Networking radar plot fusion method and computer program product

Abstract

The invention particularly relates to a networking radar plot fusion method. The method comprises the following steps: acquiring working state data of each radar; the working state data comprises radar position information, scanning period information and control information; determining a plurality of target radars according to task features corresponding to the current target task and the working state data of the radars so as to form a networking radar by using the plurality of target radars; acquiring primary trace point data corresponding to each target radar in the networking radars, and performing condensation processing on each primary trace point data under a fusion central coordinate system to acquire first trace point data; and performing data association processing on the corresponding first trace point data in a preset period and the existing fusion track and / or the transient fusion track to generate updated fusion track data. The method can effectively improve the precision of the fusion track.

Description

Technical Field

[0001] The present invention relates to the field of radar technology, and in particular to a networked radar point trace fusion method, a computer program product, a storage medium, and an electronic device. Background Art

[0002] In related technologies, with the continuous improvement of radar detection accuracy and efficiency requirements, the detection method of a single radar device can no longer meet actual business needs. By networking the driving radar system composed of multiple single-base radars that are separated in space but cover overlapping airspaces, the detection accuracy of the system can be effectively improved. However, the existing networked radars still have certain problems in the process of multi-radar information processing; for example, there are too many false fusion tracks. In addition, since the scanning cycles of different radar devices may be different, the information processing speed is unstable.

[0003] It should be noted that the information disclosed in the above background technology section is only used to enhance the understanding of the background of the present invention, and therefore may include information that does not constitute the prior art known to ordinary technicians in the field. Summary of the invention

[0004] The present invention provides a networked radar track fusion method, a computer program product, a storage medium, and an electronic device, which can effectively improve the accuracy of fused tracks and thus overcome the defects in the prior art to a certain extent.

[0005] Other features and advantages of the present invention will become apparent from the following detailed description, or may be learned in part by practice of the present invention.

[0006] According to a first aspect of the present invention, a method for fusion of networked radar traces is provided, the method comprising:

[0007] Acquire the working status data of each radar; the working status data includes: radar position information, scanning cycle information, and control information;

[0008] Determine multiple target radars according to the task characteristics corresponding to the current target task and the working status data of each radar, so as to form a network radar using the multiple target radars;

[0009] Acquire the primary point trace data corresponding to each target radar in the networked radar, and perform condensation processing on each primary point trace data in the fusion center coordinate system to acquire the first point trace data;

[0010] The first point track data corresponding to a preset period is subjected to data association processing with an existing fused track and / or a transient fused track to generate updated fused track data.

[0011] In some exemplary embodiments, after acquiring the first point trace data, the method further includes:

[0012] The first point track data is preprocessed to remove clutter data and generate second point track data, so as to perform data association processing using the second point track data and an existing fused track and / or a transient fused track.

[0013] In some exemplary embodiments, preprocessing the first point trace data to remove clutter data and generate second point trace data includes:

[0014] Gridding a preset range space corresponding to the fusion center coordinate system, and performing gridding processing on the first point trace data;

[0015] Perform point accumulation analysis on the points in each grid to eliminate clutter data;

[0016] The second point trace data is generated based on the remaining point trace data after the clutter data is removed.

[0017] In some exemplary embodiments, the method further comprises:

[0018] Generate a clutter region table based on historical clutter data; wherein the clutter distinction table includes at least one clutter region;

[0019] The points falling into the clutter area are configured as clutter data.

[0020] In some exemplary embodiments, when performing data association processing on the first point track data and the existing fused track and / or transient fused track, the method further includes:

[0021] Data association processing is performed on the third point track data that has not been associated in the first point track data to generate an updated transient fusion track.

[0022] In some exemplary embodiments, the method further comprises:

[0023] Performing track quality judgment on the updated transient fused track based on a preset quality condition;

[0024] When the quality of the updated transient track is lower than a threshold value corresponding to a preset quality condition, deleting the updated transient track; or

[0025] When the quality of the updated transient track is higher than a threshold value corresponding to a preset quality condition, the updated transient fused track is configured as updated track data.

