Target tracking method, device, equipment and medium

Abstract

The application discloses a target tracking method, device, equipment and medium. The method comprises the following steps: acquiring current measurement data of a to-be-measured target collected by a radar, and an estimated value of a last state vector of the to-be-measured target at a last execution moment; determining a current deviation vector according to the current measurement data, the estimated value of the last state vector and set engineering parameter information; determining a current state vector of the to-be-measured target according to the current deviation vector and the estimated value of the last state vector; and determining a current position of the to-be-measured target according to the current state vector. The corresponding engineering parameter is introduced according to the data characteristics of the radar target tracking, the original deviation vector is corrected through the engineering parameter, the current state vector of the to-be-measured target is obtained through an extended Kalman filter, and the tracking of the to-be-measured target is realized. The problem of divergence of target position and state estimation in the target tracking process is solved, the stability of the filter is ensured, and the continuity and precision of the target tracking are improved.

Description

TECHNICAL FIELD

[0001] The present application relates to the radar technical field, and particularly to a target tracking method, device, equipment and medium. BACKGROUND

[0002] The measurement data obtained by the vehicle-mounted angular radar in detecting a target includes the position (radial distance), angle and speed (radial distance change rate) of the target relative to the radar. Generally, a simple Newton linear prediction model is used to track the target, i.e., to obtain the distance, speed and other information of the target to be measured in the Cartesian coordinate system. However, since the measurement is in the radar polar coordinate system and the state tracking of the target is in the Cartesian coordinate system, an extended Kalman filter needs to be used. However, the errors existing in the actual target detection will cause the filter to diverge, and the final target state value obtained is incorrect, so that the target loses tracking or the state is abnormal (such as position jump, speed mutation, etc.).

[0003] The prior art has designed an unscented Kalman filter (UKF) to reduce the linearization error, or has designed an adaptive filter adjustment process noise matrix Q and measurement noise matrix R to suppress the filter jitter caused by the measurement error. However, these methods increase the operation in practical application, and the estimated Q and R are not necessarily consistent with the actual situation, and even exacerbate the instability of the filter. SUMMARY

[0004] The present application provides a target tracking method, device, equipment and medium to accurately determine the current state vector of a target.

[0005] According to a first aspect of the present application, a target tracking method is provided, comprising:

[0006] obtaining current measurement data of a target to be measured collected by a radar, and an estimated value of a last state vector of the target to be measured at a last execution time;

[0007] determining a current deviation vector according to the current measurement data, the estimated value of the last state vector and set engineering parameter information;

[0008] determining a current state vector of the target to be measured according to the current deviation vector and the estimated value of the last state vector;

[0009] determining a current position of the target to be measured according to the current state vector.

[0010] According to a second aspect of the present application, a target tracking device is provided, comprising:

[0011] an obtaining module, configured to obtain current measurement data of a target to be measured collected by a radar, and an estimated value of a last state vector of the target to be measured at a last execution time;

[0012] The first determining module is configured to determine the current deviation vector according to the current measurement data, the previous state vector estimation value and the set engineering parameter information.

[0013] The second determining module is configured to determine the current state vector of the target to be measured according to the current deviation vector and the previous state vector estimation value.

[0014] The position determining module is configured to determine the current position of the target to be measured according to the current state vector.

[0015] According to a third aspect of the present application, an electronic device is provided, which comprises:

[0016] at least one processor; and a memory connected with the at least one processor in communication; wherein the memory stores a computer program which can be executed by the at least one processor, and the computer program is executed by the at least one processor to enable the at least one processor to execute the target tracking method according to any one of the embodiments of the present application.

[0017] According to another aspect of the present application, a computer readable storage medium is provided, which stores computer instructions for enabling a processor to implement the target tracking method according to any one of the embodiments of the present application when executed.

[0018] The technical scheme of the embodiments of the present application discloses a target tracking method, device, equipment and medium. The method comprises: acquiring current measurement data of a target to be measured collected by a radar, and a previous state vector estimation value of the target to be measured at a previous execution moment; determining a current deviation vector according to the current measurement data, the previous state vector estimation value and set engineering parameter information; determining a current state vector of the target to be measured according to the current deviation vector and the previous state vector estimation value; and determining a current position of the target to be measured according to the current state vector. By introducing corresponding engineering parameters according to the data characteristics of the radar target tracking, the original deviation vector is corrected through the engineering parameters, the current state vector of the target to be measured is obtained through the extended Kalman filter, and the tracking of the target to be measured is realized. The problem of divergence of the target position and state estimation in the target tracking process is solved, the stability of the filter is ensured, and the continuity and precision of the target tracking are improved.

[0019] It should be understood that the content described in this part is not intended to identify key or important features of the embodiments of the present application, nor to limit the scope of the present application. Other features of the present application will become apparent from the following description. BRIEF DESCRIPTION OF DRAWINGS

[0020] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the following will briefly introduce the drawings needed in the embodiment description. Obviously, the drawings in the following description only show some embodiments of the present application, and for those skilled in the art, other drawings can also be obtained without creative labor.

