Data Processing Method for On-Chip Multi-Target Dynamic Trajectory Tracking

Abstract

A data processing method for multi-target dynamic trajectory tracking on a chip, comprising: dividing the data space storing target dynamic trajectory information into a short trajectory storage space and a long trajectory storage space; when a new trajectory point appears, determining whether it is the starting point of a new target's trajectory or the continuation point of a tracked target's trajectory; for the starting point of a new target's trajectory, writing the new trajectory information into the short trajectory storage space; for the continuation point of a tracked target's trajectory, writing the new trajectory information into the short trajectory storage space or the long trajectory storage space according to the trajectory length; when a complete trajectory information needs to be read, fetching data from the short trajectory storage space and the long trajectory storage space respectively; when a complete trajectory information needs to be deleted, deleting data from the short trajectory storage space and the long trajectory storage space respectively. The present invention effectively improves the utilization rate of the trajectory storage space, increases the number of short trajectories that can be stored, increases the length of long trajectories that can be stored, and greatly improves the ability of dynamic target trajectory tracking.

Description

Technical Field

[0001] The present invention relates to a data processing method for on-chip multi-target dynamic trajectory tracking, and particularly to a method for efficiently managing trajectory data by optimizing data management design and dynamically storing more trajectory data using limited data storage space. Background Art

[0002] In a device-level multi-target trajectory tracking and data management system, there is no strict requirement for trajectory data management because there is no severe restriction on the usage capacity of data storage space. However, in an on-chip multi-target trajectory tracking and data management system, the limited data storage resources restrict the volume of trajectory data that can be dynamically stored. Traditional solutions allocate the same data storage capacity to each trajectory, and there is a mutual restriction between increasing the number of saved trajectory data and the length of saved trajectory data. Due to the existence of a large number of false trajectories and short trajectories, the utilization rate of trajectory data storage space is very low. Summary of the Invention

[0003] The technical problem to be solved by the present invention is: to overcome the deficiencies of the prior art and provide a data processing method for on-chip multi-target dynamic trajectory tracking. The trajectory data storage space is divided into a short-trajectory storage space and a long-trajectory storage space, and through the address association mapping between the short-trajectory storage space and the long-trajectory storage space, a dynamic link between the two storage spaces is established, so as to meet the requirement of increasing the number of short trajectories that can be saved while also meeting the requirement of retaining more long-trajectory historical data that have to be discarded due to space limitations, and improving the utilization rate of the storage space.

[0004] The technical solution of the present invention is as follows:

[0005] A data processing method for on-chip multi-target dynamic trajectory tracking includes the following steps:

[0006] 1) Divide the data space for storing target dynamic trajectory information into a short-trajectory storage space and a long-trajectory storage space, allocate the capacity of the storage space, and manage the write address queue of the trajectory storage space, reset the target number counter, and manage the target attribute information of the tracked targets. When a new trajectory point is tracked and write processing is to be performed, go to step 2); when reading trajectory information, go to step 5); when deleting trajectory information, go to step 6).

[0007] 2) When a new trajectory point appears, determine whether it is the starting point of a new target's trajectory or the continuation point of a tracked target's trajectory. When the new trajectory point is confirmed as the starting point of a new target's trajectory, go to step 3); when the new trajectory point is confirmed as the continuation point of a tracked target's trajectory, go to step 4).

[0008] 3) Determine whether the write address queue of the short trajectory storage space is empty. If it is not empty, create the target attribute information of the starting point of the trajectory, write the trajectory information corresponding to the starting point of the trajectory into the short trajectory storage space, and update the write address of the short trajectory storage space. If it is empty and the trajectory information cannot be written, discard the trajectory points obtained in step 2) without performing the write process.

[0009] 4) Obtain the target attribute information according to the target number of the trajectory continuation point. Determine whether to write the trajectory information of the trajectory continuation point into the short trajectory storage space or the long trajectory storage space according to the trajectory length corresponding to the target attribute information of the trajectory continuation point, and complete the write process.

[0010] 5) Obtain the target attribute information according to the target number of the target to be read. Determine whether to read the trajectory information of the target from the short trajectory storage space or the long trajectory storage space according to the trajectory length corresponding to the target attribute information of the target to be read, and complete the reading of the trajectory information.

