the existing tracked target, then the association status of the candidate target is determined to be that the candidate target is not associated with any of the existing tracked targets.

[0109] After determining the association status of a candidate target, a new candidate target is selected from among them. Based on the state information of this new candidate target and the state information of each existing tracked target that is not associated with it, the association status of the new candidate target is obtained again until all candidate targets have been traversed and the association status of all candidate targets can be obtained. Under this method of determining the association status of candidate targets, a candidate target can be associated with at most one existing tracked target.

[0110] After obtaining the association information of all candidate targets, it is possible to infer which existing tracked targets have been successfully associated with the candidate targets and which have not, thus obtaining the association information of all existing tracked targets. Having obtained the association information of all candidate targets and all existing tracked targets, the association results between candidate targets and existing tracked targets are obtained.

[0111] For example, the candidate target is the target most recently detected by the radar. If an existing tracked target is successfully associated with a candidate target, it means that the existing tracked target has been successfully tracked.

[0112] This application does not limit the method for determining whether a candidate target is associated with an existing tracked target, and can be flexibly adjusted according to experience or actual application scenarios. In an exemplary embodiment, the method for determining whether a candidate target is associated with an existing tracked target is as follows: obtaining a difference index between the candidate target and the existing tracked target; determining that the candidate target is associated with the existing tracked target in response to the difference index satisfying a second difference condition; and determining that the candidate target is not associated with the existing tracked target in response to the difference index not satisfying the second difference condition.

[0113] The difference index between a candidate target and an existing tracked target is used to measure the magnitude of the difference between the candidate target and the existing tracked target. The embodiments of this application do not limit the type and number of difference indexes, which can be flexibly set according to experience. When the type and number of difference indexes are different, the way to obtain the difference index between a candidate target and an existing tracked target will also be different.

[0114] In one possible implementation, the difference index between a candidate target and an existing tracked target is obtained by acquiring at least one of a first difference index, a second difference index, and a third difference index. The first difference index refers to the Euclidean distance between the position information of the candidate target and the position information of the existing tracked target; the second difference index refers to the absolute value of the difference between the slant range of the candidate target (i.e., the distance between the candidate target and the radar) and the slant range of the existing tracked target (i.e., the distance between the existing tracked target and the radar); the third difference index refers to the absolute value of the difference between the radial velocity of the candidate target relative to the radar and the radial velocity of the existing tracked target relative to the radar.

[0115] After obtaining the difference index between a candidate target and an existing tracked target, it is determined whether the difference index meets a second difference condition. If the difference index meets the second difference condition, it is determined that the candidate target and the existing tracked target are associated. If the difference index does not meet the second difference condition, it is determined that the candidate target and the existing tracked target are not associated. The second difference condition is set based on experience or flexibly adjusted according to the difference index, and this application embodiment does not limit it in this way.

[0116] For example, taking a candidate target and a tracked target whose difference indicators include at least one of a first difference indicator, a second difference indicator, and a third difference indicator, the difference indicator satisfying the second difference condition can mean that each of the difference indicators is less than its corresponding difference threshold; or, the difference indicator satisfying the second difference condition means that at least one of the difference indicators is less than its corresponding difference threshold, etc. The difference thresholds corresponding to different difference indicators may be the same or different, and this application embodiment does not limit this.

[0117] In an exemplary embodiment, under the first tracking mode, the target being tracked is a false target. Considering the stable characteristics of the false target, the difference threshold here is generally smaller than the threshold used in the normal target tracking association process.

[0118] Step 2023: Determine the target to be measured based on the correlation results.

[0119] After determining the correlation results, the target to be measured is determined based on the correlation results. In one possible implementation, the target to be measured includes three types: the target to be measured based on existing tracked targets that are correlated with the candidate target, the target to be measured based on existing tracked targets that are not correlated with the candidate target, and the target to be measured based on candidate targets that are not correlated with existing tracked targets.

[0120] In one possible implementation, the number of candidate targets and existing tracked targets is at least one. The process of determining the target to be measured based on the association result includes: in response to the association result indicating that a first candidate target is associated with a first existing tracked target, updating the state information of the first existing tracked target based on the state information of the first candidate target, and taking the target with the updated state information as a target to be measured. Here, the first candidate target is any one of at least one candidate target, and the first existing tracked target is any one of at least one existing tracked target. According to this approach, all targets to be measured determined based on existing tracked targets associated with candidate targets can be obtained.

[0121] When a first candidate target is associated with a first existing tracked target, the existing tracked target can be filtered using the first candidate target, thereby updating the state information of the first existing tracked target using the state information of the first candidate target. After updating the state information of the first existing tracked target using the state information of the first candidate target, the updated state information is obtained.

[0122] In an exemplary embodiment, the state information of the first candidate target includes the abscissa, ordinate, distance, and radial velocity of the first candidate target relative to the radar in the radar coordinate system. The state information of the first already tracked target includes the abscissa, ordinate, distance, and radial velocity of the first already tracked target relative to the radar in the radar coordinate system. The updated state information includes the updated abscissa, ordinate, distance, and radial velocity.

[0123] In an exemplary embodiment, the process of updating the state information of the first existing tracked target based on the state information of the first candidate target to obtain the updated state information is as follows: the abscissa of the first existing tracked target in the radar coordinate system is updated based on the first filter coefficient and the abscissa of the first candidate target in the radar coordinate system to obtain the updated abscissa; the ordinate of the first existing tracked target in the radar coordinate system is updated based on the second filter coefficient and the ordinate of the first candidate target in the radar coordinate system to obtain the updated ordinate; the distance between the first existing tracked target and the radar is updated based on the third filter coefficient and the distance between the first candidate target and the radar to obtain the updated distance; and the radial velocity of the first existing tracked target relative to the radar is updated based on the fourth filter coefficient and the radial velocity of the first candidate target relative to the radar to obtain the updated radial velocity.

[0124] The first, second, third, and fourth filter coefficients are all set based on experience or can be flexibly adjusted according to the application scenario; this embodiment does not limit this. In an exemplary embodiment, the first, second, third, and fourth filter coefficients are set to values ​​close to 1 to ensure that the key parameters of the tracked target do not change significantly after filtering, and to avoid the formation of continuous associations for non-false targets whose relative positions change with the aircraft's motion.

[0125] For example, the process of obtaining the updated state information described above is implemented based on the following formula:

[0126] xt'=a1*xt+(1-a1)*xp

[0127] yt'=a2*yt+(1-a2)*yp

[0128] rt' = a3*rt + (1-a3)*rp

[0129] vt'=a4*vt+(1-a4)*vp

[0130] Wherein, a1, a2, a3, and a4 represent the first filter coefficient, the second filter coefficient, the third filter coefficient, and the fourth filter coefficient, respectively; xt, yt, rt, and vt represent the x-coordinate of the first existing tracked target in the radar coordinate system, the y-coordinate of the first existing tracked target in the radar coordinate system, the distance between the first existing tracked target and the radar, and the radial velocity of the first existing tracked target relative to the radar, respectively; xp, yp, rp, and vp represent the x-coordinate of the first candidate target in the radar coordinate system, the y-coordinate of the first candidate target in the radar coordinate system, the distance between the first candidate target and the radar, and the radial velocity of the first candidate target relative to the radar, respectively; and xt', yt', rt', and vt' represent the updated x-coordinate, the updated y-coordinate, the updated distance, and the updated radial velocity, respectively.

[0131] After obtaining the updated state information, a target with the updated state information is taken as a target to be measured, and the state information of this target to be measured is the updated state information. In an exemplary embodiment, in addition to obtaining the state information of the target to be measured, it is also necessary to obtain the feature parameters of the target to be measured. For example, the feature parameters of the target to be measured include the number of observed frames corresponding to the target to be measured, the number of lost observation frames corresponding to the target to be measured, the initial pose of the aircraft corresponding to the target to be measured, and the current pose of the aircraft corresponding to the target to be measured.

