Business processing method, apparatus, device, and storage medium

Abstract

The application discloses a kind of service processing method, device, equipment and storage medium, belong to aircraft technical field.The method comprises: obtaining the first state information of aircraft and the first state information of candidate target, candidate target is obtained by radar installed on aircraft;Based on the first state information of aircraft and the first state information of candidate target, candidate target is screened, and the candidate target reserved after screening is used as first target;Based on first target, obtain tracking result, and tracking result is used to provide guidance for the flight of aircraft.This kind of mode, screening process not only considers the information of candidate target, but also considers the information of aircraft, the information considered is relatively rich, is favorable to improve the reliability of target reserved after screening, the accuracy of tracking result obtained is higher, can be more accurately provide guidance for the flight of aircraft, improve the processing quality of target based on radar detection to obtain tracking result this service.

Description

TECHNICAL FIELD

[0001] Embodiments of the present application relate to the technical field of aircraft, and in particular, to a service processing method and device, an apparatus, and a storage medium. BACKGROUND

[0002] With the rapid development of aircraft technology, various aircrafts have emerged, such as unmanned camera aircrafts, unmanned cargo aircrafts, and the like. At present, aircrafts have been applied in multiple industries, and aircrafts can perform multiple tasks, such as film and television shooting tasks, measurement and mapping tasks, and article delivery tasks. In order to detect targets around the aircraft, a radar is often installed on the aircraft, and a tracking result used to provide guidance for the flight of the aircraft can be obtained based on the targets detected by the radar.

[0003] In related technologies, a candidate target is directly screened according to the size of the echo intensity of the candidate target detected by the radar, and then a tracking result is obtained based on the target retained after screening. The echo intensity is related to the candidate target itself, and the process of screening the candidate target only considers information about the candidate target, and the considered information is relatively limited. The reliability of the target finally retained is poor, and thus the accuracy of the obtained tracking result is poor, so that it is difficult to accurately provide guidance for the flight of the aircraft, and the processing quality of the service of obtaining a tracking result based on the targets detected by the radar is poor. SUMMARY

[0004] Embodiments of the present application provide a service processing method, device, apparatus, and storage medium, which can be used to solve the problems in related technologies. The technical solution is as follows:

[0005] In one aspect, the embodiments of the present application provide a service processing method, which comprises:

[0006] obtaining first state information of an aircraft and first state information of a candidate target, the candidate target being detected by a radar installed on the aircraft;

[0007] screening the candidate target based on the first state information of the aircraft and the first state information of the candidate target, and taking the candidate target retained after screening as a first target;

[0008] obtaining a tracking result based on the first target, the tracking result being used to provide guidance for the flight of the aircraft.

[0009] In one possible implementation manner, the method further comprises:

[0010] setting an existing characteristic parameter corresponding to the first existing track to a specified value.

[0011] In another aspect, a service processing apparatus is provided, the apparatus comprising:

[0012] a first obtaining module configured to obtain first state information of an aircraft and first state information of a candidate target, the candidate target being detected by a radar installed on the aircraft;

[0013] a screening module configured to screen the candidate target based on the first state information of the aircraft and the first state information of the candidate target, and retain the candidate target after screening as a first target;

[0014] a second obtaining module configured to obtain a tracking result based on the first target, the tracking result being used to guide flight of the aircraft.

[0015] In a possible implementation, the screening module is configured to obtain a target measurement index corresponding to the candidate target and a measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target, and screen the candidate target based on a size relationship between the target measurement index and the measurement index threshold.

[0016] In a possible implementation, the first state information of the aircraft includes a flight speed of the aircraft, the first state information of the candidate target includes a radial motion speed of the candidate target relative to the radar and an azimuth angle corresponding to the candidate target, the target measurement index includes a speed difference index, and the measurement index threshold corresponding to the target measurement index includes a speed difference threshold; the screening module is further configured to determine a theoretical radial motion speed corresponding to the candidate target based on the flight speed of the aircraft and the azimuth angle corresponding to the candidate target, take an absolute value of a difference between the radial motion speed of the candidate target relative to the radar and the theoretical radial motion speed as the speed difference index corresponding to the candidate target, and obtain the speed difference threshold matched with the candidate target.