[0011] 6) Obtain the target attribute information according to the target number of the target to be deleted. Determine whether to delete the trajectory information of the target from the short trajectory storage space or the long trajectory storage space according to the trajectory length corresponding to the target attribute information of the target to be deleted, and complete the deletion of the trajectory information.

[0012] The beneficial effects of the present invention compared with the prior art are as follows:

[0013] 1) Compared with the prior art that assigns the same data storage capacity to each trajectory, the present invention assigns different storage capacities according to the length of the trajectory, improving the utilization rate of the data storage space.

[0014] 2) Since the difference in the trajectory lengths that can be stored in the short trajectory storage space and the long trajectory storage space is relatively large, and the number of short trajectories accounts for the majority of all trajectories, with the same storage space, the present invention can store more short trajectory data and longer long trajectory data.

[0015] 3) The present invention establishes an address association mapping between the short trajectory storage space and the long trajectory storage space, establishes a dynamic link between the two spaces, and the long trajectory storage space is only allocated to the long trajectories that need it. BRIEF DESCRIPTION OF THE DRAWINGS

[0016] Figure 1 is the flowchart of the method of the present invention.

[0017] Figure 2 Comparison between the traditional method and the method of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0018] Such as Figure 1As shown in the figure, the multi-objective dynamic trajectory tracking and data processing method proposed by the present invention includes trajectory storage space division, storage space address management, target attribute management, writing of new trajectory points, reading of trajectory data, and deletion of trajectory data.

[0019] A data processing method for on-chip multi-objective dynamic trajectory tracking according to the present invention includes the following steps:

[0020] 1) Divide the data space for storing target dynamic trajectory information into a short trajectory storage space and a long trajectory storage space, allocate the capacity of the storage space, and perform management of the write address queue for the trajectory storage space, reset the target number counter, and manage the target attribute information of the tracked targets; when a new trajectory point is tracked and write processing is performed, go to step 2), when reading trajectory information, go to step 5), and when deleting trajectory information, go to step 6);

[0021] 2) When a new trajectory point appears, determine whether it is the starting point of the trajectory of a new target or the continuation point of the trajectory of a tracked target; when the new trajectory point is confirmed as the starting point of the trajectory of a new target, go to step 3), and when the new trajectory point is confirmed as the continuation point of the trajectory of a tracked target, go to step 4);

[0022] 3) Determine whether the write address queue of the short trajectory storage space is empty. If it is not empty, create the target attribute information of the trajectory starting point, write the trajectory information corresponding to the trajectory starting point into the short trajectory storage space, and update the write address of the short trajectory storage space; if it is empty and the trajectory information cannot be written, discard the trajectory point obtained in step 2) and do not perform write processing;

[0023] 4) Obtain the target attribute information according to the target number of the trajectory continuation point, and determine whether to write the trajectory information of the trajectory continuation point into the short trajectory storage space or the long trajectory storage space according to the trajectory length of the target attribute information corresponding to the trajectory continuation point, and complete the write processing work;

[0024] 5) Obtain the target attribute information according to the target number of the target to be read, and determine whether to read the trajectory information of the target from the short trajectory storage space or the long trajectory storage space according to the trajectory length of the target attribute information corresponding to the target to be read, and complete the reading of the trajectory information;

[0025] 6) Obtain the target attribute information according to the target number of the target to be deleted, and determine whether to delete the trajectory information of the target from the short trajectory storage space or the long trajectory storage space according to the trajectory length of the target attribute information corresponding to the target to be deleted, and complete the deletion of the trajectory information.

[0026] The capacity allocation of the storage space in step 1) refers to the number M of trajectory information that can be written for each trajectory in the short trajectory storage space S , and the number H of trajectories that can be stored S; The number of track information that can be written for each track in the long - track storage space, M L , The number of tracks that can be stored, H L ; Set M S , M L , H S , H L The basic principle of M S <M L , H S >H L .