[0132] For a target to be measured that has state information obtained by updating the state information of a first existing tracked target using the state information of a first candidate target, the characteristic parameters of the target to be measured are determined as follows: The number of observed frames corresponding to the first existing tracked target is increased by a first reference value to obtain the number of observed frames corresponding to the target to be measured; a first base value is used as the number of lost observation frames corresponding to the target to be measured; the initial pose of the aircraft corresponding to the first existing tracked target is used as the initial pose of the aircraft corresponding to the target to be measured; and the pose of the aircraft when the trigger condition is met is used as the current pose of the aircraft corresponding to the target to be measured. The first reference value is the minimum change value of the number of observed frames, set empirically or flexibly adjusted according to the application scenario; for example, the first reference value is 1. The first base value is the minimum value of the number of lost observation frames, set empirically; for example, the first base value is 0. For example, the process of determining the characteristic parameters of the target to be measured is implemented based on the following formula:

[0133] tick' = tick + 1

[0134] age' = 0

[0135] pos_s'=pos_s

[0136] pos_c'=[x1,y1,yz,yaw1]=pos(t)=[x(t),y(t),z(t),yaw(t)]

[0137] Where tick' represents the number of observed frames corresponding to the target to be measured; tick represents the number of observed frames corresponding to the first existing tracked target; 1 represents the first reference value; age' represents the number of lost observation frames corresponding to the target to be measured; 0 represents the first basic value; pos_s' and pos_s represent the initial pose of the aircraft corresponding to the target to be measured and the initial pose of the aircraft corresponding to the first existing tracked target, respectively; pos_c' = [x1, y1, yz, yaw1] represents the current pose of the aircraft corresponding to the target to be measured; pos(t) = [x(t), y(t), z(t), yaw(t)] represents the pose of the aircraft when the trigger condition is met.

[0138] In an exemplary embodiment, after determining the state information and feature parameters of the target to be measured, the state information and feature parameters of the target to be measured are stored for subsequent retrieval and use.

[0139] In one possible implementation, both the number of candidate targets and the number of existing tracked targets are at least one. The process of determining the target to be measured based on the association results includes: in response to the association results indicating that a first candidate target is not associated with any of the existing tracked targets, the first candidate target is taken as a target to be measured, wherein the first candidate target is any one of the at least one candidate targets. Based on this approach, all the targets to be measured determined based on candidate targets that are not associated with existing tracked targets can be obtained.

[0140] When the first candidate target is not associated with any of the existing tracked targets, it means that the first candidate target is a newly emerging target that has not been successfully associated with any of the tracked targets, and the first candidate target is directly used as a target to be measured.

[0141] For example, when a first candidate target that is not associated with any existing tracked targets is used as a target to be measured, the state information and feature parameters of the target to be measured are determined as follows: the state information of the first candidate target is used as the state information of the target to be measured; the second basic value is used as the number of observed frames corresponding to the target to be measured, and the first basic value is used as the number of lost observation frames corresponding to the target to be measured; the pose of the aircraft when the trigger condition is met is used as both the initial pose and the current pose of the aircraft corresponding to the target to be measured. The second basic value is the minimum value of the number of observed frames, which is set based on experience or flexibly adjusted according to the application scenario; for example, the second basic value is 1.

[0142] For example, when a first candidate target that is not associated with any of the existing tracked targets is taken as a target to be measured, the state information and feature parameters of the target to be measured are determined based on the following formula. The meaning of the parameters in the following formula is the same as that in the previous formula, and will not be repeated here.

[0143] xt'=xp

[0144] yt'=yp

[0145] rt' = rp

[0146] vt'=vp

[0147] tick'=1

[0148] age' = 0

[0149] pos_c'=pos_s'=pos(t)=[x(t),y(t),z(t),yaw(t)]

[0150] In one possible implementation, the number of candidate targets and existing tracked targets are both at least one. The process of determining the target to be measured based on the association results includes: in response to the association results indicating that each candidate target is not associated with a first existing tracked target, obtaining the verification result of the first existing tracked target, where the first existing tracked target is any one of at least one existing tracked target; and in response to the verification result indicating that the first existing tracked target is valid, taking the first existing tracked target as a target to be measured. Based on this approach, all targets to be measured determined based on existing tracked targets that are not associated with candidate targets can be obtained.

[0151] When none of the candidate targets are associated with the first existing tracked target, it means that the first existing tracked target has not formed an association. In this case, it is necessary to obtain the verification results of the first existing tracked target so as to determine whether to use the first existing tracked target as a target to be measured based on the verification results.

[0152] The verification result of the first existing tracked target is used to indicate whether the first existing tracked target is valid. If the verification result of the first existing tracked target indicates that the first existing tracked target is valid, then the first existing tracked target is used as a target to be measured. For example, if the verification result of the first existing tracked target indicates that the first existing tracked target is invalid, the first existing tracked target is deleted, and subsequent tracking and target detection processes will no longer involve the first existing tracked target.

[0153] In one possible implementation, when none of the candidate targets are associated with the first existing tracked target, the verification result of the first existing tracked target is obtained as follows: in response to the number of observed frames corresponding to the first existing tracked target being less than a first threshold and the number of lost observed frames corresponding to the first existing tracked target being greater than a second threshold, the result used to indicate that the first existing tracked target is invalid is taken as the verification result of the first existing tracked target; in response to the number of observed frames corresponding to the first existing falsely detected tracked target being not less than the first threshold, or the number of lost observed frames corresponding to the first existing tracked target being not greater than the second threshold, the result used to indicate that the first existing tracked target is valid is taken as the verification result of the first existing tracked target.

[0154] In other words, the verification result of the first existing tracked target is determined based on the number of observed frames and the number of lost observation frames corresponding to the first existing tracked target. The number of observed frames and the number of lost observation frames corresponding to the first existing tracked target are stored in the existing tracking results. After obtaining the existing tracking results, the number of observed frames and the number of lost observation frames corresponding to the first existing tracked target can be directly extracted. The first threshold and the second threshold are set based on experience or can be flexibly adjusted according to the application scenario. This application embodiment does not limit this.

[0155] When the number of observed frames corresponding to the first existing tracked target is less than the first threshold and the number of lost observed frames corresponding to the first existing tracked target is greater than the second threshold, it indicates that the first existing tracked target is a target that has been observed briefly and has no effective correlation for a long time. In this case, the first existing tracked target is considered not to be a target of the reference type and can be deleted. In other cases, that is, when the number of observed frames corresponding to the first existing falsely detected tracked target is not less than the first threshold, or the number of lost observed frames corresponding to the first existing tracked target is not greater than the second threshold, it is not possible to directly determine whether the first existing tracked target is a target of the reference type. In this case, the first existing tracked target is regarded as a target to be evaluated, so as to continue to determine whether the target to be evaluated is a target of the reference type based on step 203.

[0156] In an exemplary embodiment, for the case where a first existing tracked target that is not associated with any candidate target and whose verification result indicates validity is taken as the target to be measured, the state information and feature parameters of the target to be measured are obtained as follows: the state information of the first existing tracked target is taken as the state information of the target to be measured, and the feature parameters of the first existing tracked target are taken as the feature parameters of the target to be measured.

[0157] In an exemplary embodiment, when the aforementioned reference tracking method is the first tracking method, the process of determining the target to be measured, its state information, and characteristic parameters can be viewed as performing a target tracking operation using the first tracking method based on existing tracking results. The determined target to be measured, its state information, and characteristic parameters can constitute the tracking result obtained by updating the existing tracking results obtained using the first tracking method.

[0158] In an exemplary embodiment, the process of determining the target to be measured described above can be regarded as the process of tracking false targets (i.e., the process of tracking using the first tracking method). In this embodiment, the process of tracking false targets using the first tracking method involves setting special tracking rules based on the characteristics of false targets for all candidate targets detected by the radar, and finally retaining the false targets through tracking and reporting them as needed. Reporting as needed in this embodiment refers to detecting and reporting targets belonging to the reference type. For situations where the triggering condition is a significant change in the aircraft's attitude, it can ensure that the false target tracking process is only executed when the aircraft undergoes a certain movement, thereby improving the efficiency and reliability of false target tracking.

