A method for pre-correlating tracks and primary point tracks based on fan-block structure

Abstract

The present invention discloses a method for pre-associating a track with a primary point track based on a sector structure. After receiving a data message from a signal processing subsystem, the system state such as the azimuth angle and the primary point track are parsed and extracted, and the primary point track is placed in the distance block of the corresponding azimuth sector according to its azimuth angle and distance. When the track is pre-associated with the primary point track, the range of the distance block where the primary point track that may be associated with the track is located is first calculated, and then all the primary point tracks in the distance block are traversed, and the track is gate-matched with each primary point track, and the primary point track that meets the pre-association conditions is added to the associated primary point track queue of the track; when the track update process is entered after the pre-association is completed, the most suitable primary point track is selected from the associated primary point track queue according to the nearest neighbor criterion or other criteria for updating the track. The present invention greatly reduces the amount of calculation, avoids repeated calculations, and improves the calculation performance of the system.

Description

Technical Field

[0001] The invention belongs to the field of radar data processing, and in particular relates to a method for pre-correlating a track and a primary point track based on a sector block structure. Background Art

[0002] Tracks are a collection of primary tracks belonging to the same target in different laps that meet the predetermined criteria; the purpose of associating tracks with primary tracks is to determine whether the primary track and the track meet the predetermined criteria. The association of point tracks is implemented in two consecutive steps. First, each track to be updated is pre-associated with all possible associated primary tracks to generate a pairing table, which includes all possible track-point track pairs; then, according to certain criteria, such as the nearest neighbor criterion, the unique pairing of a single track and a single point track is selected.

[0003] The traditional pre-association of tracks based on azimuth sectors with primary point tracks requires matching the track with all primary point tracks in its azimuth sector and adjacent sectors. However, primary point tracks are generally randomly distributed at different distances, and the distance range of the primary point tracks that meet the pre-association conditions is generally not large. The ratio of the length of the distance range to the radar range is generally less than 5%. Therefore, if all primary point tracks are traversed, many primary point tracks with obvious large distance errors will also be matched, which may cause a lot of invalid calculations and reduce the calculation performance of the system. Summary of the invention

[0004] Aiming at the problem that the traditional pre-association scheme of track and primary point track based on azimuth sector has many invalid operations and low system computing performance, the present invention provides a pre-association method of track and primary point track based on sector structure, which is suitable for Track While Scan (TWS) working mode.

[0005] In order to achieve the above object, the present invention adopts the following technical solution:

[0006] A method for pre-associating tracks and primary point tracks based on a sector-block structure. In terms of azimuth, the airspace is evenly divided into sectors. The sectors do not intersect with each other, and each azimuth sector covers a certain azimuth angle. At the same time, each azimuth sector is evenly divided into distance blocks in terms of distance. The distance blocks do not intersect with each other, and each distance block covers a certain distance. From a spatial perspective, it is equivalent to dividing the airspace into sectors one by one according to azimuth and distance. The azimuth sector is implemented through a queue data structure. Each azimuth sector stores a distance block queue and a track queue, and each distance block queue stores a primary point track queue.

[0007] After receiving the data message from the signal processing subsystem, the system status such as azimuth and primary traces are analyzed and extracted, and the primary traces are placed in the distance block of the corresponding azimuth sector according to their azimuth and distance.

[0008] The calculation method of the azimuth sector number n where a point trace is located is:

[0009]

[0010] Where, Φ is the azimuth angle extracted from the data message where the primary point trace is located, and the unit is degree; is the width of the azimuth sector, in degrees; N is the number of azimuth sectors,

[0011] The calculation method of the distance block number m where a point trace is located is:

[0012]

[0013] Where R is the distance of a point trace, in meters; r is the length of the distance block, in meters; floor(·) is the floor rounding function.

[0014] When the track is pre-associated with a primary point track, the range of the distance block where the primary point track that may be associated with the track is located is first calculated, and then all the primary point tracks in the distance block are traversed, the track is gate-matched with each primary point track, and the primary point track that meets the pre-association conditions is added to the associated primary point track queue of this track; after the pre-association is completed and the track update process is entered, the most appropriate primary point track is selected from the associated primary point track queue according to the nearest neighbor criterion or other criteria for updating the track.

[0015] For each track, the calculation steps of the distance block range of the primary track that may be associated with it are as follows: (1) Extrapolate the track according to the time difference between the track and the primary track to obtain the extrapolated distance R p , and according to the preset distance protection window length ΔR p , the possible distance range that satisfies the pre-association condition with the extrapolated track point is (R p -ΔR p ) to (R p +ΔR p ).