[0026] In some exemplary embodiments, the method further comprises:

[0027] In response to the received single radar track data, a point track correction process is performed based on that the single radar track data is greater than the updated fused track data and / or the existing fused track data.

[0028] In some exemplary embodiments, the method further comprises:

[0029] In response to the user's selection operation on the fused track and / or the transient fused track, track fusion processing is performed on the currently selected multiple fused tracks and / or the transient fused tracks to obtain an updated fused track.

[0030] In some exemplary embodiments, the method further comprises:

[0031] Configuration parameter initialization processing is performed according to the target tracking task; wherein the configuration parameters include: a filtering method, a data association method, and a maximum number of fused tracks that match the target tracking task.

[0032] According to a second aspect of the present invention, there is provided a computer program product having a computer program stored thereon, and when the computer program is executed by a processor, the above-mentioned networked radar point trace fusion method is implemented.

[0033] According to a third aspect of the present invention, there is provided a storage medium having a computer program stored thereon, wherein the computer program, when executed by a processor, implements the above-mentioned networked radar point trace fusion method.

[0034] According to a fourth aspect of the present invention, there is provided an electronic device, comprising:

[0035] Processor; and

[0036] A memory, configured to store executable instructions of the processor;

[0037] Wherein, the processor is configured to implement the above-mentioned networked radar point track fusion method by executing the executable instructions.

[0038] The networked radar point track fusion method provided by the embodiment of the present invention can determine multiple target radars according to the task characteristics corresponding to the current target task and the working status data of each radar by acquiring the working status data of each radar, and form a networked radar, thereby effectively ensuring the effectiveness of each radar in the networked radar. By first performing a preliminary condensation process on the primary point track data corresponding to each target radar, and then performing track fusion processing, it is possible to achieve refined association processing of the primary point track, effectively suppress false fusion tracks, and thus improve the accuracy of the fusion track and the tracking effect of the target.

[0039] It is to be understood that the foregoing general description and the following detailed description are exemplary and explanatory only and are not restrictive of the invention. BRIEF DESCRIPTION OF THE DRAWINGS

[0040] The accompanying drawings herein are incorporated into and constitute a part of the specification, illustrate embodiments consistent with the present invention, and together with the specification are used to explain the principles of the present invention. Obviously, the accompanying drawings described below are only some embodiments of the present invention, and for those of ordinary skill in the art, other accompanying drawings can be obtained based on these accompanying drawings without creative work.

[0041] Figure 1 A schematic diagram schematically illustrates a method for fusion of radar traces in a base group network according to an exemplary embodiment of the present invention;

[0042] Figure 2 A schematic diagram of a flow chart of a method for fusion of radar traces in a base group network according to an exemplary embodiment of the present invention is shown schematically;

[0043] Figure 3 The figure schematically shows the composition of an electronic device in an exemplary embodiment of the present invention. DETAILED DESCRIPTION

[0044] Example embodiments will now be described more fully with reference to the accompanying drawings. However, example embodiments can be implemented in many forms and should not be construed as limited to the examples set forth herein; rather, these embodiments are provided so that the present invention will be more comprehensive and complete and fully convey the concepts of the example embodiments to those skilled in the art. The described features, structures, or characteristics may be combined in any suitable manner in one or more embodiments.

[0045] In addition, the accompanying drawings are only schematic illustrations of the present invention and are not necessarily drawn to scale. The same reference numerals in the figures represent the same or similar parts, and their repeated description will be omitted. Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software form, or implemented in one or more hardware modules or integrated circuits, or implemented in different networks and / or processor devices and / or microcontroller devices.