[0159] In an exemplary embodiment, the computer device includes an aircraft attitude change monitoring module, and the process of determining whether the triggering condition is met is implemented by the aircraft attitude change monitoring module. In an exemplary embodiment, the computer device also includes a false target tracking module, and the false target tracking process is implemented by the false target tracking module. In an exemplary embodiment, the false target tracking module includes a tracking association submodule, a failure judgment submodule, a tracking filtering submodule, a reporting judgment submodule, and a tracking initiation submodule. The process of obtaining association results is implemented by the tracking association submodule; the process of determining whether existing tracked targets that are not associated with candidate targets are valid is implemented by the failure judgment submodule; the process of determining the state information and feature parameters of the target to be measured when an association is formed is implemented by the tracking filtering submodule; and the process of using candidate targets that are not associated as targets to be measured is implemented by the tracking initiation submodule. The reporting judgment submodule is used to implement the process of detecting targets belonging to the reference type from the targets to be measured determined when the reference tracking method is the first tracking method.

[0160] In an exemplary embodiment, when the reference tracking method only includes the second tracking method, the process of determining the target to be measured based on the existing tracking results is as follows: the existing tracking targets indicated by the existing tracking results are taken as the targets to be measured. In this case, each existing tracking target is a target to be measured, and the number of targets to be measured is the same as the number of existing tracking targets.

[0161] In an exemplary embodiment, when the reference tracking method includes a first tracking method and a second tracking method, there are two existing tracking results. The process of determining the target to be measured based on the existing tracking results includes: determining a first part of the target to be measured based on the existing tracking results obtained using the first tracking method; determining a second part of the target to be measured based on the existing tracking results obtained using the second tracking method; and using the set of the first part of the target to be measured and the second part of the target to be measured as the final determined target to be measured. The process of determining the first part of the target to be measured based on the existing tracking results obtained using the first tracking method is detailed in steps 2021 to 2023, and will not be repeated here. The process of determining the second part of the target to be measured based on the existing tracking results obtained using the second tracking method is: using the existing tracking targets indicated by the existing tracking results obtained using the second tracking method as the second part of the target to be measured.

[0162] In either case, the target to be measured can be identified, and then step 203 is performed to detect targets belonging to the reference type among the targets to be measured.

[0163] In step 203, based on the reference characteristics of the target of the reference type, a target belonging to the reference type is detected among the targets to be measured. The target of the reference type is a false target detected based on the reference false echo, which is an echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft.

[0164] The reference characteristics of a reference type target are those that distinguish it from other types of targets, based on extensive data analysis. By considering these reference characteristics, it is possible to detect targets belonging to the reference type among the targets to be measured. In an exemplary embodiment, based on extensive data analysis, it was found that the main characteristics of a reference type target are as follows: (1) its distance / angle / speed relative to the aircraft is basically fixed within a short period of time (such as a single flight), that is, the reference type target and the aircraft move in a stable following motion; (2) its speed may be zero or non-zero; and (3) it generally appears in isolation.

[0165] In one possible implementation, the number of targets to be measured is at least one. The implementation method for detecting targets belonging to the reference type among the targets to be measured based on the reference characteristics of the targets of the reference type includes: determining the measurement index corresponding to the first target to be measured, wherein the first target to be measured is any one of the at least one targets to be measured; and in response to the measurement index corresponding to the first target to be measured indicating that the first target to be measured has reference characteristics, treating the first target to be measured as a target belonging to the reference type.

[0166] This application embodiment uses any one of the various measurable targets (i.e., the first measurable target) as an example for illustration. The measurement index corresponding to the first measurable target is the index used to determine whether the first measurable target belongs to the reference type of target. As can be seen from step 202, the first measurable target may be a measurable target determined based on the existing tracking results obtained using the first tracking method, or it may be a measurable target determined based on the existing tracking results obtained using the second tracking method. In different cases, the implementation process of determining the measurement index corresponding to the first measurable target and determining whether the measurement index corresponding to the first measurable target indicates that the first measurable target has reference characteristics or indicates that the first measurable target does not have reference characteristics is different.

[0167] For example, if the first target to be measured is a target determined based on the existing tracking results obtained using the first tracking method, that is, the first target to be measured is a target determined using the process from steps 2021 to 2023, the measurement index corresponding to the first target to be measured includes the number of observed frames and the aircraft pose change parameters corresponding to the first target to be measured. The method for determining the measurement index corresponding to the first target to be measured is as follows: extract the number of observed frames, the initial pose of the aircraft, and the current pose of the aircraft from the feature parameters of the first target to be measured; based on the initial pose and the current pose of the aircraft, determine the aircraft pose change parameters, thereby obtaining the measurement index including the number of observed frames and the aircraft pose change parameters.

[0168] The attitude change parameters of the first target to be measured are used to indicate the difference between the initial attitude of the first target to be measured and the current attitude of the first target to be measured. The embodiments of this application do not limit the implementation method of determining the attitude change parameters of the first target to be measured based on the initial attitude of the first target to be measured and the current attitude of the first target to be measured.

[0169] For example, the aircraft attitude change parameters corresponding to the first target to be measured include position change parameters and attitude change parameters. In this case, the aircraft attitude change parameters corresponding to the first target to be measured are obtained as follows: the distance between the position in the initial pose of the aircraft and the position in the current pose of the aircraft is used as the position change parameter; the absolute value of the difference between the turning angle in the initial pose of the aircraft and the turning angle in the current pose of the aircraft is used as the attitude change parameter.

[0170] For the first target to be measured, the measurement indicators include the number of observed frames and the aircraft attitude change parameters. If the number of observed frames is greater than the third threshold and the aircraft attitude change parameters meet the attitude change conditions, it means that the first target has been observed multiple times in a relatively continuous manner, and the aircraft has made a relatively obvious movement during the multiple observations of the target. This characteristic is consistent with the reference characteristics of a reference type target. Therefore, in this case, the measurement indicators corresponding to the first target indicate that the first target has reference characteristics.

[0171] In other words, in response to the number of observed frames corresponding to the first target being measured being greater than the third threshold and the aircraft attitude change parameters corresponding to the first target being measured satisfying the attitude change condition, it is determined that the measurement index corresponding to the first target being measured indicates that the first target being measured has reference characteristics. For example, in response to the number of observed frames corresponding to the first target being measured not being greater than the third threshold, or the aircraft attitude change parameters corresponding to the first target being measured not satisfying the attitude change condition, it is determined that the measurement index corresponding to the first target being measured indicates that the first target being measured does not have reference characteristics.

[0172] The third threshold is set based on experience or can be flexibly adjusted according to the application scenario; this application embodiment does not limit this. The pose change condition is set based on experience or can be flexibly adjusted according to the aircraft pose change parameters; this application embodiment does not limit this. For example, when the aircraft pose change parameters include position change parameters and attitude change parameters, satisfying the attitude change condition means that both the position change parameter and the attitude change parameter are greater than the corresponding threshold, or satisfying the attitude change condition means that either the position change parameter or the attitude change parameter is greater than the corresponding threshold.

[0173] It should be noted that the above description only illustrates the example of determining whether each target to be measured based on existing tracking results obtained using the first tracking method belongs to the reference type using the same method. The embodiments of this application are not limited to this. In the exemplary embodiment, for the three types of targets to be measured, namely targets determined based on existing tracking targets associated with candidate targets, targets determined based on existing tracking targets not associated with candidate targets, and targets determined based on candidate targets not associated with existing tracking targets, the determination of whether each target to be measured based on existing tracking targets associated with candidate targets and each target to be measured based on existing tracking targets not associated with candidate targets can be based on the method described above for determining whether the first target to be measured belongs to the reference type. Furthermore, targets determined based on candidate targets not associated with existing tracking targets are directly considered not to belong to the reference type.