[0027] The management of the write - address queue in the track storage space in step 1) means that the initial values of the write - address queue AD in the short - track storage space are 1, 2, ……, H S , and the initial values of the write - address queue AD in the long - track storage space are 1, 2, ……, H S , L , L .

[0028] The reset of the target number counter in step 1) means that the target number counter Num is set to 1, and for each newly written target track, the target number counter Num is incremented by 1.

[0029] The management of the target attribute information of the tracked targets in step 1) means that the target attribute information of the tracked targets records the target number, track length, short - track storage space address, and long - track storage space address of the tracked targets.

[0030] The method for determining whether the new track point is the starting point of a new target or the continuation point of a tracked target in step 2) is specifically as follows:

[0031] 21) According to the historical tracks of each tracked target, determine the position and error radius corresponding to each tracked target at the current moment;

[0032] 22) Calculate the distance between the position of the new track point and the current position of each tracked target as the deviation distance;

[0033] 23) Determine whether the deviation distance is greater than the corresponding error radius. If all deviation distances are greater than the corresponding error radii, the new track point is the starting point of a new target; otherwise, the new track point is the continuation point of a tracked target.

[0034] The target attribute information of the newly created track starting point in step 3) means that for each obtained starting point of a new target's track, the current value of the target number counter is used as the target number corresponding to the track of the starting point. At the same time, the value of the target number counter is incremented by 1, and the track length of the target attribute information of the new target track is set to 1.

[0035] The method of writing the trajectory information corresponding to the trajectory starting point into the short trajectory storage space in step 3) is specifically as follows:

[0036] For each newly obtained trajectory starting point of a target, set the short trajectory storage space address of the new target trajectory starting point as the top address in the short trajectory storage space write address queue. Write the trajectory information corresponding to the trajectory starting point into the short trajectory storage space, set the trajectory length of the trajectory corresponding to the trajectory starting point to 1, and then delete the top address in the short trajectory storage space write address queue, and the subsequent write addresses in the short trajectory storage space write address queue move up to fill the position. The long trajectory storage space address of the new target trajectory starting point is empty.

[0037] The method of writing the trajectory information of the trajectory continuation point into the short trajectory storage space or the long trajectory storage space in step 4) is specifically as follows:

[0038] 41) Obtain the target attribute information through the target number of the trajectory continuation point. If the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is less than M S , then go to step 42); if the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is equal to M S , then go to step 43); if the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is equal to M S +M L , then go to step 44); if the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is greater than M S and less than M S +M L , then go to step 45);

[0039] 42) According to the short trajectory storage space address in the target attribute information of the trajectory corresponding to the trajectory continuation point, write the new trajectory information into the short trajectory storage space, and accumulate 1 to the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point;

[0040] 43) Determine whether the long trajectory storage space write address queue is empty. If it is not empty, set the long trajectory storage space address of the trajectory continuation point as the top address in the long trajectory storage space write address queue, write the new trajectory information into the long trajectory storage space, and accumulate 1 to the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point; then delete the top address in the long trajectory storage space write address queue, and the subsequent write addresses in the long trajectory storage space write address queue move up to fill the position; if the long trajectory storage space write address queue is empty, according to the short trajectory storage space address in the target attribute information of the trajectory corresponding to the trajectory continuation point, delete the earliest trajectory information in the short trajectory storage space address, move the subsequent trajectory information forward to fill the position, and write the new trajectory information into the last position of the short trajectory storage space address;

[0041] 44) Delete the earliest trajectory information in the short trajectory storage space address corresponding to the trajectory of the trajectory continuation point, move the subsequent trajectory information forward to fill the position, write the earliest trajectory information in the long trajectory storage space address corresponding to the trajectory of the trajectory continuation point to the last position in the short trajectory storage space address, move the trajectory information in the long trajectory storage space address forward to fill the position, and write the new trajectory information to the last position in the long trajectory storage space address;

[0042] 45) According to the long trajectory storage space address in the target attribute information corresponding to the trajectory of the trajectory continuation point, write the new trajectory information into the long trajectory storage, and increment the trajectory length in the target attribute information corresponding to the trajectory of the trajectory continuation point by 1 to complete the trajectory information storage.