[0017] In a possible implementation, the first state information of the candidate target further includes a distance between the candidate target and the radar; the screening module is further configured to determine a first function value based on the flight speed of the aircraft, the first function value being in a positive correlation with an absolute value of the flight speed of the aircraft, determine a second function value based on the distance between the candidate target and the radar, the second function value being in a positive correlation with a third function value, the third function value being an inverse of the distance between the candidate target and the radar, and determine the speed difference threshold matched with the candidate target based on the first function value, the second function value, and a radial motion speed measurement error threshold corresponding to the radar.

[0018] In a possible implementation, the first state information of the aircraft includes a pitch angle of the aircraft, the first state information of the candidate target includes a distance between the candidate target and the radar, the target measurement index includes a distance index, and the measurement index threshold corresponding to the target measurement index includes a distance threshold; the screening module is further configured to take the distance between the candidate target and the radar as the distance index corresponding to the candidate target; obtain an installation angle of the radar and an elevation beam width of the radar; determine a pitch angle of a lower edge of a beam of the radar based on the pitch angle of the aircraft, the installation angle of the radar, and the elevation beam width of the radar; and obtain the distance threshold that matches the pitch angle of the lower edge of the beam of the radar.

[0019] In a possible implementation, the first state information of the aircraft further includes an altitude at which the aircraft is located; and the screening module is further configured to, in response to the pitch angle of the lower edge of the beam of the radar being less than a reference angle, determine a dangerous altitude distance based on the altitude at which the aircraft is located; and determine the distance threshold that matches the pitch angle of the lower edge of the beam of the radar based on the dangerous altitude distance and the pitch angle of the lower edge of the beam of the radar.

[0020] In a possible implementation, the number of the first targets is a plurality, and the second obtaining module includes:

[0021] A first obtaining unit, configured to, in response to any first target in the plurality of first targets being associated with a first existing track in the plurality of existing tracks, obtain state information of a first extended track point based on the second state information of the aircraft, the second state information of the any first target, state information of a predicted track point corresponding to the first existing track, and speed information of a latest track point in the first existing track, the first extended track point being used to extend the first existing track to obtain an updated first existing track.

[0022] A second obtaining unit, configured to obtain state information of a predicted track point corresponding to the updated first existing track based on the state information of the first extended track point.

[0023] A recording unit, configured to record the updated first existing track and the state information of the predicted track point corresponding to the updated first existing track into a tracking result.

[0024] In one possible implementation, the second state information of the aircraft includes the aircraft's flight speed and angular velocity; the first and second state information of any first target includes the position information of any first target; the state information of the predicted track point corresponding to the first existing track includes the position information, velocity information, and acceleration information of the predicted track point; the state information of the first extended track point includes the position information, velocity information, and acceleration information of the first extended track point; and the first acquisition unit... It is used to obtain the position information of the first extended track point based on a first weighting coefficient, the position information of the predicted track point corresponding to the first existing track, and the position information of any first target; to obtain the velocity information of the first extended track point based on a second weighting coefficient, the velocity information of the predicted track point corresponding to the first existing track, the flight speed of the aircraft, the position information of any first target, and the angular velocity of the aircraft; and to obtain the acceleration information of the first extended track point based on a third weighting coefficient, the acceleration information of the predicted track point corresponding to the first existing track, the velocity information of the first extended track point, the velocity information of the latest track point in the first existing track, and the time interval.

[0025] In one possible implementation, the number of the first targets is multiple, and the first acquisition unit is further configured to, in response to any first target among the multiple first targets not being associated with any of the existing tracks, determine the state information of the starting track point of the new track based on the position information of the first target, the flight speed of the aircraft, and the angular velocity of the aircraft;

[0026] The second acquisition unit is further configured to acquire the state information of the predicted track point corresponding to the new track based on the state information of the starting track point of the new track;

[0027] The recording unit is also used to record the status information of the new trajectory and the predicted trajectory points corresponding to the new trajectory into the tracking results.