[0046] In view of the shortcomings and deficiencies of the prior art, this example implementation provides a method for fusion of networked radar traces. Figure 1 As shown, the network radar point trace fusion method may specifically include the following steps:

[0047] Step S11, obtaining the working status data of each radar; the working status data includes: radar position information, scanning cycle information, and control information;

[0048] Step S12, determining multiple target radars according to the task characteristics corresponding to the current target task and the working status data of each radar, so as to form a network radar using the multiple target radars;

[0049] Step S13, obtaining the primary point trace data corresponding to each target radar in the networked radar, and performing agglomeration processing on each primary point trace data in a fusion center coordinate system to obtain first point trace data;

[0050] Step S14, performing data association processing on the first point track data corresponding to a preset period and the existing fused track and / or transient fused track to generate updated fused track data.

[0051] Below, each step of the networked radar point trace fusion method in this example implementation will be described in more detail with reference to the accompanying drawings and embodiments.

[0052] In this example implementation, the networked radar point trace fusion method further includes:

[0053] Step S10, performing configuration parameter initialization processing according to the target tracking task; wherein the configuration parameters include: a filtering method, a data association method, and a maximum number of fused tracks that match the target tracking task.

[0054] Specifically, the user can create the current target tracking task on the terminal device and configure the corresponding task parameters. The terminal device can be connected to and communicate with multiple radar devices. The terminal device can send control instructions to the radar device, configure parameters, and receive radar feedback data. Of course, in some exemplary embodiments, the terminal device can also be connected to the server side, and the server performs radar data calculations and displays the data processing results on the terminal device. Among them, the terminal device can be a laptop, desktop computer, or tablet computer with a certain computing power.

[0055] Exemplarily, the mission parameters may include: mission type, target type, etc. For example, the target type may be a low, small, and slow target, a civil aviation target, a military aircraft target, etc. The corresponding mission type may be configured by mission mode, such as a military aircraft tracking mode, a common target tracking mode, etc. For different mission types and target types, the corresponding number of radars, radar types, etc. may be pre-configured.

[0056] After determining the current target tracking task, the configuration parameters of the networked radar can be initialized, the point track fusion program can be initialized, and the initial parameters can be configured; for example, the type of filtering algorithm, the type of data association algorithm, the maximum number of fused tracks, etc. can be configured.

[0057] In step S11, the working status data of each radar is obtained; the working status data includes: position information, scanning cycle information, and control information of the radar.

[0058] For example, the user can configure the scheduled tasks of each radar device on the terminal device, so that the radar device can upload the working status data to the terminal device regularly or periodically. The terminal device can regularly receive the working status data uploaded by each radar device, such as the coordinate information and scanning cycle of the radar; and fusion control information, such as the initial speed of the navigation, the radar shielding area and other parameters.

[0059] In step S12, multiple target radars are determined according to the task characteristics corresponding to the current target task and the working status data of each radar, so as to form a network radar using the multiple target radars.

[0060] Exemplarily, on the terminal device side, the working status data of each radar can be displayed on the graphical user interface, and several radars can be configured to form a network. For example, the target radar can be determined based on the tracking area range corresponding to the current target tracking task, the location information of each radar, the working status (online available or offline unavailable, or the communication link is stable or unstable), and the power performance data. Alternatively, the user can select the target radar by inputting operations on the terminal device. After the target radar is determined using the control system, the identification information of each target radar can be sent to the point trace fusion system.

[0061] In step S13, the primary point trace data corresponding to each target radar in the networked radar is obtained, and each primary point trace data is condensed in the fusion center coordinate system to obtain the first point trace data.

[0062] Exemplarily, the terminal device can receive the primary point traces uploaded by each target radar, and simultaneously perform coordinate system conversion processing on the primary point trace data, and convert the coordinate data of each point trace in the primary point trace data under the target radar coordinate system into the coordinate data under the fusion center coordinate system. Among them, the radar device selected by the user can be used as the fusion center radar, and the fusion center coordinate system can be established with the origin of the fusion center radar. Alternatively, the target radar with the smallest distance can be selected to establish the fusion center coordinate system based on the distance between the position of each target radar and the expected activity area of ​​the tracking target. Alternatively, the fusion center coordinate system can be established based on the coordinate position configured by the user.