[0174] In an exemplary embodiment, when the reference tracking method is the first tracking method, the process of detecting targets belonging to the reference type from the targets to be measured is as follows: Figure 4 As shown. The system obtains the state information of existing tracked targets from existing tracking results, and the state information of candidate targets when the aircraft's pose change meets the triggering conditions. Based on the state information of existing and candidate targets, the association results between the candidate and existing tracked targets are obtained. The specific association situation is determined based on the association results, i.e., whether an association has been formed. If the first candidate target and the first existing tracked target are associated, the tracking filtering submodule is used to determine the state information and feature parameters of the target to be measured, thereby obtaining the target to be measured based on the associated existing tracked targets.

[0175] If none of the candidate targets are associated with the first existing tracked target (i.e., the existing tracked target is not associated), the failure judgment submodule is used to determine whether the first existing tracked target is valid. If the first existing tracked target is valid, it is used as the target to be measured; if the first existing tracked target is invalid, it is deleted. If none of the candidate targets are associated with the first existing tracked target (i.e., the candidate targets are not associated), the tracking initiation submodule is used to obtain the target to be measured based on the candidate targets that have not formed an association.

[0176] After identifying various targets to be measured, the reporting judgment submodule determines whether targets identified based on associated existing tracked targets and targets identified based on unassociated but valid existing tracked targets need to be reported. This process of determining whether a target needs to be reported is equivalent to determining whether it belongs to the reference type. For targets requiring reporting, the computer equipment executes a reporting operation, sending the report to the aircraft's control equipment; for targets not requiring reporting, no reporting operation is performed.

[0177] In an exemplary embodiment, the process of detecting targets belonging to the reference type based on existing tracking results obtained using the first tracking method can be regarded as the detection and suppression process of reference type targets triggered by aircraft pose changes. In the detection and suppression process of reference type targets triggered by aircraft pose changes, considering the reference characteristics of the reference type targets, a priori assumption is introduced: during the aircraft's movement in a real environment, there will not exist a type of real target whose relative position / angle / velocity remains stable with the aircraft for a long time; that is, there is no stable following motion between the aircraft and a certain real target.

[0178] In an exemplary embodiment, if the first target to be measured is a target determined based on existing tracking results obtained using the second tracking method, that is, if the first target to be measured is one of the targets to be measured determined by directly using existing tracked targets as the target to be measured, the measurement index corresponding to the first target to be measured includes the relative motion distance corresponding to the first target to be measured. The relative motion distance corresponding to the first target to be measured can be extracted from the feature parameters of the first target to be measured. For example, the relative motion distance can also be called the maximum relative motion distance tr of the trajectory.

[0179] For example, for each target identified during tracking using the second tracking method, at the start of tracking, tr = 0 is recorded, and the Euclidean distance between the radar and the target at this time is recorded as r0. Then, when the target is associated, the Euclidean distance between the radar and the target at this time is recorded as r1. When the absolute value of the difference between r0 and r1 is greater than tr, tr = |r0 - r1| is recorded. That is, tr represents the maximum change in distance between the target and the radar relative to the initial observation time when the target is associated, starting from the initial observation of the target. Therefore, the larger tr is, the more continuous the distance change observation of the target is, which is exactly the opposite of the stable distance characteristic of a reference-type target relative to the radar. Therefore, tr is positively correlated with the reliability of the target; the higher the reliability of the target, the lower the probability that the target belongs to the reference-type target, that is, the lower the probability that the target has reference characteristics.

[0180] Based on the above analysis, the smaller the relative motion distance corresponding to the first target to be measured, the more likely the first target to be measured is to have reference characteristics. In this case, in response to the relative motion distance corresponding to the first target to be measured not being greater than the fourth threshold, the measurement index corresponding to the first target to be measured is determined to indicate that the first target to be measured has reference characteristics.

[0181] In an exemplary embodiment, if the measurement index corresponding to the first target to be measured includes relative motion distance, the method further includes: in response to the distance index corresponding to the first target to be measured being greater than a fifth threshold, determining that the measurement index corresponding to the first target to be measured indicates that the first target to be measured does not have reference characteristics. Wherein, the fourth threshold is less than the fifth threshold. The fourth and fifth thresholds are set based on experience or can be flexibly adjusted according to the application scenario; this embodiment does not limit this. For example, the fourth threshold is 1, and the fifth threshold is 10.

[0182] For example, after determining the relative motion distance corresponding to the first target to be measured, if the relative motion distance corresponding to the first target to be measured is not greater than the fourth threshold or is greater than the fifth threshold, it is possible to directly determine whether the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics or does not. If the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold but not greater than the fifth threshold, it is not possible to directly determine whether the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics or does not.

[0183] In an exemplary embodiment, the measurement index corresponding to the first target to be measured includes not only the relative motion distance but also an auxiliary index, which is used to assist in determining whether the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics or does not, when the relative motion distance corresponding to the first target to be measured is greater than a fourth threshold and not greater than a fifth threshold.

[0184] In an exemplary embodiment, if the measurement index corresponding to the first target to be measured also includes an auxiliary index corresponding to the first target to be measured, the method further includes: in response to the relative motion distance corresponding to the first target to be measured being greater than a fourth threshold and not greater than a fifth threshold, and in response to the auxiliary index corresponding to the first target to be measured not meeting the filtering conditions, determining that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics. For example, in response to the relative motion distance corresponding to the first target to be measured being greater than a fourth threshold and not greater than a fifth threshold, and in response to the auxiliary index corresponding to the first target to be measured meeting the filtering conditions, determining that the measurement index corresponding to the first target to be measured indicates that the first target to be measured does not have reference characteristics. Meeting the filtering conditions can be set based on experience or flexibly adjusted according to the type of auxiliary index; this embodiment does not limit this.

[0185] For example, the auxiliary indicators include at least one of the following: the number of lost observation frames corresponding to the first target to be measured, a reference distance indicator, and a reference quantity. The reference distance is the minimum distance between the first target to be measured and all targets within the first reference range; the reference quantity is the number of targets within the second reference range; both the first and second reference ranges are centered on the first target to be measured. The number of lost observation frames corresponding to the first target to be measured can be extracted from the feature parameters of the first target to be measured. Both the reference distance indicator and the reference quantity can be obtained by analyzing the location information of each target to be measured.

[0186] Exemplarily, the embodiments of this application do not limit the shape and area of ​​the first reference range and the second reference range. Exemplarily, the first reference range and the second reference range may be the same or different. Exemplarily, the first reference range refers to a circular range defined by a first target to be measured as the center and a first radius as the radius. Exemplarily, the second reference range refers to a circular range defined by a first target to be measured as the center and a second radius as the radius. Of course, the first reference range and the second reference range may also be ranges of other shapes, such as rectangles, squares, etc.

[0187] The following section describes the relationship between the number of lost observation frames, the reference distance index, the number of references, and the target's reliability. A higher target reliability indicates a lower probability that the target is a reference type target.

[0188] In the second tracking method, each target to be measured is a tracking target. For each target, the initial number of lost observation frames, g = 0, is set at the start of tracking. Subsequently, when a frame loses an observation (without correlation), the value of g increases by a certain amount (e.g., 1). When a frame is correlated, the value of g is reset to 0. Clearly, a larger g indicates that the tracking target has not been observed for a long time, reducing its reliability. Therefore, g is negatively correlated with the reliability of the tracking target. In other words, the larger the number of lost observation frames for a target, the lower its reliability, and the more likely it is to be a reference type target.

[0189] For each tracked target, within a circle (the first reference range) centered on the target and with radius R1, find neighboring valid tracked targets and record the minimum distance among these distances to the target as the reference distance nr. When there are no other valid tracked targets within the defined circle, record nr = R1. A smaller nr indicates that the tracked target is not isolated. Therefore, nr is negatively correlated with the reliability of the tracked target. In other words, the larger the reference distance for a target, the lower its reliability, meaning it is more likely to be a reference type target.