[0021] Figure 1 is a flow chart of a target tracking method according to an embodiment of the present application;

[0022] Figure 2 is a flow chart of a target tracking method according to an embodiment of the present application;

[0023] Figure 3 is a structural schematic diagram of a target tracking device according to an embodiment of the present application;

[0024] Figure 4 is a structural schematic diagram of an electronic device for implementing the target tracking method of the present application. DETAILED DESCRIPTION

[0025] In order to make the person skilled in the art better understand the present application, the following will combine the drawings in the embodiments of the present application to clearly and completely describe the technical solutions in the embodiments of the present application. Obviously, the described embodiments are only some of the embodiments of the present application, not all. Based on the embodiments in the present application, all other embodiments obtained by those skilled in the art without creative labor should be within the scope of protection of the present application.

[0026] It should be noted that the terms "first", "second", etc. in the specification and claims of the present application and the above-mentioned drawings are used to distinguish similar objects, and do not necessarily mean a specific order or sequence. It should be understood that the data thus used can be interchanged under appropriate circumstances, so that the embodiments of the present application described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "include" and "have" and any variations thereof are intended to cover non-exclusive inclusion, for example, a process, method, system, product or device including a series of steps or units does not necessarily have to be limited to those steps or units clearly listed, but can include other steps or units not clearly listed or inherent to these processes, methods, products or devices.

[0027] Embodiment one

[0028] Figure 1A flowchart of a target tracking method is provided for Embodiment One of the present application. The present embodiment can be applicable to the case of target tracking based on an extended Kalman filter. The method can be executed by a target tracking device, which can be implemented in the form of hardware and / or software, and can be configured in an electronic device. As shown in Figure 1 The method comprises the following steps.

[0029] In S110, current measurement data of a target to be measured collected by a radar is acquired, and an estimation value of a last state vector of the target to be measured at a last execution time point is acquired.

[0030] It should be noted that the current measurement data acquired by the radar is measurement data of the target to be measured relative to the radar, which is current measurement data in a radar polar coordinate system, while the state tracking of the target to be measured is in a Cartesian coordinate system. Therefore, the extended Kalman filter is used to convert the current measurement data in the Cartesian coordinate system to a state vector in the Cartesian coordinate system.

[0031] In the present embodiment, the radar can be understood as a device having a plurality of transmitting antennas and receiving antennas for transmitting and receiving radar signals. The target to be measured can be understood as a target to be tracked within the detection range of the radar. The current measurement data can be understood as data such as the position, angle and speed of the target to be measured relative to the radar obtained by converting the radar signals. The last execution time point can be understood as the time point at which the radar last detected the target to be measured. The last state vector estimation value can be understood as an estimation value of the current state vector predicted at the last execution time point.

[0032] Specifically, the radar can be provided on a vehicle, and the processor can control the radar to emit a linear frequency modulation continuous wave signal through the transmitting antennas of the radar. If there is a target to be measured within the detection range of the radar, the transmitting signal will form a receiving signal with information about the target to be measured after detecting the target to be measured, and the receiving signal can be received by the receiving antennas. The received receiving signal can be processed by mixing, filtering, sampling, etc. to obtain the current measurement data, wherein the current measurement data can include the position (radial distance), angle and speed (radial distance change rate) of the target to be measured relative to the radar. When the target to be measured is detected at the last execution time point of the radar, the state vector of the target to be measured at the last execution time point can be calculated according to the extended Kalman filter. The state transition matrix is multiplied by the state vector at the last execution time point to calculate the state vector value at the next execution time point, i.e. to predict the moving track of the target to be measured at the next execution time point, and obtain the last state vector estimation value. The processor can acquire the last state vector estimation value of the target to be measured at the last execution time point.

[0033] In S120, a current bias vector is determined according to the current measurement data, the last state vector estimation value and the set engineering parameter information.

[0034] In the embodiment, the engineering parameter information can be understood as a parameter not affected by the outside world, i.e., more accurate parameter information. The current deviation vector can be understood as a deviation vector between the current measurement data and the measurement equation of the last state vector estimation value.

[0035] Specifically, according to the recursive formula of the extended Kalman filter, the measurement equation of the last state vector can be calculated, the current measurement data is subtracted from the measurement equation of the last state vector, the deviation value of the two is determined, the deviation value is corrected according to the set engineering parameter information, and the more accurate corrected current deviation vector is obtained.

[0036] S130, according to the current deviation vector and the last state vector estimation value, determining the current state vector of the target to be measured.

[0037] In the embodiment, the current state vector can be understood as the state vector of the target to be measured at the current time in the Cartesian coordinate system, wherein the state vector includes the position, velocity and acceleration of the target to be measured in the x-axis direction at the current time, and the position, velocity and acceleration in the y-axis direction.

[0038] Specifically, according to the recursive formula of the extended Kalman filter, the last measurement data estimation value can be calculated according to the measurement data at the last execution time, the gain coefficient can be calculated according to the last measurement data estimation value and the last state vector estimation value, and the current state vector of the target to be measured can be determined according to the last state vector estimation value, the gain coefficient and the corrected current deviation vector.