[0063] In the fusion center coordinate system, multiple point trace data uploaded by each target radar within a certain time period can be preliminarily condensed, and the traces that may be the same target can be condensed. The specific point trace condensation algorithm can adopt conventional means. After the condensation process, the first point trace data corresponding to each target in the multi-target can be obtained as the condensed point trace. Among them, the above-mentioned certain time period can be configured in advance according to the scanning cycle of each radar. For example, the cycle length is configured based on the minimum scanning cycle of each target radar.

[0064] Preferably, after acquiring the first point track data, the method further comprises: preprocessing the first point track data to remove clutter data and generate second point track data, so as to use the second point track data to perform data association processing with the existing fused track and / or transient fused track.

[0065] Exemplarily, the preprocessing of the first point trace data to remove clutter data and generate second point trace data includes:

[0066] Step S21, gridding a preset range space corresponding to the fusion center coordinate system, and performing gridding processing on the first point trace data;

[0067] Step S22, performing point trace accumulation analysis on the points in each grid to eliminate clutter data;

[0068] Step S23: generating the second point trace data based on the remaining point trace data after eliminating the clutter data.

[0069] Specifically, after the initial condensation process is completed, the first point trace data can be preprocessed, and the space can be divided into grids using the pre-configured distance, azimuth, and pitch. The size of the grid can be configured according to the type of the tracking target and the number of points. Each point trace to be processed in the first point trace data is entered into the grid for point trace accumulation, and clutter is removed to obtain the second point trace data.

[0070] If there are tracks in a certain grid for several consecutive times and they are not associated with other fused tracks or transient fused tracks, all tracks that fall into the grid in the future will be identified as clutter and removed. This can suppress a large number of false targets.

[0071] Exemplarily, the method further includes: generating a clutter region table based on historical clutter data; wherein the clutter distinction table includes at least one clutter region; and configuring the points falling into the clutter region as clutter data.

[0072] For example, historical point trace data within a certain period of time can be used for radar adaptive learning to generate a clutter table. The scene can be automatically loaded after the tracking task is triggered, and the points falling into the clutter area are automatically determined as clutter. Non-clutter points enter the point trace to be processed.

[0073] In step S14, data association processing is performed on the first point track data corresponding to a preset period and the existing fused track and / or transient fused track to generate updated fused track data.

[0074] Exemplarily, after a preset period of time, or after a certain period of time, each unprocessed point track in the first point track data can be traversed, or each unprocessed point track in the second point track data preprocessed using an optimization method can be traversed, and a pre-configured data association algorithm can be called to determine the association relationship between multiple targets in complex scenarios. Among them, association includes fused tracks or transient fused tracks. A pre-configured filtering method can be called to update and filter the associated points to generate updated fused track data. The update of track fusion is non-equally spaced, and the update of the fused track can be triggered when the point track is determined to be associated. The quality of the fused track increases after the update, and the maximum track quality does not exceed the preset quality threshold. Among them,

[0075] Exemplarily, when the first point track data is subjected to data association processing with an existing fused track and / or a transient fused track, the method further includes: performing data association processing on third point track data that has not been associated in the first point track data to generate an updated transient fused track.

[0076] Exemplarily, the method further includes:

[0077] Performing track quality judgment on the updated transient fused track based on a preset quality condition;

[0078] When the quality of the updated transient track is lower than a threshold value corresponding to a preset quality condition, deleting the updated transient track; or

[0079] When the quality of the updated transient track is higher than a threshold value corresponding to a preset quality condition, the updated transient fused track is configured as updated track data.

[0080] Specifically, for unassociated points, comprehensive point judgment can be performed and they can participate in the establishment of transient fusion tracks. Transient fusion tracks are only processed internally. If they are not associated with other points, they will be deleted after exceeding a certain threshold. If there are points that are continuously associated, the quality of the transient fusion track will increase with each association. If they are not associated for a period of time, the quality of the track will decrease. After the quality of the transient fusion track exceeds the threshold, it will be converted to a formal fusion track for reporting.