[0043] The method for reading trajectory information described in step 5) is specifically as follows:

[0044] 51) Judge the trajectory length in the target attribute information corresponding to the trajectory to be read. When the trajectory length is less than or equal to M S At this time, according to the short trajectory storage space address in the target attribute information corresponding to the trajectory to be read, read the trajectory information from the short trajectory storage space to obtain a complete trajectory;

[0045] 52) Judge the trajectory length in the target attribute information corresponding to the trajectory to be read. When the trajectory length is greater than M S At this time, according to the short trajectory storage space address in the target attribute information corresponding to the trajectory to be read, read the trajectory information from the short trajectory storage space as the first segment of trajectory information, and according to the long trajectory storage space address in the target attribute information corresponding to the trajectory to be read, read the trajectory information from the long trajectory storage space as the last segment of trajectory information, and splice the two parts of trajectory information, namely the first segment of trajectory information and the last segment of trajectory information, to form a complete trajectory, thus completing the reading of the trajectory information.

[0046] The method for deleting trajectory information described in step 6) is specifically as follows:

[0047] 61) Judge the trajectory length in the target attribute information corresponding to the trajectory to be deleted. When the trajectory length is less than or equal to M S At this time, according to the short trajectory storage space address in the target attribute information corresponding to the trajectory to be deleted, delete the trajectory information in the short trajectory storage space address; when the trajectory length is greater than M S At this time, according to the short trajectory storage space address and the long trajectory storage space address in the target attribute information corresponding to the trajectory to be deleted, delete the trajectory information in the short trajectory storage space address and the trajectory information in the long trajectory storage space address;

[0048] 62) Judge the trajectory length in the target attribute information corresponding to the trajectory to be deleted. When the trajectory length is less than or equal to M SWhen the length of the track to be deleted is less than or equal to M, write the short track storage space address in the target attribute information corresponding to the track to be deleted to the end of the short track storage space write address queue; when the track length is greater than M S When the length of the track to be deleted is less than or equal to M, write the short track storage space address in the target attribute information corresponding to the track to be deleted to the end of the short track storage space write address queue; write the long track storage space address in the target attribute information corresponding to the track to be deleted to the end of the long track storage space write address queue;

[0049] 63) Delete the target number and target attribute information corresponding to the target to be deleted, and complete the deletion of the track information.

[0050] Embodiment

[0051] (1) As Figure 2 shown, divide the 512M track data storage space into a short track storage space with a capacity of 1488x16x16bit (including 8bit for each of the abscissa and ordinate) and a long track storage space with a capacity of 64x128x16bit; the maximum recorded track length of the short track is M S = 16 points, and the number of tracks H S that can be stored = 1488; the maximum recordable track length of the long track is M L = 128, and the number of tracks H L that can be stored = 64; the short track storage space write address queue AD S are 1, 2,..., 1488 respectively; the long track storage space write address queue AD L are distributed as 1, 2,..., 64; the target coding counter Num is 1, and the target attribute information of the tracked target is empty;

[0052] (2) When a new track point appears, if the target counter is 1, it is determined that the new track point is the starting point of the track of a new target. The target number of the new target corresponding to the target attribute information is 1, the track length is 1, the short track storage space address is 1, and the long track storage space address is 1; if the target counter is not 1, calculate the target position and error radius of each tracked target at the current moment. When the deviation distance between the new track point and the target position of a certain tracked target at the current moment is less than the corresponding error radius, it is determined that it is a track continuation point of the tracked target, and obtain the target number and enter step 3); if the deviation distance between the new track point and the target positions of all tracked targets at the current moment is greater than the corresponding error radius, it is determined that the new track point is the starting point of the track of a new target, and enter step 4);

[0053] (3) Determine whether the short track storage space write address queue is empty. If it is not empty, the target number N of the new target = Num, the target number counter Num is incremented by 1, the track length of the new target is 1, and the short track storage space address PH of the new targetS Write the top address AD of the write address queue for the short trajectory storage space S (1) Write the new trajectory information into the short trajectory storage space. The long trajectory storage space address of the new target is empty. Delete the top information AD of the write address queue for the short trajectory storage space S (1) For the subsequent write addresses of other write address queues in the short trajectory storage space, move them up to fill the position. If the write address queue for the short trajectory storage space is empty, the trajectory information cannot be written