[0190] For each tracked target, neighboring valid tracked targets are searched within a circle (the second reference range) centered on the target and with radius R2. The number of these neighboring valid tracked targets is recorded as the reference number nm. When there are no other valid tracked targets within the defined circle, nm = 0. A larger nm indicates that the tracked target is not isolated. Therefore, nm is positively correlated with the reliability of the tracked target. In other words, the smaller the reference number for a target, the lower the reliability of the target, and the more likely the target is to be a reference type target.

[0191] For example, if the first target to be measured is determined to be unreliable based on the measurement index corresponding to the first target to be measured, then the measurement index corresponding to the first target to be measured can be considered to indicate that the first target to be measured has reference characteristics; if the first target to be measured is determined to be reliable based on the measurement index corresponding to the first target to be measured, then the measurement index corresponding to the first target to be measured can be considered to indicate that the first target to be measured does not have reference characteristics.

[0192] The basic principle for determining the reliability of a target by considering relative motion distance and auxiliary indicators is as follows: when tr is large, the judgment that the target is reliable has very loose constraints on g, nr, and nm, and can even ignore the constraints on g, nr, and nm; as tr decreases, the judgment that the target is reliable gradually strengthens the constraints on g, nr, and nm; when tr is less than a certain value, the target is considered unreliable.

[0193] In an exemplary embodiment, the following example illustrates the situation where the auxiliary indicators satisfy the screening criteria: the number of lost observation frames, reference distance, and reference quantity corresponding to the first target to be measured. For example, the case where the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold but not greater than the fifth threshold can be further divided into two cases: the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold but not greater than the sixth threshold; or the relative motion distance corresponding to the first target to be measured is greater than the sixth threshold but not greater than the fifth threshold. Wherein, the sixth threshold is greater than the fourth threshold but less than the fifth threshold. For example, the fourth threshold is 1, the fifth threshold is 10, and the sixth threshold is 5.

[0194] In the two cases where the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold and not greater than the sixth threshold, and the relative motion distance corresponding to the first target to be measured is greater than the sixth threshold and not greater than the fifth threshold, the auxiliary indicators may meet the screening conditions in the same or different ways. This application does not limit this.

[0195] The following examples illustrate the different ways in which the auxiliary indicator meets the screening criteria in two cases: when the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold but not greater than the sixth threshold, and when the relative motion distance corresponding to the first target to be measured is greater than the sixth threshold but not greater than the fifth threshold.

[0196] In an exemplary embodiment, when the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold but not greater than the sixth threshold, the auxiliary indicator satisfies the screening conditions if the number of lost observation frames is a reference value, the number of references is greater than the seventh threshold, and the reference distance is less than the eighth threshold. That is, when the relative motion distance corresponding to the first target to be measured is greater than the fourth threshold but not greater than the sixth threshold, in response to the number of lost observation frames corresponding to the first target to be measured being a reference value, the number of references corresponding to the first target to be measured being greater than the seventh threshold, and the reference distance being less than the eighth threshold, the first target to be measured is determined to be reliable, i.e., the measurement indicator corresponding to the first target to be measured indicates that the first target to be measured does not have reference characteristics; in response to the number of lost observation frames corresponding to the first target to be measured not being a reference value, or the number of references corresponding to the first target to be measured not being greater than the seventh threshold, or the reference distance corresponding to the first target to be measured not being greater than the eighth threshold, the first target to be measured is determined to be unreliable, i.e., the measurement indicator corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics.

[0197] The reference value, the seventh threshold, and the eighth threshold are set based on experience or can be flexibly adjusted according to the application scenario. For example, the reference value is 0, the seventh threshold is 1, and the eighth threshold is 5.

[0198] For example, when the relative motion distance corresponding to the first target to be measured is greater than the sixth threshold but not greater than the fifth threshold, the auxiliary indicator satisfies the screening condition if the number of lost observation frames is not greater than the ninth threshold and the number of references is greater than the tenth threshold. That is, when the relative motion distance corresponding to the first target to be measured is greater than the sixth threshold but not greater than the fifth threshold, in response to the number of lost observation frames corresponding to the first target to be measured not being greater than the ninth threshold and the number of references corresponding to the first target to be measured being greater than the tenth threshold, the first target to be measured is determined to be reliable, i.e., the measurement indicator corresponding to the first target to be measured indicates that the first target to be measured does not have reference characteristics; in response to the number of lost observation frames corresponding to the first target to be measured being greater than the ninth threshold, or the number of references corresponding to the first target to be measured not being greater than the tenth threshold, the first target to be measured is determined to be unreliable, i.e., the measurement indicator corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics. In this way, it is not necessary to consider the reference distance to determine whether the measurement indicator corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics or does not.

[0199] For example, the ninth threshold is greater than the reference value, for example, the reference value is 0 and the ninth threshold is 1; the tenth threshold is less than the eighth threshold, for example, the eighth threshold is 1 and the tenth threshold is 0.

[0200] For example, when the measurement indicators corresponding to the first target to be measured include relative motion distance tr, number of lost observation frames g, reference distance nr, and number of references nm, the reliability of the target is confirmed according to the principle that tr has the highest priority. At the same time, targets that are judged to be unreliable are considered to be targets of the reference type.

[0201] For example, the process of determining whether the first target to be measured is reliable is as follows: Figure 5 As shown. Obtain the tr, g, nr, and nm corresponding to the first target to be measured. Determine if tr is greater than the fifth threshold. If tr is greater than the fifth threshold, the first target to be measured is determined to be reliable, that is, the measurement index corresponding to the first target to be measured indicates that the first target to be measured does not have reference characteristics. If tr is not greater than the fifth threshold, determine if tr is not greater than the fourth threshold. If tr is not greater than the fourth threshold, the first target to be measured is determined to be unreliable, that is, the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics, thereby suppressing the first target to be measured. If tr is greater than the fourth threshold but not greater than the fifth threshold, the reliability of the first target to be measured is confirmed based on the magnitudes of g, nr, and nm.

[0202] In either case, it is possible to determine whether the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics or does not. If it is determined that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics, then the first target to be measured is regarded as a target belonging to the reference type.

[0203] The above explanation uses any target to be measured as an example. Based on the above method, it is possible to determine whether each target to be measured belongs to the reference type, thereby realizing the process of detecting targets belonging to the reference type from the targets to be measured.

[0204] For example, since reference-type targets are false targets detected based on false echoes formed by the aircraft reflecting electromagnetic waves emitted by radar, after detecting a reference-type target, it is necessary to suppress it to avoid interference with the aircraft's obstacle avoidance flight. For example, the method for suppressing reference-type targets is to report relevant information about the reference-type targets to the aircraft's control equipment, so that the control equipment can formulate a flight strategy to avoid false obstacle avoidance.

[0205] In an exemplary embodiment, when it is determined that a target of the reference type exists and the location of the target of the reference type is known, the location of the target of the reference type is temporarily written into the data processing program. Before an update operation is performed, when any radar target appears at that location or in the vicinity of that location, the target is considered to be unreal and is not considered as a target that may cause a collision hazard.

[0206] This application provides a long-term detection strategy for radar false detection targets (i.e., reference-type targets). This strategy can detect and report false detection targets without affecting normal data processing, prompting relevant personnel to correct the radar installation. The false detection strategy described in this application uses changes in aircraft attitude as the trigger condition for tracking operations, rather than using time changes as the trigger condition in traditional tracking. Furthermore, it assigns a fixed, small weight to the observation values ​​in the tracking filter, instead of dynamically setting weights based on factors such as the quality of the observation in traditional tracking. This ensures that only false detection targets are tracked.

[0207] This application also provides a strategy for suppressing false detections. Several indicators showing significant differences between false detections and normal targets are extracted, and these indicators are used to detect false detections. Among these indicators, the relative motion distance feature cleverly and fully utilizes the stable distance characteristic of false detections, effectively preventing normal targets from being suppressed. Based on the method provided in this application, such false detections can be detected, allowing for timely adjustments to radar installation; and potential false detections can be suppressed during real-time processing, thereby avoiding accidental obstacle avoidance.