[0039] S140, determining the current position of the target to be measured according to the current state vector.

[0040] In the embodiment, the current position can be understood as the position of the measurement target in the Cartesian coordinate system with the radar as the center.

[0041] Specifically, according to the current state vector, the position information of the target to be measured in the Cartesian coordinate system at the current time can be determined, the position of the target to be measured in the x-axis direction and the position in the y-axis direction can be determined, and the current position of the target to be measured can be determined according to the position information in the x-axis direction and the y-axis direction with the radar as the origin. In addition, the distance information of the target to be measured relative to the radar can be determined according to the position information in the x-axis direction and the y-axis direction, so as to realize the tracking of the target to be measured.

[0042] The target tracking method provided in the embodiment one comprises the following steps of: acquiring current measurement data of a to-be-measured target collected by a radar and a last state vector estimation value of the to-be-measured target at a last execution moment; determining a current bias vector according to the current measurement data, the last state vector estimation value and set engineering parameter information; determining a current state vector of the to-be-measured target according to the current bias vector and the last state vector estimation value; and determining a current position of the to-be-measured target according to the current state vector. The corresponding engineering parameter is introduced according to the data characteristics of the radar target tracking, the original bias vector is corrected through the engineering parameter, the current state vector of the to-be-measured target is obtained through the extended Kalman filter, and the tracking of the to-be-measured target is realized. The problem of divergence of target position and state estimation in the target tracking process is solved, the stability of the filter is ensured, and the continuity and precision of the target tracking are improved.

[0043] Embodiment two

[0044] Figure 2 The flowchart of the target tracking method provided in the embodiment two of the present application is a further refinement on the basis of the above-mentioned embodiment, as shown in Figure 2 The method comprises the following steps.

[0045] In the embodiment, the current measurement data of the to-be-measured target collected by the radar can be acquired, and the last state vector estimation value of the to-be-measured target at the last execution moment can be acquired.

[0046] S220, determining a current measurement vector of the to-be-measured target according to the current measurement data.

[0047] In the embodiment, the current measurement vector can be understood as a vector formed by a plurality of data in the current measurement data in a specified order.

[0048] Specifically, the current measurement data of the to-be-measured target collected by the radar can be acquired, and the current measurement data can include the position (radial distance), angle and speed (radial distance change rate) of the to-be-measured target relative to the radar, and the current measurement vector can be obtained by arranging the radial distance of the to-be-measured target relative to the radar, the angle relative to the radar and the radial speed relative to the radar in order.

[0049] For example, the current time is n, and the current measurement vector can be denoted as U(n), which can be determined by the following formula:

[0050] ;

[0051] Wherein r(n) represents the radial distance of the target relative to the radar, φ(n) represents the angle of the target relative to the radar, And v(n) represents the radial speed of the target relative to the radar.

[0052] S230. Based on the previous state vector estimate, determine the current measurement equation for the target to be measured.

[0053] Specifically, the previous state vector estimate can include the target's position, velocity, and acceleration along the x-axis and y-axis in Cartesian coordinates. The predicted x-axis and y-axis positions of the target at the previous execution time can be substituted into the measurement equation from the previous state vector estimate to determine the current measurement equation for the target.

[0054] For example, if the state at the previous execution time step is n-1, then the state vector S(n-1) at the previous execution time step can be denoted as:

[0055] ;

[0056] Where x(n-1), , y(n-1) represents the position, velocity, and acceleration of the target along the x-axis at time n-1, respectively. , These represent the position, velocity, and acceleration of the target under test along the y-axis at time n-1, respectively.

[0057] The estimated value S of the previous state vector can be calculated using the following formula based on the state vector at the previous execution time. apr (n):

[0058] ;

[0059] Where F is the state transition matrix.

[0060] Based on the estimated value S from the previous state vector apr (n), the measurement equation H(S) is calculated using the following formula. apr (n)):

[0061] ;

[0062] Where, x apr (n) can represent the estimated position of the target in the x-axis direction at time n, y apr (n) can represent the estimated position of the target under test in the y-axis direction at time n.

[0063] S240. Determine the current intermediate deviation vector based on the current measurement equation and the current measurement vector.

[0064] Specifically, the current measurement equation includes the predicted position value, angle value and speed value relative to the radar, and the current intermediate deviation vector can be determined by subtracting the current measurement vector from the current measurement equation.

[0065] For example, according to the above formula, the current measurement vector can be represented as U(n), the current measurement equation can be represented as H(S apr (n)), and the current intermediate deviation value y can be calculated by the following formula:

[0066] ;

[0067] S250, determining the current deviation vector according to the current intermediate deviation vector and the engineering parameter information.