[0016] (2) Considering that the target may be maneuvering, or the radar may not have detected the target in the previous round, resulting in the track being in an extrapolated state, the distance R of the track point updated based on the last point track in this track is calculated. m , and the length of the preset distance protection window ΔR m, the distance range of the primary point trace that may meet the pre-association condition is (R m -ΔR m ) to (R m +ΔR m ).

[0017] (3) Combining the above two situations, the minimum value R of the distance range where the primary trace may meet the pre-association condition min for:

[0018] R min =min(R p -ΔR p ,R m -ΔR m )

[0019] Maximum R max for:

[0020] R max =max(R p +ΔR p ,R m +ΔR m )

[0021] Where min(·) is the function that takes the minimum value; max(·) is the function that takes the maximum value.

[0022] (4) According to the distance range, the range of the distance block number where the primary point trace that meets the pre-association condition is located can be obtained, and the minimum value of the distance block number m min for:

[0023]

[0024] The maximum value of the distance block number m max for:

[0025]

[0026] Where r is the length of the distance block in meters.

[0027] Compared with the prior art, the present invention has the following advantages:

[0028] The sector block structure in the method for pre-associating a track and a primary point track based on a sector block structure of the present invention can effectively avoid invalid matching between the track and a primary point track with a large distance difference; compared with the traditional scheme, the present invention greatly reduces the amount of calculation and improves the calculation performance of the system. BRIEF DESCRIPTION OF THE DRAWINGS

[0029] Figure 1 It is a schematic diagram of the fan block structure;

[0030] Figure 2 It is a schematic diagram of a matrix structure in which the sector block structure is rearranged according to the azimuth sector number and the range block number;

[0031] Figure 3 It is a schematic diagram of the data structure of a sector;

[0032] Figure 4 The figure is a flow chart of a method for pre-association of a track and a point track based on a sector structure. DETAILED DESCRIPTION

[0033] It should be noted that, in the absence of conflict, the embodiments and features in the embodiments of the present application can be combined with each other. The present invention will be described in detail below with reference to the accompanying drawings and in combination with the embodiments.

[0034] In order to enable those skilled in the art to better understand the solution of the present application, the technical solution in the embodiments of the present application will be clearly and completely described below in conjunction with the drawings in the embodiments of the present application. Obviously, the described embodiments are only part of the embodiments of the present application, not all of the embodiments. Based on the embodiments in the present application, all other embodiments obtained by ordinary technicians in this field without creative work should fall within the scope of protection of the present application.

[0035] like Figure 1-4 As shown, the present invention provides a method for pre-associating a track with a primary point track based on a sector structure, which is suitable for a tracking while scanning (TWS) working mode.

[0036] Among them, Figure 1 As shown, in azimuth, the airspace is evenly divided into sectors, and the sectors do not intersect with each other. Each azimuth sector covers a certain azimuth angle, and the beam width is There are N azimuth sectors, numbered 0 to N-1. At the same time, each azimuth sector is evenly divided into distance blocks. The distance blocks do not intersect with each other. Each distance block covers a certain distance. There are M distance blocks, numbered 0 to M-1. From a spatial perspective, it is equivalent to dividing the airspace into sectors one by one according to azimuth and distance. Figure 2 It is a schematic diagram of a matrix structure in which the sector block structure is rearranged according to the azimuth sector number and the range block number; Figure 3 It is a schematic diagram of the data structure of the sector block; the data structure of the queue is realized, each azimuth sector stores a track queue and a distance block queue, and each distance block queue stores a point track queue.

[0037] After receiving the data message from the signal processing subsystem, the system status such as azimuth and primary traces are analyzed and extracted; the primary traces are placed in the distance block of the corresponding azimuth sector according to their azimuth and distance.

[0038] The calculation method of the azimuth sector number n where a point trace is located is:

[0039]

[0040] Where, Φ is the azimuth angle extracted from the data message where the primary point trace is located, and the unit is degree; is the width of the azimuth sector, in degrees; N is the number of azimuth sectors,

[0041] The calculation method of the distance block number m where a point trace is located is:

[0042]

[0043] Where R is the distance of a point trace, in meters; r is the length of the distance block, in meters; floor(·) is the floor rounding function.

[0044] like Figure 4 As shown in the figure, when the track is pre-associated with the primary track, the range of the distance block where the primary track that may be associated with the track is located is first calculated, and then all the primary tracks in the distance block are traversed, the track is gate-matched with each primary track, and the primary track that meets the pre-association conditions is added to the associated primary track queue of the track. When the track update process is entered after the pre-association is completed, the most appropriate primary track is selected from the associated primary track queue according to the nearest neighbor criterion or other criteria for updating the track.