[0208] The target detection method provided in this application embodiment, based on existing tracking results and the reference characteristics of reference type targets, realizes the process of detecting some targets belonging to the reference type, expands the research scope of targets, and by detecting targets belonging to the reference type, it can suppress targets belonging to the reference type in a timely manner, thereby providing more reliable flight guidance for the flight of the aircraft based on targets belonging to the reference type, avoiding the aircraft from making accidental obstacle avoidance, and thus improving the flight stability of the aircraft.

[0209] See Figure 6 This application provides a target detection device, which includes:

[0210] The acquisition unit 601 is used to acquire existing tracking results, which are obtained by tracking targets historically detected by the radar installed inside the aircraft.

[0211] The determination unit 602 is used to determine the target to be measured based on the existing tracking results;

[0212] The detection unit 603 is used to detect targets belonging to the reference type among the targets to be measured based on the reference characteristics of the target of the reference type. The target of the reference type is a false target detected based on the reference false echo, which is an echo formed by the reflection of electromagnetic waves emitted by the radar by the aircraft.

[0213] In one possible implementation, the existing tracking results include the state information of the existing tracked target; the determining unit 602 is used to acquire the state information of the candidate target in response to the fulfillment of the triggering condition, wherein the candidate target is the target detected by the radar at the moment the triggering condition is met; based on the state information of the candidate target and the state information of the existing tracked target, the association result between the candidate target and the existing tracked target is determined; and the target to be measured is determined based on the association result.

[0214] In one possible implementation, the number of candidate targets and the number of existing tracked targets are both at least one; the determining unit 602 is used to respond to the association result indicating that the first candidate target is associated with the first existing tracked target, update the state information of the first existing tracked target based on the state information of the first candidate target, and take the target with the updated state information as a target to be measured, wherein the first candidate target is any one of the at least one candidate target, and the first existing tracked target is any one of the at least one existing tracked target.

[0215] In one possible implementation, the number of candidate targets and the number of existing tracked targets are both at least one. The determining unit 602 is configured to, in response to an association result indicating that the first candidate target is not associated with any of the existing tracked targets, take the first candidate target as a target to be measured, wherein the first candidate target is any one of the at least one candidate targets; in response to an association result indicating that each candidate target is not associated with the first existing tracked target, obtain the verification result of the first existing tracked target, wherein the first existing tracked target is any one of the at least one existing tracked targets; and in response to a verification result indicating that the first existing tracked target is valid, take the first existing tracked target as a target to be measured.

[0216] In one possible implementation, the determining unit 602 is configured to, in response to the number of observed frames corresponding to the first existing tracked target being less than a first threshold and the number of lost observed frames corresponding to the first existing tracked target being greater than a second threshold, use the result used to indicate that the first existing tracked target is invalid as the verification result of the first existing tracked target; and in response to the number of observed frames corresponding to the first existing falsely detected tracked target being not less than the first threshold, or the number of lost observed frames corresponding to the first existing tracked target being not greater than the second threshold, use the result used to indicate that the first existing tracked target is valid as the verification result of the first existing tracked target.

[0217] In one possible implementation, the number of targets to be measured is at least one, and the detection unit 603 is used to determine the measurement index corresponding to the first target to be measured, wherein the first target to be measured is any one of the at least one targets to be measured; in response to the measurement index corresponding to the first target to be measured indicating that the first target to be measured has reference characteristics, the first target to be measured is regarded as a target belonging to the reference type.

[0218] In one possible implementation, the measurement index corresponding to the first target to be measured includes the number of observed frames and the aircraft attitude change parameters corresponding to the first target to be measured; the detection unit 603 is further configured to determine that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics in response to the number of observed frames corresponding to the first target to be measured being greater than a third threshold and the aircraft attitude change parameters corresponding to the first target to be measured satisfying the attitude change conditions.

[0219] In one possible implementation, the measurement index corresponding to the first target to be measured includes the relative motion distance corresponding to the first target to be measured; the detection unit 603 is further configured to determine, in response to the relative motion distance corresponding to the first target to be measured not being greater than a fourth threshold, that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics; and to determine, in response to the relative motion distance corresponding to the first target to be measured being greater than a fifth threshold, that the measurement index corresponding to the first target to be measured indicates that the first target to be measured does not have reference characteristics, and the fourth threshold is less than the fifth threshold.

[0220] In one possible implementation, the measurement index corresponding to the first target to be measured also includes an auxiliary index corresponding to the first target to be measured. The detection unit 603 is further configured to determine that the measurement index corresponding to the first target to be measured indicates that the first target to be measured has reference characteristics in response to the relative motion distance corresponding to the first target to be measured being greater than a fourth threshold and not greater than a fifth threshold, and in response to the auxiliary index corresponding to the first target to be measured not meeting the screening conditions.

[0221] In one possible implementation, the auxiliary indicators corresponding to the first target to be measured include at least one of the number of lost observation frames, reference distance, and reference quantity. The reference distance is the minimum value among the distances between each target to be measured within the first reference range and the first target to be measured. The reference quantity is the number of each target to be measured within the second reference range. Both the first reference range and the second reference range are determined with the first target to be measured as the center.

[0222] The target detection device provided in this application embodiment, based on existing tracking results and the reference characteristics of reference type targets, realizes the process of detecting some targets belonging to the reference type, expands the research scope of targets, and can suppress the targets belonging to the reference type in a timely manner by detecting them. This allows for more reliable flight guidance for the aircraft based on the targets belonging to the reference type, avoids the aircraft from making accidental obstacle avoidance, and thus improves the flight stability of the aircraft.

[0223] It should be noted that the apparatus provided in the above embodiments is only illustrated by the division of the above functional units. In practical applications, the above functions can be assigned to different functional units as needed, that is, the internal structure of the device can be divided into different functional units to complete all or part of the functions described above. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and their specific implementation process can be found in the method embodiments, which will not be repeated here.

[0224] In an exemplary embodiment, a computer device is also provided, comprising a processor and a memory storing at least one computer program. The at least one computer program is loaded and executed by one or more processors to enable the computer device to implement any of the target detection methods described above. The computer device can be a server or a terminal. The structures of servers and terminals will be described below.

[0225] Figure 7 This is a schematic diagram of a server structure provided in an embodiment of this application. The server can vary significantly due to differences in configuration or performance. It may include one or more Central Processing Units (CPUs) 701 and one or more memories 702. The one or more memories 702 store at least one computer program, which is loaded and executed by the one or more processors 701 to enable the server to implement the target detection methods provided in the various method embodiments described above. Of course, the server may also have wired or wireless network interfaces, a keyboard, and input / output interfaces for input and output. The server may also include other components for implementing device functions, which will not be elaborated upon here.

[0226] Figure 8 This is a schematic diagram of the structure of a terminal provided in an embodiment of this application. The terminal can be: a PC, mobile phone, smartphone, PDA, wearable device, PPC, tablet computer, smart car system, smart TV, or smart speaker. The terminal may also be referred to as user equipment, portable terminal, laptop terminal, desktop terminal, or other names.

[0227] Typically, a terminal includes a processor 801 and a memory 802.

[0228] Processor 801 may include one or more processing cores, such as a quad-core processor, an octa-core processor, etc. Processor 801 may be implemented using at least one hardware form selected from DSP (Digital Signal Processing), FPGA (Field-Programmable Gate Array), and PLA (Programmable Logic Array). Processor 801 may also include a main processor and a coprocessor. The main processor, also known as a CPU (Central Processing Unit), is used to process data in the wake-up state; the coprocessor is a low-power processor used to process data in the standby state. In some embodiments, processor 801 may integrate a GPU (Graphics Processing Unit), which is responsible for rendering and drawing the content required to be displayed on the screen. In some embodiments, processor 801 may also include an AI (Artificial Intelligence) processor, which is used to handle computational operations related to machine learning.

[0229] The memory 802 may include one or more computer-readable storage media, which may be non-transitory. The memory 802 may also include high-speed random access memory and non-volatile memory, such as one or more disk storage devices or flash memory devices. In some embodiments, the non-transitory computer-readable storage media in the memory 802 are used to store at least one instruction, which is executed by the processor 801 to cause the terminal to implement the target detection method provided in the method embodiments of this application.