[0068] Specifically, the current measurement vector includes the radial distance value, angle and radial speed relative to the radar, and the current measurement equation includes the predicted position value, angle value and speed value relative to the radar. The current intermediate deviation vector obtained by subtracting the current measurement equation from the current measurement vector includes the position deviation value obtained by subtracting the measured radial distance value from the predicted position value, the angle deviation value obtained by subtracting the measured angle from the predicted angle, and the speed deviation value obtained by subtracting the measured radial speed from the predicted speed. The engineering information parameter includes the maximum deviation values of the position, angle and speed obtained by engineering. The deviation values in the current intermediate deviation vector can be compared with the deviation maximum values in the engineering information parameter to ensure that the calculated current intermediate deviation vector is not greater than the engineering parameter information. If it is greater, the deviation maximum value can be replaced by the deviation value greater than it, so as to determine the current deviation vector.

[0069] Further, the step of determining the current deviation vector according to the current intermediate deviation vector and the engineering parameter information can include:

[0070] a1, obtaining the intermediate position deviation value, the intermediate angle deviation value and the intermediate speed deviation value included in the current intermediate deviation vector, wherein the position, angle and speed are the position, angle and speed of the target to be measured relative to the radar.

[0071] In this embodiment, the intermediate position deviation value can be understood as the position deviation value obtained by subtracting the measured radial distance value from the predicted position value. The intermediate angle deviation value can be understood as the angle deviation value obtained by subtracting the measured angle from the predicted angle. The intermediate speed deviation value can be understood as the speed deviation value obtained by subtracting the measured radial speed from the predicted speed.

[0072] Specifically, the current intermediate deviation vector can have three values arranged in a fixed order from left to right, the value at the leftmost position of the current intermediate deviation vector can be extracted as the intermediate position deviation value, the value at the middle position of the current intermediate deviation vector can be extracted as the intermediate angle deviation value, and the value at the rightmost position of the current intermediate deviation vector can be extracted as the intermediate speed deviation value.

[0073] a2, determining the position deviation value according to the intermediate position deviation value and the engineering parameter information.

[0074] Specifically, the intermediate position deviation value can be compared with the corresponding position value in the engineering parameter information, and the position deviation value can be determined according to the comparison result.

[0075] Further, the step of determining the position deviation value according to the intermediate position deviation value and the engineering parameter information can specifically include:

[0076] a21, obtaining the maximum position deviation value included in the engineering parameter information.

[0077] In the embodiment, the maximum position deviation value can be understood as the maximum value of the position deviation determined according to the engineering method.

[0078] Specifically, since the intermediate deviation vector includes the intermediate position deviation, the intermediate angle deviation and the intermediate speed deviation, and the engineering parameter information includes the maximum deviation values of the position, the angle and the speed, the maximum position deviation value included in the engineering parameter information can be obtained.

[0079] a22, taking the minimum value of the maximum position deviation value and the intermediate position deviation value as the position deviation value.

[0080] Specifically, the maximum position deviation value can be compared with the intermediate position deviation value, when the maximum position deviation value is greater than or equal to the intermediate position deviation value, the intermediate position deviation value can be taken as the position deviation value, when the maximum position deviation value is less than the intermediate position deviation value, it can be considered that the intermediate position deviation value calculated is inaccurate, and the maximum position deviation value can be taken as the position deviation value.

[0081] For example, the maximum position deviation value can be in the range of [1, 5], for example, taking 4 as the maximum position deviation value, the intermediate position deviation value calculated is 3, and the intermediate position deviation value is the minimum value, so 3 is taken as the position deviation value. For example, taking 2 as the maximum position deviation value, the intermediate position deviation value calculated is 3, and the maximum position deviation value is the minimum value, so 2 is taken as the position deviation value.

[0082] a3, determining the angle deviation value according to the intermediate angle deviation value and the engineering parameter information.

[0083] Specifically, the intermediate angle deviation value can be compared with a corresponding angle value in the engineering parameter information, and the angle deviation value can be determined according to a comparison result.

[0084] Further, the step of determining the angle deviation value according to the intermediate angle deviation value and the engineering parameter information can specifically include:

[0085] a31, obtaining a maximum angle deviation value included in the engineering parameter information.

[0086] In the embodiment, the maximum angle deviation value can be understood as a maximum value of the angle deviation determined according to the engineering method.

[0087] Specifically, since the intermediate deviation vector includes the intermediate position deviation, the intermediate angle deviation and the intermediate velocity deviation, and the engineering parameter information includes the maximum deviation values of the position, the angle and the velocity, the maximum angle deviation value included in the engineering parameter information can be obtained.

[0088] a32, determining whether the intermediate angle deviation value is greater than or equal to zero.

[0089] Specifically, since the to-be-measured target can be on the left side of the radar or on the right side of the radar, in order to distinguish, the angle value of the to-be-measured target on the left side of the radar measured by the radar can be set as a negative value, and the angle value of the to-be-measured target on the right side of the radar measured by the radar can be set as a positive value. Then, it is determined whether the intermediate angle deviation value is greater than or equal to zero.

[0090] a33, if yes, taking the minimum value of the maximum angle deviation value and the intermediate angle deviation value as the angle deviation value.