[0054] (4) Obtain the target attribute information according to the target number N. When the trajectory length L of the trajectory corresponding to the target continuation point < M S Write the new trajectory information into the short trajectory storage space PH corresponding to the target number N S at the address, and the trajectory length L = L + 1. When the trajectory length L = M S Determine whether the write address queue AD for the long trajectory storage space L is empty. If it is not empty, the trajectory length L = L + 1, and the long trajectory storage space address PH of the trajectory corresponding to the target continuation point L is the top address AD of the write address queue for the long trajectory storage space L (1) Then write the new trajectory information into the long trajectory storage space PH L at the address, and delete the top information AD of the write address queue for the long trajectory storage space L (1) For the subsequent write addresses of other write address queues in the long trajectory storage space, move them up to fill the position. If the write address queue AD for the long trajectory storage space L is empty, then delete the earliest trajectory information in the short trajectory storage space PH S The other trajectory information in the short trajectory storage space PH S moves forward to fill the position, and write the new trajectory information into the short trajectory storage space PH S at the address. When the trajectory length L = M S + M L Delete the earliest trajectory information in the short trajectory storage space PH S The other trajectory information in the short trajectory storage space PH S moves forward to fill the position, write the earliest trajectory information in the long trajectory storage space PH L into the short trajectory storage space PH S at the address, the other trajectory information in the long trajectory storage space PH S moves forward to fill the position, and write the new trajectory information into the long trajectory storage space PH L at the address. When the trajectory length L > M S Write the new trajectory information into the long trajectory storage space PH L at the address, and the trajectory length L = L + 1

[0055] (5) When it is necessary to read a complete track information, obtain the target attribute information through the target number N. When the track length L ≤ M S , according to the short track storage space address PH in the target attribute information corresponding to the track to be read S , read the track information from the short track storage space to obtain a complete track; when the track length L > M S , according to the short track storage space address PH in the target attribute information corresponding to the track to be read S , read the track information from the short track storage space as the first segment of the track information, and according to the long track storage space address PH in the target attribute information corresponding to the track to be read L , read the track information from the long track storage space as the last segment of the track information, and splice the two parts of the track information, the first segment of the track information and the last segment of the track information, to form a complete track;

[0056] (6) When it is necessary to delete a complete track information, obtain the target attribute information through the target number N. When the track length L ≤ M S , according to the short track storage space address in the target attribute information corresponding to the track to be deleted, delete the track information in the short track storage space address, and write the short track storage space address in the target attribute information corresponding to the track to be deleted to the end of the short track storage space write address queue; when the track length L > M S , according to the short track storage space address in the target attribute information corresponding to the track to be deleted, delete the track information in the short track storage space, and write the short track storage space address in the target attribute information corresponding to the track to be deleted to the end of the short track storage space write address queue; according to the long track storage space address in the target attribute information corresponding to the track to be deleted, delete the track information in the long track storage space, and write the long track storage space address in the target attribute information corresponding to the track to be deleted to the end of the short track storage space write address queue; delete the target number and target attribute information corresponding to the target to be deleted;

[0057] Although the present invention has been disclosed above with preferred embodiments, it is not used to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solution of the present invention without departing from the spirit and scope of the present invention. Therefore, any simple modification, equivalent change and modification made to the above embodiments according to the technical essence of the present invention without departing from the content of the technical solution of the present invention shall fall within the protection scope of the technical solution of the present invention.

[0058] The content not detailedly described in the specification of the present invention belongs to the well-known technology of those skilled in the art.