[0081] For example, the point track fusion automatically identifies the update cycle of each radar. If no point track is received continuously, adaptive cycle extrapolation is performed. If there is no point for a period of time, the fused track needs to be cancelled. For low-detection targets, that is, each radar can occasionally detect them, but it is difficult to establish a route. The non-equal interval sequential method is used to establish the route, and the sequential point track sequence is smoothed into a fused track.

[0082] Exemplarily, the method further includes: in response to the received single radar track data, performing point track correction processing based on that the single radar track data is greater than the updated fused track data and / or the existing fused track data.

[0083] Specifically, when fusion of point tracks is performed, a single radar track can be received as an auxiliary reference; by comparing the coordinates of the point tracks, it can be used to eliminate false fusion tracks and maintain the real fusion track. If a single radar track is not received, the fusion track can also be processed.

[0084] For fused tracks with very close distances, multiple fused tracks with distances less than the preset threshold and updated fused tracks can be merged into one fused track. If the fused track is associated with multiple points at the same time, the probability is calculated using the data interconnection algorithm, and the point tracks are weighted for filtering.

[0085] Exemplarily, the method further includes: in response to a user's selection operation on a fused track and / or a transient fused track, performing track fusion processing on the currently selected multiple fused tracks and / or transient fused tracks to obtain an updated fused track.

[0086] For example, when multiple fused tracks are displayed on the terminal device, the user can actively select multiple fused tracks with close distances and generate corresponding track combination tasks, execute the tasks and combine the selected multiple fused tracks to generate updated fused tracks. For example, the user can select two points on the terminal interface in sequence to establish a manual fused track. Automatic association and cancellation are performed later.

[0087] In some exemplary embodiments, after the grid is divided, a clutter shielding area may be configured, in which no fused track is generated, but fused track crossing is supported.

[0088] The method provided in the embodiment of the present invention is referred to Figure 2As shown, the geographic coordinates of multiple radars, scanning cycle information, and other control information such as navigation speed can be received first. The system time is received, and the primary point tracks of each radar are received. The primary point tracks are converted to the fusion center coordinate system and preliminarily condensed. The condensed point tracks are preprocessed and clutter is identified. Alternatively, if no preprocessing is done by itself, the condensed point track data is directly associated with the existing fused track and / or transient fused track. For the point track after preprocessing and removing clutter, the data can be associated with the existing fused track and / or transient fused track, and the associated fused track is updated. Data association is performed between the unassociated point tracks to establish a new transient fused track. The transient fused track can be configured with a judgment cycle, and if the track quality is greater than the threshold, it is converted into a fused track. After receiving a single radar track, the point track coordinates can be corrected based on the single radar track, or the fused track can be corrected. Finally, the currently generated fused track can be filtered to generate an updated fused track. If the fused track is not updated continuously, it is canceled.

[0089] This method sets multiple association processing of point traces to make the association more precise and accurate. By performing point trace condensation and preprocessing, the suppression rate of false fusion targets can be effectively improved. Spatial grid preprocessing can effectively eliminate false point traces. For low-detection targets that are difficult to navigate with a single radar, the tracking effect is good. This method has the ability to take into account the fusion of two-dimensional and three-dimensional radars. When applied to a multi-radar network, it improves the accuracy of the track, suppresses false tracks, and has a high engineering application value.

[0090] It should be noted that the above figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0091] It should be noted that, although several modules or units of the equipment for action execution are mentioned in the above detailed description, this division is not mandatory. In fact, according to an embodiment of the present invention, the features and functions of two or more modules or units described above can be embodied in one module or unit. On the contrary, the features and functions of one module or unit described above can be further divided into being embodied by multiple modules or units.

[0092] Figure 3 A schematic diagram of an electronic device suitable for implementing an embodiment of the present invention is shown.

[0093] It should be noted that Figure 3 The electronic device 1000 shown is only an example and should not bring any limitation to the functions and scope of use of the embodiments of the present invention.