[0045] For each track, the calculation steps for the range block range of the primary track that may be associated with it are:

[0046] (1) Extrapolate the track based on the time difference between the track and the primary track to obtain the extrapolated distance R p , and according to the preset distance protection window length ΔR p , the possible distance range that satisfies the pre-association condition with the extrapolated track point is (R p -ΔR p ) to (R p +ΔR p ).

[0047] (2) Considering that the target may be maneuvering, or the radar may not have detected the target in the previous round, resulting in the track being in an extrapolated state, the distance R of the track point updated based on the last point track in this track is calculated. m , and the length of the preset distance protection window ΔR m , the distance range of the primary point trace that may meet the pre-association condition is (R m -ΔR m) to (R m +ΔR m ).

[0048] (3) Combining the above two situations, the minimum value R of the distance range where the primary trace may meet the pre-association condition min for:

[0049] R min =min(R p -ΔR p ,R m -ΔR m )

[0050] The maximum value Rmax is:

[0051] R max =max(R p +ΔR p ,R m +ΔR m )

[0052] Where min(·) is the function that takes the minimum value; max(·) is the function that takes the maximum value.

[0053] (4) According to the distance range, the range of the distance block number where the primary point trace that meets the pre-association condition is located can be obtained, and the minimum value of the distance block number m min for:

[0054]

[0055] The maximum value of the distance block number m max for:

[0056]

[0057] Where r is the length of the distance block in meters.

[0058] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A method for pre-associating a track with a primary point track based on a sector structure, characterized by: The following steps are involved: (1) In terms of azimuth, the airspace is evenly divided into sectors. Sectors do not intersect with each other. Each azimuth sector covers a certain azimuth angle. At the same time, each azimuth sector is evenly divided into range blocks. Range blocks do not intersect with each other. Each range block covers a certain distance. From a spatial perspective, it is equivalent to dividing the airspace into sectors one by one according to azimuth and distance. The azimuth sector is implemented through a queue data structure. Each azimuth sector stores a range block queue and a track queue. Each range block queue stores a point track queue. (2) After receiving the data message from the signal processing subsystem, the azimuth and primary trace are extracted and analyzed, and the primary trace is placed in the range block of the corresponding azimuth sector according to its azimuth and distance; (3) When the track is pre-associated with the primary track, the range of the distance block where the primary track that may be associated with the track is located is first calculated, and then all the primary tracks in the distance block are traversed, the track is gate-matched with each primary track, and the primary track that meets the pre-association conditions is added to the primary track queue that can be associated with the track; when the track update process is entered after the pre-association is completed, the most appropriate primary track is selected from the associated primary track queue according to the nearest neighbor criterion for updating the track, wherein for each track, the calculation steps of the range of the distance block where the primary track that may be associated with it is located are: (1) Extrapolate the track based on the time difference between the track and the primary track to obtain the extrapolated distance R p , and according to the preset distance protection window length ΔR p , the possible distance range that satisfies the pre-association condition with the extrapolated track point is (R p -ΔR p ) to (R p +ΔR p ); (2) Considering that the target may be maneuvering, or the radar may not have detected the target in the previous round, resulting in the track being in an extrapolated state, the distance R of the track point updated based on the last point track in this track is calculated. m , and the length of the preset distance protection window ΔR m , the distance range of the primary point trace that may meet the pre-association condition is (R m -ΔR m ) to (R m +ΔR m ); (3) Combining the above two situations (1) and (2), the minimum value R of the distance range where the primary point trace may meet the pre-association condition min for: R min =min(R p -ΔR p ,R m -ΔR m ) Maximum R max for: R max =max(R p +ΔR p ,R m +ΔR m ) In the formula, min(·) is the function that takes the minimum value; max(·) is the function that takes the maximum value; (4) According to the distance range, the range of the distance block number where the primary point trace that meets the pre-association condition is located can be obtained, and the minimum value of the distance block number m min for: The maximum value of the distance block number m max for: Where r is the length of the distance block in meters, and floor(·) is the floor rounding function.

2. A method for pre-associating a track with a primary point track based on a sector structure as claimed in claim 1, characterized in that: The calculation method of the azimuth sector number n where a point trace is located is: Where, Φ is the azimuth angle extracted from the data message where the primary point trace is located, and the unit is degree; is the width of the azimuth sector, in degrees; N is the number of azimuth sectors, The calculation method of the distance block number m where a point trace is located is: Where R is the distance of a point trace, in meters; r is the length of the distance block, in meters; floor(·) is the floor rounding function.

Images