[0091] Specifically, after determining that the intermediate angle deviation value is greater than or equal to zero, the maximum angle value can be divided by 180° and multiplied by π to obtain an angle corresponding to the maximum angle value, then the obtained angle and the intermediate angle deviation value are compared to determine the minimum value, and the minimum value is taken as the angle deviation value.

[0092] a34, if no, taking the maximum value of the maximum angle deviation value and the intermediate angle deviation value as the angle deviation value.

[0093] Specifically, if the intermediate angle deviation value is less than zero, the maximum angle value can be divided by 180° and multiplied by π to obtain an angle corresponding to the maximum angle value, then the obtained angle and the intermediate angle deviation value are compared to determine the maximum value, and the maximum value is taken as the angle deviation value.

[0094] Exemplarily, the maximum angle deviation value can be in a range of [1, 10].

[0095] a4, determining the velocity deviation value according to the intermediate velocity deviation value and the engineering parameter information.

[0096] Specifically, the intermediate speed deviation value can be compared with the corresponding speed value in the engineering parameter information, and the speed deviation value can be determined according to the comparison result.

[0097] Further, the step of determining the speed deviation value according to the intermediate speed deviation value and the engineering parameter information can specifically include:

[0098] a41, obtaining the maximum speed deviation value included in the engineering parameter information.

[0099] In the embodiment, the maximum speed deviation value can be understood as the maximum value of the speed deviation determined according to the engineering method.

[0100] Specifically, since the intermediate deviation vector includes the intermediate position deviation, the intermediate angle deviation and the intermediate speed deviation, and the engineering parameter information includes the maximum deviation values of the position, the angle and the speed, the maximum speed deviation value included in the engineering parameter information can be obtained.

[0101] a42, taking the minimum value of the maximum speed deviation value and the intermediate speed deviation value as the speed deviation value.

[0102] Specifically, the maximum speed deviation value can be compared with the intermediate speed deviation value, when the maximum speed deviation value is greater than or equal to the intermediate speed deviation value, the intermediate speed deviation value can be taken as the speed deviation value, when the maximum speed deviation value is less than the intermediate speed deviation value, it can be considered that the intermediate speed deviation value calculated at present is inaccurate, and the maximum speed deviation value can be taken as the speed deviation value.

[0103] Exemplarily, the maximum position deviation value can be in the range of [1, 3].

[0104] a5, determining the current deviation vector according to the position deviation value, the angle deviation value and the speed deviation value.

[0105] Specifically, the current intermediate deviation vector can be replaced according to the determined position deviation value, angle deviation value and speed deviation value to obtain the current deviation vector.

[0106] S260, determining the current measurement matrix according to the last state vector estimation value.

[0107] Specifically, the position in the x-axis direction and the position in the y-axis direction in the last state vector estimation value can be determined to obtain the current measurement matrix according to the measurement matrix formula in the recursive formula of the extended Kalman filter.

[0108] S270, determining the current gain coefficient according to the current measurement matrix and the obtained measurement noise matrix.

[0109] Specifically, the measurement vector at the last execution time is combined with the state transition matrix and the process noise matrix to calculate the measurement vector estimation value at the last execution time. The current gain coefficient can be calculated according to the gain coefficient formula of the extended Kalman filter, according to the measurement vector estimation value, the measurement matrix, the last state vector estimation value and the measurement noise matrix.

[0110] For example, the current gain coefficient K can be calculated by the following formula:

[0111] K=P apr (n)×J H (S apr (n)) T (J H (S apr (n))×P apr (n)×J H (S apr (n))+R) -1 ;

[0112] Wherein, P apr (n) represents the measurement vector estimation value, J H (S apr (n)) represents the current measurement matrix, R represents the measurement noise matrix, S apr (n) represents the last state vector estimation value.

[0113] S280, according to the current gain coefficient, the current deviation vector and the last state vector estimation value, the current state vector of the target to be measured is determined.

[0114] Specifically, the current gain coefficient, the current deviation vector and the last state vector estimation value can be used to determine the current state vector of the target to be measured according to the state vector calculation formula in the extended Kalman filter.

[0115] For example, the current time is n, and the current state vector S(n) of the target to be measured can be determined by the following formula:

[0116] ;

[0117] Wherein, S apr (n) represents the last state vector estimation value, K is the current gain coefficient, is the current deviation vector.

[0118] S290, according to the current state vector, the current position of the target to be measured is determined.

[0119] The target tracking method provided in the second embodiment introduces corresponding engineering parameter information according to the data characteristics of radar target tracking, corrects the intermediate deviation vector obtained according to the extended Kalman filter by using the engineering parameter information, replaces the intermediate deviation vector greater than the engineering parameter information by using the corresponding numerical value in the engineering parameter information to obtain a current intermediate deviation vector, and obtains the current state vector of the target to be measured by combining the current intermediate deviation vector with the extended Kalman filter, so that the tracking of the target to be measured is realized. The problem of divergence of target position and state estimation in the target tracking process is solved, the filter divergence can be quickly and simply and efficiently suppressed, the stability of the filter is ensured, and the continuity and precision of target tracking are improved.