[0094] like Figure 3 As shown, the electronic device 1000 includes a central processing unit (CPU) 1001, which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) 1002 or the program loaded from the storage part 1008 to the random access memory (RAM) 1003. In the RAM 1003, various programs and data required for system operation are also stored. The CPU 1001, ROM 1002 and RAM 1003 are connected to each other through a bus 1004. An input / output (I / O) interface 1005 is also connected to the bus 1004.

[0095] The following components are connected to the I / O interface 1005: an input section 1006 including a keyboard, a mouse, etc.; an output section 1007 including a cathode ray tube (CRT), a liquid crystal display (LCD), etc., and a speaker, etc.; a storage section 1008 including a hard disk, etc.; and a communication section 1009 including a network interface card such as a LAN (Local Area Network) card, a modem, etc. The communication section 1009 performs communication processing via a network such as the Internet. A drive 1010 is also connected to the I / O interface 1005 as needed. A removable medium 1011, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive 1010 as needed, so that a computer program read therefrom is installed into the storage section 1008 as needed.

[0096] In particular, according to an embodiment of the present invention, the process described below with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present invention includes a computer program product, which includes a computer program carried on a storage medium, and the computer program includes a program code for executing the method shown in the flowchart. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part 1009, and / or installed from a removable medium 1011. When the computer program is executed by a central processing unit (CPU) 1001, various functions defined in the system of the present application are executed.

[0097] It should be noted that the storage medium shown in the embodiment of the present invention may be a computer-readable signal medium or a computer-readable storage medium or any combination of the above two. The computer-readable storage medium may be, for example, but not limited to, an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, device or device, or any combination of the above. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection with one or more wires, a portable computer disk, a hard disk, a random access memory (RAM), a read-only memory (ROM), an erasable programmable read-only memory (EPROM), a flash memory, an optical fiber, a portable compact disk read-only memory (CD-ROM), an optical storage device, a magnetic storage device, or any suitable combination of the above. In the present invention, a computer-readable storage medium may be any tangible medium containing or storing a program, which may be used by or in combination with an instruction execution system, device or device. In the present invention, a computer-readable signal medium may include a data signal propagated in a baseband or as part of a carrier wave, which carries a computer-readable program code. Such propagated data signals may take a variety of forms, including but not limited to electromagnetic signals, optical signals, or any suitable combination of the above. Computer-readable signal media may also be any storage medium other than computer-readable storage media, which may send, propagate, or transmit programs for use by or in conjunction with an instruction execution system, apparatus, or device. The program code contained on the storage medium may be transmitted using any appropriate medium, including but not limited to: wireless, wired, etc., or any suitable combination of the above.

[0098] The flow chart and block diagram in the accompanying drawings illustrate the possible architecture, function and operation of the system, method and computer program product according to various embodiments of the present invention. In this regard, each box in the flow chart or block diagram can represent a module, a program segment, or a part of a code, and the above-mentioned module, program segment, or a part of a code contains one or more executable instructions for realizing the specified logical function. It should also be noted that in some alternative implementations, the functions marked in the box can also occur in a different order from the order marked in the accompanying drawings. For example, two boxes represented in succession can actually be executed substantially in parallel, and they can sometimes be executed in the opposite order, depending on the functions involved. It should also be noted that each box in the block diagram or flow chart, and the combination of the boxes in the block diagram or flow chart can be implemented with a dedicated hardware-based system that performs a specified function or operation, or can be implemented with a combination of dedicated hardware and computer instructions.

[0099] The units involved in the embodiments of the present invention may be implemented by software or hardware, and the units described may also be arranged in a processor. The names of these units do not, in some cases, limit the units themselves.

[0100] It should be noted that, as another aspect, the present application also provides a storage medium, which can be included in an electronic device; or it can exist independently without being installed in the electronic device. The above storage medium carries one or more programs, and when the above one or more programs are executed by an electronic device, the electronic device implements the method described in the following embodiments. For example, the electronic device can implement the following Figure 1 The individual steps of the method are shown.