[0230] In some embodiments, the terminal may also optionally include: a peripheral device interface 803 and at least one peripheral device. The processor 801, memory 802, and peripheral device interface 803 can be connected via a bus or signal line. Each peripheral device can be connected to the peripheral device interface 803 via a bus, signal line, or circuit board. Specifically, the peripheral device includes at least one of: a radio frequency circuit 804, a display screen 805, a camera assembly 806, an audio circuit 807, a positioning assembly 808, and a power supply 809.

[0231] Peripheral device interface 803 can be used to connect at least one I / O (Input / Output) related peripheral device to processor 801 and memory 802. In some embodiments, processor 801, memory 802 and peripheral device interface 803 are integrated on the same chip or circuit board; in some other embodiments, any one or two of processor 801, memory 802 and peripheral device interface 803 can be implemented on separate chips or circuit boards, which is not limited in this embodiment.

[0232] The radio frequency (RF) circuit 804 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The RF circuit 804 communicates with communication networks and other communication devices via electromagnetic signals. The RF circuit 804 converts electrical signals into electromagnetic signals for transmission, or converts received electromagnetic signals back into electrical signals. Optionally, the RF circuit 804 includes: an antenna system, an RF transceiver, one or more amplifiers, a tuner, an oscillator, a digital signal processor, a codec chipset, a user identity module card, etc. The RF circuit 804 can communicate with other terminals through at least one wireless communication protocol. This wireless communication protocol includes, but is not limited to: metropolitan area networks (MANs), various generations of mobile communication networks (2G, 3G, 4G, and 5G), wireless local area networks (WLANs), and / or WiFi (Wireless Fidelity) networks. In some embodiments, the RF circuit 804 may also include circuitry related to NFC (Near Field Communication), which is not limited in this application.

[0233] Display screen 805 is used to display a UI (User Interface). This UI may include graphics, text, icons, videos, and any combination thereof. When display screen 805 is a touch display screen, it also has the ability to collect touch signals on or above its surface. These touch signals can be input as control signals to processor 801 for processing. In this case, display screen 805 can also be used to provide virtual buttons and / or a virtual keyboard, also known as soft buttons and / or a soft keyboard. In some embodiments, there may be one display screen 805, located on the front panel of the terminal; in other embodiments, there may be at least two display screens, respectively located on different surfaces of the terminal or in a folded design; in still other embodiments, display screen 805 may be a flexible display screen, located on a curved or folded surface of the terminal. Furthermore, display screen 805 may be configured as a non-rectangular, irregular shape, i.e., a non-rectangular screen. Display screen 805 may be made of materials such as LCD (Liquid Crystal Display) or OLED (Organic Light-Emitting Diode).

[0234] The camera assembly 806 is used to acquire images or videos. Optionally, the camera assembly 806 includes a front-facing camera and a rear-facing camera. Typically, the front-facing camera is located on the front panel of the terminal, and the rear-facing camera is located on the back of the terminal. In some embodiments, there are at least two rear-facing cameras, which are any one of a main camera, a depth-sensing camera, a wide-angle camera, and a telephoto camera, to achieve background blurring by fusion of the main camera and the depth-sensing camera, panoramic shooting by fusion of the main camera and the wide-angle camera, VR (Virtual Reality) shooting, or other fusion shooting functions. In some embodiments, the camera assembly 806 may also include a flash. The flash can be a single-color temperature flash or a dual-color temperature flash. A dual-color temperature flash refers to a combination of a warm-light flash and a cool-light flash, which can be used for light compensation at different color temperatures.

[0235] The audio circuit 807 may include a microphone and a speaker. The microphone is used to collect sound waves from the user and the environment, converting the sound waves into electrical signals that are input to the processor 801 for processing, or input to the radio frequency circuit 804 for voice communication. For stereo sound acquisition or noise reduction purposes, multiple microphones may be used, each positioned at a different location on the terminal. The microphone may also be an array microphone or an omnidirectional microphone. The speaker is used to convert the electrical signals from the processor 801 or the radio frequency circuit 804 into sound waves. The speaker may be a conventional diaphragm speaker or a piezoelectric ceramic speaker. When the speaker is a piezoelectric ceramic speaker, it can convert electrical signals not only into audible sound waves but also into inaudible sound waves for purposes such as distance measurement. In some embodiments, the audio circuit 807 may also include a headphone jack.

[0236] The positioning component 808 is used to determine the current geographic location of the terminal in order to enable navigation or LBS (Location Based Service). The positioning component 808 can be a positioning component based on the US GPS (Global Positioning System), China's BeiDou system, Russia's Granas system, or the EU's Galileo system.

[0237] Power supply 809 is used to power the various components in the terminal. Power supply 809 can be AC ​​power, DC power, a disposable battery, or a rechargeable battery. When power supply 809 includes a rechargeable battery, the rechargeable battery can support wired or wireless charging. The rechargeable battery can also be used to support fast charging technology.

[0238] In some embodiments, the terminal further includes one or more sensors 810. The one or more sensors 810 include, but are not limited to: an accelerometer 811, a gyroscope 812, a pressure sensor 813, a fingerprint sensor 814, an optical sensor 815, and a proximity sensor 816.

[0239] Accelerometer 811 can detect the magnitude of acceleration along the three coordinate axes of a coordinate system established by the terminal. For example, accelerometer 811 can be used to detect the components of gravitational acceleration along the three coordinate axes. Processor 801 can control display screen 805 to display the user interface in either a landscape or portrait view based on the gravitational acceleration signal acquired by accelerometer 811. Accelerometer 811 can also be used for games or for acquiring user motion data.

[0240] The gyroscope sensor 812 can detect the terminal's orientation and rotation angle. The gyroscope sensor 812, in conjunction with the accelerometer sensor 811, can collect the user's 3D movements on the terminal. Based on the data collected by the gyroscope sensor 812, the processor 801 can perform the following functions: motion sensing (e.g., changing the UI based on the user's tilt), image stabilization during shooting, game control, and inertial navigation.

[0241] The pressure sensor 813 can be disposed on the side bezel of the terminal and / or on the lower layer of the display screen 805. When the pressure sensor 813 is disposed on the side bezel of the terminal, it can detect the user's grip signal on the terminal, and the processor 801 can perform left / right hand recognition or quick operation based on the grip signal collected by the pressure sensor 813. When the pressure sensor 813 is disposed on the lower layer of the display screen 805, the processor 801 can control the operable controls on the UI interface based on the user's pressure operation on the display screen 805. The operable controls include at least one of button controls, scroll bar controls, icon controls, and menu controls.

[0242] The fingerprint sensor 814 is used to collect the user's fingerprint. The processor 801 identifies the user's identity based on the fingerprint collected by the fingerprint sensor 814, or vice versa. When the user's identity is identified as trusted, the processor 801 authorizes the user to perform relevant sensitive operations, including unlocking the screen, viewing encrypted information, downloading software, making payments, and changing settings. The fingerprint sensor 814 can be located on the front, back, or side of the terminal. When the terminal has physical buttons or a manufacturer's logo, the fingerprint sensor 814 can be integrated with the physical buttons or manufacturer's logo.

[0243] An optical sensor 815 is used to collect ambient light intensity. In one embodiment, the processor 801 can control the display brightness of the display screen 805 based on the ambient light intensity collected by the optical sensor 815. Specifically, when the ambient light intensity is high, the display brightness of the display screen 805 is increased; when the ambient light intensity is low, the display brightness of the display screen 805 is decreased. In another embodiment, the processor 801 can also dynamically adjust the shooting parameters of the camera assembly 806 based on the ambient light intensity collected by the optical sensor 815.

[0244] The proximity sensor 816, also known as a distance sensor, is typically installed on the front panel of the terminal. The proximity sensor 816 is used to detect the distance between the user and the front of the terminal. In one embodiment, when the proximity sensor 816 detects that the distance between the user and the front of the terminal is gradually decreasing, the processor 801 controls the display screen 805 to switch from a screen-on state to a screen-off state; when the proximity sensor 816 detects that the distance between the user and the front of the terminal is gradually increasing, the processor 801 controls the display screen 805 to switch from a screen-off state to a screen-on state.