Claims

1. Data processing method for on-chip multi-target dynamic trajectory tracking, Characterized in that, It includes the following steps: 1) Divide the data space storing target dynamic trajectory information into a short trajectory storage space and a long trajectory storage space, allocate the capacity of the storage space, and manage the write address queue of the trajectory storage space. Reset the target number counter and manage the target attribute information of the tracked targets. When a new trajectory point is tracked and write processing is to be performed, go to step 2). When reading trajectory information, go to step 5). When deleting trajectory information, go to step 6); 2) When a new trajectory point appears, determine whether it is the starting point of a new target's trajectory or the continuation point of a tracked target's trajectory. When the new trajectory point is confirmed as the starting point of a new target's trajectory, go to step 3). When the new trajectory point is confirmed as the continuation point of a tracked target's trajectory, go to step 4); 3) Judge whether the write address queue of the short trajectory storage space is empty. If it is not empty, create the target attribute information of the trajectory starting point, write the trajectory information corresponding to the trajectory starting point into the short trajectory storage space, and update the write address of the short trajectory storage space. If it is empty and the trajectory information cannot be written, discard the trajectory point obtained in step 2) and do not perform write processing; 4) Obtain the target attribute information according to the target number of the trajectory continuation point, and determine whether to write the trajectory information of the trajectory continuation point into the short trajectory storage space or the long trajectory storage space according to the trajectory length of the target attribute information corresponding to the trajectory continuation point, and complete the write processing work; 5) Obtain the target attribute information according to the target number of the target to be read, and determine whether to read the target's trajectory information from the short trajectory storage space or the long trajectory storage space according to the trajectory length of the target attribute information corresponding to the target to be read, and complete the reading of the trajectory information; 6) Obtain the target attribute information according to the target number of the target to be deleted, and determine whether to delete the target's trajectory information from the short trajectory storage space or the long trajectory storage space according to the trajectory length of the target attribute information corresponding to the target to be deleted, and complete the deletion of the trajectory information; The capacity of the storage space allocated in step 1) refers to the number M of track information that can be written for each track in the short track storage space S , and the number H of tracks that can be stored S ; for the long track storage space, the number M of track information that can be written for each track L , and the number H of tracks that can be stored L ; set M S , M L , H S , H L The basic principle of M S < M L , H S > H L .

2. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 1, Characterized in that: The management of the write address queue in the trajectory storage space in step 1) refers to the short trajectory storage space write address queue AD S with initial values of 1, 2, ……, H S , and the long trajectory storage space write address queue AD L with initial values of 1, 2, ……, H L .

3. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 1, Characterized in that: The reset of the target number counter in step 1) means that the target number counter Num is set to 1, and for each newly written target trajectory, the target number counter Num is incremented by 1.

4. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 1, Characterized in that: The management of the target attribute information of the tracked targets in step 1) means that the target attribute information of the tracked targets records the target number, trajectory length, short trajectory storage space address, and long trajectory storage space address of the tracked targets.

5. The data processing method for target dynamic trajectory tracking according to any one of claims 1 to 4, Characterized in that: The method for judging whether it is the starting point of a new target's trajectory or the continuation point of a tracked target's trajectory in step 2) is specifically: 21) According to the historical trajectories of each tracked target, determine the position and error radius corresponding to each tracked target at the current moment; 22) Calculate the distance between the position of the new trajectory point and the current position of each tracked target as the deviation distance; 23) Determine whether the deviation distance is greater than the corresponding error radius. If all deviation distances are greater than the corresponding error radii, the new trajectory point is the starting point of the trajectory of a new target; otherwise, the new trajectory point is the continuation point of the trajectory of the tracked target.

6. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 5, characterized in that: In step 3), the target attribute information of the newly created trajectory starting point means that for each obtained trajectory starting point of a new target, the current value of the target number counter is used as the target number of the trajectory corresponding to the trajectory starting point. At the same time, the value of the target number counter is incremented by 1, and the trajectory length of the target attribute information of the new target trajectory is set to 1.

7. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 6, characterized in that: The method of writing the trajectory information corresponding to the trajectory starting point into the short trajectory storage space in step 3) is specifically as follows: For each obtained trajectory starting point of a new target, set the short trajectory storage space address of the new target trajectory starting point as the top address in the short trajectory storage space write address queue. Write the trajectory information corresponding to the trajectory starting point into the short trajectory storage space, set the trajectory length of the trajectory corresponding to the trajectory starting point to 1, and then delete the top address in the short trajectory storage space write address queue, and the subsequent write addresses in the short trajectory storage space write address queue move up to fill the position; the long trajectory storage space address of the new target trajectory starting point is empty.

8. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 7, characterized in that: The method of writing the trajectory information of the trajectory continuation point into the short trajectory storage space or the long trajectory storage space in step 4) is specifically as follows: 41) Obtain the target attribute information through the target number of the trajectory continuation point. If the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is less than M S , then proceed to step 42); if the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is equal to M S , then proceed to step 43); if the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is equal to M S +M L , then proceed to step 44); if the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point is greater than M S and less than M S +M L , then proceed to step 45); 42) According to the short trajectory storage space address in the target attribute information of the trajectory corresponding to the trajectory continuation point, write the new trajectory information into the short trajectory storage space, and increment the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point by 1; 43) Determine whether the long trajectory storage space write address queue is empty. If it is not empty, set the long trajectory storage space address of the trajectory continuation point as the top address in the long trajectory storage space write address queue, write the new trajectory information into the long trajectory storage space, and increment the trajectory length of the target attribute information of the trajectory corresponding to the trajectory continuation point by 1; then delete the top address in the long trajectory storage space write address queue, and the subsequent write addresses in the long trajectory storage space write address queue move up to fill the position; If the long trajectory storage space write address queue is empty, according to the short trajectory storage space address in the target attribute information of the trajectory corresponding to the trajectory continuation point, delete the earliest trajectory information in the short trajectory storage space address, move the subsequent trajectory information forward to fill the position, and write the new trajectory information into the last position of the short trajectory storage space address; 44) Delete the earliest trajectory information in the short trajectory storage space address corresponding to the trajectory of the trajectory continuation point, move the subsequent trajectory information forward to fill the position, write the earliest trajectory information in the long trajectory storage space address corresponding to the trajectory of the trajectory continuation point to the last position in the short trajectory storage space address, move the trajectory information in the long trajectory storage space address forward to fill the position, and write the new trajectory information to the last position in the long trajectory storage space address; 45) Write the new trajectory information into the long trajectory storage space according to the long trajectory storage space address in the target attribute information corresponding to the trajectory of the trajectory continuation point, increment the trajectory length of the target attribute information corresponding to the trajectory of the trajectory continuation point by 1, and complete the trajectory information storage.

9. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 8, characterized in that: The method for reading trajectory information in step 5) is specifically: 51) Determine the track length in the target attribute information corresponding to the track to be read. When the track length is less than or equal to M S At this time, according to the short track storage space address in the target attribute information corresponding to the track to be read, read the track information from the short track storage space to obtain a complete track; 52) Determine the track length in the target attribute information corresponding to the track to be read. When the track length is greater than M S At this time, according to the short track storage space address in the target attribute information corresponding to the track to be read, read the track information from the short track storage space as the first segment of track information, and according to the long track storage space address in the target attribute information corresponding to the track to be read, read the track information from the long track storage space as the last segment of track information. Concatenate the two parts of track information, namely the first segment of track information and the last segment of track information, to form a complete track, and complete the reading of track information.

10. The data processing method for on-chip multi-target dynamic trajectory tracking according to claim 9, characterized in that: The method for deleting trajectory information in step 6) is specifically: 61) Determine the track length in the target attribute information corresponding to the track to be deleted. When the track length is less than or equal to M S delete the track information in the short track storage space address according to the short track storage space address in the target attribute information corresponding to the track to be deleted; When the trajectory length is greater than M S delete the trajectory information in the short trajectory storage space address and the trajectory information in the long trajectory storage space address according to the short trajectory storage space address and the long trajectory storage space address in the target attribute information corresponding to the trajectory to be deleted; 62) Determine the track length in the target attribute information corresponding to the track to be deleted. When the track length is less than or equal to M S , write the storage space address of the short track in the target attribute information corresponding to the track to be deleted to the end of the write address queue of the short track storage space; when the track length is greater than M S , write the storage space address of the short track in the target attribute information corresponding to the track to be deleted to the end of the write address queue of the short track storage space; Write the long trajectory storage space address in the target attribute information corresponding to the trajectory to be deleted to the end of the long trajectory storage space write address queue; 63) Delete the target number and target attribute information corresponding to the target to be deleted, and complete the trajectory information deletion.

Images