[0101] In one embodiment, the present application provides a computer program product, including a computer program, which implements the steps in the above-mentioned method embodiments when executed by a processor.

[0102] In addition, the above-mentioned figures are only schematic illustrations of the processes included in the method according to an exemplary embodiment of the present invention, and are not intended to be limiting. It is easy to understand that the processes shown in the above-mentioned figures do not indicate or limit the time sequence of these processes. In addition, it is also easy to understand that these processes can be performed synchronously or asynchronously, for example, in multiple modules.

[0103] Other embodiments of the invention will readily occur to those skilled in the art after considering the specification and practicing the invention herein. This application is intended to cover any variations, uses, or adaptations of the invention that follow the general principles of the invention and include common knowledge or customary techniques in the art that are not disclosed by the present invention. The specification and examples are to be considered exemplary only, and the true scope and spirit of the invention are indicated by the claims.

[0104] It should be understood that the present invention is not limited to the exact construction that has been described above and shown in the drawings and that various modifications and changes may be made without departing from the scope thereof. The scope of the present invention is limited only by the appended claims.

Claims

1. A method for fusion of networked radar traces, characterized in that: The method comprises: Acquire the working status data of each radar; the working status data includes: radar position information, scanning cycle information, and control information; Determine multiple target radars according to the task characteristics corresponding to the current target task and the working status data of each radar, so as to form a network radar using the multiple target radars; Acquire the primary point trace data corresponding to each target radar in the networked radar, and perform condensation processing on each primary point trace data in the fusion center coordinate system to acquire the first point trace data; The first point track data corresponding to the preset period is processed by data association with the existing fused track and / or transient fused track to generate updated fused track data.

2. The method according to claim 1, characterized in that After acquiring the first point trace data, the method further includes: The first point track data is preprocessed to remove clutter data and generate second point track data, so as to perform data association processing using the second point track data and an existing fused track and / or a transient fused track.

3. The method according to claim 2, characterized in that The preprocessing of the first point trace data to remove clutter data and generate second point trace data includes: Gridding a preset range space corresponding to the fusion center coordinate system, and performing gridding processing on the first point trace data; Perform point accumulation analysis on the points in each grid to eliminate clutter data; The second point trace data is generated based on the remaining point trace data after the clutter data is removed.

4. The method according to claim 3, characterized in that: The method further comprises: Generate a clutter region table based on historical clutter data; wherein the clutter distinction table includes at least one clutter region; The points falling into the clutter area are configured as clutter data.

5. The method according to claim 1, characterized in that When performing data association processing on the first point track data and the existing fused track and / or transient fused track, the method further includes: Data association processing is performed on the third point track data that has not been associated in the first point track data to generate an updated transient fusion track.

6. The method according to claim 5, characterized in that The method further comprises: Performing track quality judgment on the updated transient fused track based on a preset quality condition; When the quality of the updated transient track is lower than a threshold value corresponding to a preset quality condition, deleting the updated transient track; or When the quality of the updated transient track is higher than a threshold value corresponding to a preset quality condition, the updated transient fused track is configured as updated track data.

7. The method according to claim 1, characterized in that The method further comprises: In response to the received single radar track data, a point track correction process is performed based on that the single radar track data is greater than the updated fused track data and / or the existing fused track data.

8. The method according to claim 1, characterized in that: The method further comprises: In response to the user's selection operation on the fused track and / or the transient fused track, track fusion processing is performed on the currently selected multiple fused tracks and / or the transient fused tracks to obtain an updated fused track.

9. The method according to claim 1, characterized in that: The method further comprises: Configuration parameter initialization processing is performed according to the target tracking task; wherein the configuration parameters include: a filtering method, a data association method, and a maximum number of fused tracks that match the target tracking task.

10. A computer program product, comprising a computer program, characterized in that When the computer program is executed by a processor, the networked radar point trace fusion method described in any one of claims 1 to 9 is implemented.

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