[0245] Those skilled in the art will understand that Figure 8 The structure shown does not constitute a limitation on the terminal and may include more or fewer components than shown, or combine certain components, or use different component arrangements.

[0246] In an exemplary embodiment, a computer-readable storage medium is also provided, which stores at least one computer program that is loaded and executed by a processor of a computer device to enable the computer to implement any of the target detection methods described above.

[0247] In one possible implementation, the aforementioned computer-readable storage medium may be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), magnetic tape, floppy disk, and optical data storage device, etc.

[0248] In an exemplary embodiment, a computer program product is also provided, which includes a computer program or computer instructions, which are loaded and executed by a processor to enable a computer to implement any of the target detection methods described above.

[0249] It should be understood that "multiple" as used in this article refers to two or more. "And / or" describes the relationship between related objects, indicating that three relationships can exist. For example, A and / or B can represent: A alone, A and B simultaneously, or B alone. The character " / " generally indicates that the preceding and following related objects have an "or" relationship.

[0250] The above description is merely an exemplary embodiment of this application and is not intended to limit this application. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of this application should be included within the protection scope of this application.

Claims

1. A target detection method characterized by, The method comprises: acquiring existing tracking results, the existing tracking results being obtained by tracking targets detected by a radar installed inside an aircraft in history; determining a target to be measured according to the existing tracking results; detecting, among the target to be measured, a target belonging to a reference type of target based on a reference characteristic possessed by the target of the reference type, the target of the reference type being a false target detected according to a reference false echo, the reference false echo being an echo formed due to reflection of electromagnetic waves emitted by the radar by the aircraft, and the reference characteristic including stable following movement of the target of the reference type with the aircraft or isolated appearance of the target of the reference type.

2. The method of claim 1, wherein, The existing tracking results include state information of existing tracking targets; The determining of the target to be measured according to the existing tracking results comprises: in response to a trigger condition being met, acquiring state information of a candidate target, the candidate target being a target detected by the radar at a time point at which the trigger condition is met; determining an association result of the candidate target and the existing tracking targets based on the state information of the candidate target and the state information of the existing tracking targets; and determining the target to be measured based on the association result.

3. The method of claim 2, wherein, The number of the candidate targets and the number of the existing tracking targets are both at least one, and the determining of the target to be measured based on the association result comprises: in response to the association result indicating that a first candidate target is associated with a first existing tracking target, updating the state information of the first existing tracking target based on the state information of the first candidate target, and taking a target with updated state information as one target to be measured, the first candidate target being any one of the at least one candidate target, and the first existing tracking target being any one of the at least one existing tracking target.

4. The method of claim 2, wherein, The number of the candidate targets and the number of the existing tracking targets are both at least one, and the determining of the target to be measured based on the association result comprises: in response to the association result indicating that a first candidate target is not associated with any existing tracking target, taking the first candidate target as one target to be measured, the first candidate target being any one of the at least one candidate target; in response to the association result indicating that each candidate target is not associated with a first existing tracking target, acquiring a verification result of the first existing tracking target, the first existing tracking target being any one of the at least one existing tracking target; and in response to the verification result indicating that the first existing tracking target is valid, taking the first existing tracking target as one target to be measured.

5. The method of claim 4, wherein, The acquiring of the verification result of the first existing tracking target comprises: in response to a number of observed frames corresponding to the first existing tracking target being less than a first threshold and a number of lost observed frames corresponding to the first existing tracking target being greater than a second threshold, taking a result for indicating that the first existing tracking target is invalid as the verification result of the first existing tracking target. In response to the first existing false detection tracking target corresponding to a number of observed frames being not less than the first threshold, or the first existing tracking target corresponding to a number of lost observed frames being not greater than the second threshold, a result indicating that the first existing tracking target is valid is taken as a verification result of the first existing tracking target.

6. The method according to any of claims 1 to 5, characterized in that The number of the to-be-measured targets is at least one, the reference type target has a reference characteristic, and a target belonging to the reference type is detected from the to-be-measured targets, including: Determining a measurement index corresponding to a first to-be-measured target, the first to-be-measured target being any one of the at least one to-be-measured target; In response to the measurement index corresponding to the first to-be-measured target indicating that the first to-be-measured target has the reference characteristic, the first to-be-measured target is taken as a target belonging to the reference type.

7. The method of claim 6, wherein, The measurement index corresponding to the first to-be-measured target includes a number of observed frames corresponding to the first to-be-measured target and an aircraft pose change parameter corresponding to the first to-be-measured target; and before the measurement index corresponding to the first to-be-measured target indicating that the first to-be-measured target has the reference characteristic, the method further includes: In response to the number of observed frames corresponding to the first to-be-measured target being greater than a third threshold and the aircraft pose change parameter corresponding to the first to-be-measured target satisfying a pose change condition, it is determined that the measurement index corresponding to the first to-be-measured target indicates that the first to-be-measured target has the reference characteristic.

8. The method of claim 6, wherein, The measurement index corresponding to the first to-be-measured target includes a relative motion distance corresponding to the first to-be-measured target; and before the measurement index corresponding to the first to-be-measured target indicating that the first to-be-measured target has the reference characteristic, the method further includes: In response to the relative motion distance corresponding to the first to-be-measured target being not greater than a fourth threshold, it is determined that the measurement index corresponding to the first to-be-measured target indicates that the first to-be-measured target has the reference characteristic; In response to the relative motion distance corresponding to the first to-be-measured target being greater than a fifth threshold, it is determined that the measurement index corresponding to the first to-be-measured target indicates that the first to-be-measured target does not have the reference characteristic, the fourth threshold being less than the fifth threshold.

9. The method of claim 8, wherein, The measurement index corresponding to the first to-be-measured target further includes an auxiliary index corresponding to the first to-be-measured target, and the method further includes: In response to the relative motion distance corresponding to the first to-be-measured target being greater than the fourth threshold and not greater than the fifth threshold, and in response to the auxiliary index corresponding to the first to-be-measured target not satisfying a screening condition, it is determined that the measurement index corresponding to the first to-be-measured target indicates that the first to-be-measured target has the reference characteristic.

10. The method of claim 9, wherein, The auxiliary index corresponding to the first target to be measured includes at least one of a lost observation frame number, a reference distance, and a reference quantity corresponding to the first target to be measured, the reference distance is a minimum value of distances between each target to be measured located in a first reference range and the first target to be measured, and the reference quantity is a quantity of each target to be measured located in a second reference range, and the first reference range and the second reference range are determined with the first target to be measured as a center.

11. A target detection apparatus characterized by comprising: The device comprises: An acquisition unit is configured to acquire an existing tracking result, the existing tracking result being obtained by tracking a target detected by a radar installed in an aircraft. A determination unit is configured to determine a target to be measured according to the existing tracking result. A detection unit is configured to detect a target belonging to a reference type from the target to be measured based on a reference characteristic of the target of the reference type, the target of the reference type being a false target detected according to a reference false echo, the reference false echo being an echo formed by reflection of an electromagnetic wave emitted by the radar by the aircraft, and the reference characteristic including that the target of the reference type performs stable following movement with the aircraft or appears in isolation.

12. A computer device, comprising: The computer device comprises a processor and a memory, and the memory stores at least one computer program, the at least one computer program is loaded and executed by the processor, so that the computer device implements the target detection method according to any one of claims 1 to 10.

13. A computer-readable storage medium, characterized in that, The computer readable storage medium stores at least one computer program, and the at least one computer program is loaded and executed by the processor, so that the computer implements the target detection method according to any one of claims 1 to 10.

14. A computer program product, characterised in that, The computer program product comprises computer programs or computer instructions, and the computer programs or computer instructions are loaded and executed by the processor, so that the computer implements the target detection method according to any one of claims 1 to 10.

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