[0120] Embodiment three

[0121] Figure 3 The structure diagram of the target tracking device provided in the third embodiment of the present application is shown in FIG. 3. As shown in the figure, the device comprises an acquisition module 31, a first determination module 32, a second determination module 33 and a position determination module 34. Among them, Figure 3

[0122] The acquisition module 31 is configured to acquire the current measurement data of the target to be measured collected by the radar and the last state vector estimation value of the target to be measured at the last execution time.

[0123] The first determination module 32 is configured to determine a current deviation vector according to the current measurement data, the last state vector estimation value and the set engineering parameter information.

[0124] The second determination module 33 is configured to determine the current state vector of the target to be measured according to the current deviation vector and the last state vector estimation value.

[0125] The position determination module 34 is configured to determine the current position of the target to be measured according to the current state vector.

[0126] The target tracking device provided in the third embodiment corrects the original deviation vector by using the engineering parameter, obtains the current state vector of the target to be measured by using the extended Kalman filter, and realizes the tracking of the target to be measured. The problem of divergence of target position and state estimation in the target tracking process is solved, the stability of the filter is ensured, and the continuity and precision of target tracking are improved.

[0127] Optionally, the first determination module can comprise:

[0128] The first determination unit is configured to determine the current measurement vector of the target to be measured according to the current measurement data.

[0129] The second determination unit is configured to determine the current measurement equation of the target to be measured according to the last state vector estimation value.​

[0130] a third determining unit, configured to determine a current intermediate deviation vector according to the current measurement equation and the current measurement vector;

[0131] a fourth determining unit, configured to determine a current deviation vector according to the current intermediate deviation vector and engineering parameter information.

[0132] Further, the fourth determining unit can comprise:

[0133] an obtaining sub-unit, configured to obtain an intermediate position deviation value, an intermediate angle deviation value and an intermediate velocity deviation value comprised in the current intermediate deviation vector, wherein the position, the angle and the velocity are a position, an angle and a velocity of the target to be measured relative to the radar;

[0134] a first determining sub-unit, configured to determine a position deviation value according to the intermediate position deviation value and the engineering parameter information;

[0135] a second determining sub-unit, configured to determine an angle deviation value according to the intermediate angle deviation value and the engineering parameter information;

[0136] a third determining sub-unit, configured to determine a velocity deviation value according to the intermediate velocity deviation value and the engineering parameter information;

[0137] a fourth determining sub-unit, configured to determine the current deviation vector according to the position deviation value, the angle deviation value and the velocity deviation value.

[0138] The first determining sub-unit is specifically configured to:

[0139] obtain a maximum position deviation value comprised in the engineering parameter information;

[0140] take the minimum value between the maximum position deviation value and the intermediate position deviation value as the position deviation value.

[0141] The second determining sub-unit is specifically configured to:

[0142] obtain a maximum angle deviation value comprised in the engineering parameter information;

[0143] determine whether the intermediate angle deviation value is greater than or equal to zero;

[0144] if yes, take the minimum value between the maximum angle deviation value and the intermediate angle deviation value as the angle deviation value;

[0145] if no, take the maximum value between the maximum angle deviation value and the intermediate angle deviation value as the angle deviation value.

[0146] The third determining sub-unit can be specifically configured to:

[0147] obtaining a maximum speed deviation value included in the engineering parameter information;

[0148] taking the minimum of the maximum speed deviation value and the intermediate speed deviation value as the speed deviation value.

[0149] Optionally, the second determining module can be specifically used for:

[0150] determining a current measurement matrix according to the last state vector estimation value;

[0151] determining a current gain coefficient according to the current measurement matrix and the obtained measurement noise matrix;

[0152] determining a current state vector of the target to be measured according to the current gain coefficient, the current deviation vector and the last state vector estimation value.

[0153] The target tracking device provided in the embodiments can execute the target tracking method provided in any of the embodiments, and has the corresponding function modules and beneficial effects of the execution method.

[0154] Embodiment four

[0155] Figure 4 A structural schematic diagram of an electronic device 10 that can be used to implement embodiments of the present application is shown. The electronic device is intended to represent various forms of digital computers, such as laptops, desktops, tablets, personal digital assistants, servers, blade servers, mainframes, and other appropriate computers. The electronic device can also represent various forms of mobile devices, such as personal digital assistants, cellular telephones, smartphones, wearable devices (e.g., headsets, glasses, watches, etc.), and other similar computing devices. The components shown here, their connections and relationships, and their functions, are meant to be examples only, and are not intended to limit the implementations of the present application described and / or claimed in this document.

[0156] As shown in Figure 4 The electronic device 10 includes at least one processor 11, and a memory, such as a read-only memory (ROM) 12, a random access memory (RAM) 13, etc., which is communicatively connected to the at least one processor 11, wherein the memory stores a computer program that can be executed by the at least one processor. The processor 11 can perform various appropriate actions and processes according to the computer program stored in the read-only memory (ROM) 12 or the computer program loaded from the storage unit 18 into the random access memory (RAM) 13. In the RAM 13, various programs and data required for the operation of the electronic device 10 can also be stored. The processor 11, the ROM 12, and the RAM 13 are connected to each other through a bus 14. An input / output (I / O) interface 15 is also connected to the bus 14.

[0157] A plurality of components in the electronic device 10 are connected to the I / O interface 15, including: an input unit 16, such as a keyboard, a mouse, etc.; an output unit 17, such as various types of displays, speakers, etc.; a storage unit 18, such as a magnetic disk, an optical disk, etc.; and a communication unit 19, such as a network card, a modem, a wireless communication transceiver, etc. The communication unit 19 allows the electronic device 10 to exchange information / data with other devices through a computer network, such as the Internet, and / or various telecommunication networks.

[0158] The processor 11 can be various general and / or special purpose processing components with processing and computing capabilities. Some examples of the processor 11 include, but are not limited to, a central processing unit (CPU), a graphics processing unit (GPU), various specialized artificial intelligence (AI) computing chips, various processors running machine learning model algorithms, a digital signal processor (DSP), and any appropriate processor, processor, microprocessor, etc. The processor 11 performs various methods and processes described above, such as the target tracking method.

[0159] In some embodiments, the target tracking method can be implemented as a computer program tangibly embodied in a computer readable storage medium, such as the storage unit 18. In some embodiments, part or all of the computer program can be loaded and / or installed onto the electronic device 10 via the ROM 12 and / or the communication unit 19. When the computer program is loaded onto the RAM 13 and executed by the processor 11, one or more steps of the target tracking method described above can be performed. Alternatively, in other embodiments, the processor 11 can be configured to perform the target tracking method by any other appropriate means, such as by means of firmware.

[0160] Various implementations of the systems and techniques described above can be realized in digital electronic circuitry, integrated circuitry, a field programmable gate array (FPGA), an application specific integrated circuit (ASIC), a system on a chip (SOC), a programmable logic device (CPLD), computer hardware, firmware, software, and / or combinations thereof. These various implementations can include implementation in one or more computer programs that are executable and / or interpretable on a programmable system including at least one programmable processor, which can be special or general purpose, coupled to receive data and instructions from, and to transmit data and instructions to, a storage system, at least one input device, and at least one output device.

[0161] Computer programs used to practice the methods of the application can be written in any combination of one or more programming languages. These computer programs can be implemented on general-purpose computers, special purpose computers, or other programmable data processing apparatus to produce the functions / acts specified in the flow diagrams and / or block diagrams. Computer programs can be applied to a data changed on the functioning of the computer or processing apparatus by transforming the programming language into a machine language.

[0162] In the context of the present application, a computer-readable storage medium can be a tangible medium that can contain or store computer programs for use by or in connection with an instruction execution system, apparatus, or device. Computer-readable storage media can include, but are not limited to, electronic, magnetic, optical, electromagnetic, infrared, or semiconductor systems, apparatus, or devices, or any suitable combination of the foregoing. Alternatively, a computer-readable storage medium can be a machine-readable signal medium. More specific examples of a machine-readable storage medium will include one or more lines of electrical connections, portable computer disks, hard disk drives, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or Flash memory), optical fibers, portable compact disc read-only memory (CD-ROM), optical storage devices, magnetic storage devices, or any suitable combination of the foregoing.

[0163] To provide for interaction with a user, the systems and techniques described here can be implemented on an electronic device having a display device (e.g., a CRT (cathode ray tube) or LCD (liquid crystal display) monitor) for displaying information to the user and a keyboard and a pointing device (e.g., a mouse or a trackball) by which the user can provide input to the electronic device. Other kinds of devices can be used to provide for interaction with a user as well; for example, feedback provided to the user can be any form of sensory feedback (e.g., visual feedback, auditory feedback, or tactile feedback); and input from the user can be received in any form, including acoustic, speech, or tactile input.

[0164] The systems and techniques described herein can be implemented in a computing system that includes a back end component, e.g., as a data server, or that includes a front end component, e.g., a user computer having a graphical user interface or a Web browser through which a user can interact with an implementation of the systems and techniques described herein, or a computing system that includes both the back end component and the front end component, e.g., a distributed component / enterprise

[0165] The computing system can include clients and servers. A client and server are generally remote from each other and typically interact through a communication network. The relationship of client and server arises by virtue of computer programs running on the respective computers and having a client-server relationship to each other. The server can be a cloud server, also known as cloud computing server or cloud host, which is a host product in the cloud computing service system, to solve the defects of large management difficulty and weak business scalability in traditional physical host and VPS service.

[0166] It should be understood that the various forms of flow shown above can be re-ordered, added to, or deleted from without departing from the scope of the present disclosure. For example, the steps recited in the present disclosure can be executed in parallel, executed in sequence, or executed in different orders, as long as the desired results of the present disclosure can be achieved, and the present disclosure is not limited herein.

[0167] The specific implementation described above does not constitute a limitation on the protection scope of the present application. Those skilled in the art should understand that various modifications, combinations, sub-combinations and substitutions can be made according to design requirements and other factors. Any modifications, equivalent substitutions and improvements made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A target tracking method, characterized in that, include: Acquire the current measurement data of the target acquired by the radar, and the estimated value of the target's previous state vector at the previous execution time. The current deviation vector is determined based on the current measurement data, the previous state vector estimate, and the set engineering parameter information. Based on the current deviation vector and the estimated value of the previous state vector, the current state vector of the target to be measured is determined; Based on the current state vector, determine the current position of the target to be measured; The step of determining the current deviation vector based on the current measurement data, the previous state vector estimate, and the set engineering parameter information includes: Based on the current measurement data, determine the current measurement vector of the target to be measured; Based on the previous state vector estimate, determine the current measurement equation for the target to be measured; Based on the current measurement equation and the current measurement vector, determine the current intermediate deviation vector; The current deviation vector is determined based on the current intermediate deviation vector and the engineering parameter information; The step of determining the current deviation vector based on the current intermediate deviation vector and the set engineering parameter information includes: The intermediate position deviation value, intermediate angle deviation value, and intermediate velocity deviation value are obtained from the current intermediate deviation vector, wherein the position, angle, and velocity are the position, angle, and velocity of the target under test relative to the radar, respectively. The position deviation value is determined based on the intermediate position deviation value and the engineering parameter information; The angle deviation value is determined based on the intermediate angle deviation value and the engineering parameter information; The speed deviation value is determined based on the intermediate speed deviation value and the engineering parameter information; The current deviation vector is determined based on the position deviation value, the angle deviation value, and the velocity deviation value.

2. The method according to claim 1, characterized in that, The step of determining the position deviation value based on the intermediate position deviation value and the engineering parameter information includes: Obtain the maximum positional deviation value included in the engineering parameter information; The minimum value between the maximum position deviation value and the intermediate position deviation value is taken as the position deviation value.

3. The method according to claim 1, characterized in that, The step of determining the angle deviation value based on the intermediate angle deviation value and the engineering parameter information includes: Obtain the maximum angular deviation value included in the engineering parameter information; Determine whether the intermediate angle deviation value is greater than or equal to zero; If so, the minimum value between the maximum angle deviation value and the intermediate angle deviation value shall be taken as the angle deviation value; If not, then the maximum value among the maximum angle deviation value and the intermediate angle deviation value shall be taken as the angle deviation value.

4. The method according to claim 1, characterized in that, The step of determining the speed deviation value based on the intermediate speed deviation value and the engineering parameter information includes: Obtain the maximum speed deviation value included in the engineering parameter information; The minimum value between the maximum speed deviation value and the intermediate speed deviation value is taken as the speed deviation value.

5. The method according to claim 1, characterized in that, Determining the current state vector of the target under test based on the current deviation vector and the estimated value of the previous state vector includes: Based on the previous state vector estimate, determine the current measurement matrix; Based on the current measurement matrix and the acquired measurement noise matrix, determine the current gain coefficient; The current state vector of the target under test is determined based on the current gain coefficient, the current deviation vector, and the estimated value of the previous state vector.

6. A target tracking device, characterized in that, include: The acquisition module is used to acquire the current measurement data of the target under test collected by the radar, as well as the estimated value of the previous state vector of the target under test at the previous execution time. The first determining module is used to determine the current deviation vector based on the current measurement data, the previous state vector estimate, and the set engineering parameter information; The second determining module is used to determine the current state vector of the target under test based on the current deviation vector and the estimated value of the previous state vector. The position determination module is used to determine the current position of the target under test based on the current state vector. The first determining module includes: The first determining unit is used to determine the current measurement vector of the target to be measured based on the current measurement data. The second determining unit is used to determine the current measurement equation of the target to be measured based on the previous state vector estimate. The third determining unit is used to determine the current intermediate deviation vector based on the current measurement equation and the current measurement vector; The fourth determining unit is used to determine the current deviation vector based on the current intermediate deviation vector and the engineering parameter information; The fourth determining unit includes: The acquisition subunit is used to acquire the intermediate position deviation value, intermediate angle deviation value and intermediate velocity deviation value included in the current intermediate deviation vector, wherein the position, angle and velocity are the position, angle and velocity of the target under test relative to the radar, respectively. The first determining subunit is used to determine the position deviation value based on the intermediate position deviation value and the engineering parameter information; The second determining subunit is used to determine the angle deviation value based on the intermediate angle deviation value and the engineering parameter information; The third determining subunit is used to determine the speed deviation value based on the intermediate speed deviation value and the engineering parameter information; The fourth determining subunit is used to determine the current deviation vector based on the position deviation value, the angle deviation value, and the velocity deviation value.

7. An electronic device, characterized in that, The electronic device includes: At least one processor; and A memory communicatively connected to the at least one processor; wherein, The memory stores a computer program that can be executed by the at least one processor, the computer program being executed by the at least one processor to enable the at least one processor to perform the target tracking method according to any one of claims 1-5.

8. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores computer instructions that cause a processor to execute the target tracking method according to any one of claims 1-5.

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