[0028] In one possible implementation, the number of the first targets is multiple, and the second acquisition module further includes:

[0029] The parameter adjustment unit is used to increase the existing feature parameters corresponding to the second existing track by a reference value in response to the fact that each first target is not associated with the second existing track in each existing track, so as to obtain the new feature parameters corresponding to the second existing track.

[0030] The first obtaining unit is further configured to, in response to the new feature parameter corresponding to the second existing track being less than the feature parameter threshold, obtain state information of a second extended track point based on second state information of the aircraft, state information of a predicted track point corresponding to the second existing track, and speed information of a latest track point in the second existing track, the second extended track point being used to extend the second existing track to obtain an updated second existing track.

[0031] The second obtaining unit is further configured to obtain state information of a predicted track point corresponding to the updated second existing track based on the state information of the second extended track point.

[0032] The recording unit is further configured to record the updated second existing track and the state information of the predicted track point corresponding to the updated second existing track into the tracking result.

[0033] In a possible implementation, the second state information of the aircraft includes a flight speed of the aircraft and an angular velocity of the aircraft, the state information of the predicted track point corresponding to the second existing track includes position information of the predicted track point corresponding to the second existing track, speed information of the predicted track point corresponding to the second existing track, and acceleration information of the predicted track point corresponding to the second existing track, and the state information of the second extended track point includes position information of the second extended track point, speed information of the second extended track point, and acceleration information of the second extended track point; the first obtaining unit is further configured to take the position information of the predicted track point corresponding to the second existing track as the position information of the second extended track point, obtain the speed information of the second extended track point based on a fourth weight coefficient, the speed information of the predicted track point corresponding to the second existing track, the flight speed of the aircraft, the angular velocity of the aircraft, and the position information of the second extended track point, and obtain the acceleration information of the second extended track point based on a fifth weight coefficient, the acceleration information of the predicted track point corresponding to the second existing track, the speed information of the second extended track point, the speed information of the latest track point in the second existing track, and the time interval.

[0034] In a possible implementation, the second obtaining module further includes:

[0035] The deleting unit is configured to, in response to the new feature parameter corresponding to the second existing track not being less than the feature parameter threshold, delete the second existing track from the plurality of existing tracks.

[0036] In a possible implementation, the parameter adjusting unit is further configured to set the existing feature parameter corresponding to the first existing track to a specified value.

[0037] In another aspect, a computer device is provided, which includes a processor and a memory, and the memory has stored therein at least one computer program, which is loaded and executed by the processor to enable the computer device to implement any of the above-mentioned business processing methods.

[0038] In another aspect, a computer readable storage medium is also provided, which has stored therein at least one computer program, which is loaded and executed by a processor to enable a computer to implement any of the above-mentioned business processing methods.

[0039] In another aspect, a computer program product or computer program is also provided, which includes computer instructions stored in a computer readable storage medium. A processor of a computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions to enable the computer device to perform any of the above-mentioned business processing methods.

[0040] The technical solutions provided by the embodiments of the present application bring at least the following beneficial effects:

[0041] In the embodiments of the present application, the candidate targets are screened by comprehensively considering the state information of the aircraft and the state information of the candidate targets. The screening process not only considers the information of the candidate targets, but also considers the information of the aircraft, and the considered information is rich, which is conducive to improving the reliability of the targets retained after screening, and thus the accuracy of the tracking results obtained is high, which can more accurately provide guidance for the flight of the aircraft, thereby improving the processing quality of the business of obtaining tracking results based on the targets detected by radar. BRIEF DESCRIPTION OF DRAWINGS

[0042] In order to more clearly illustrate the technical solutions in the embodiments of the present application, the drawings needed in the embodiment description will be briefly introduced. Obviously, the drawings in the following description are only some embodiments of the present application, and other drawings can be obtained by those skilled in the art without creative labor.

[0043] Figure 1 is a schematic diagram of an implementation environment of a business processing method provided by an embodiment of the present application;

[0044] Figure 2 is a flowchart of a business processing method provided by an embodiment of the present application;

[0045] Figure 3 is a principle schematic diagram of a theoretical radial motion speed provided by an embodiment of the present application;

[0046] Figure 4 is a schematic diagram of a radar beam lower edge elevation angle, an aircraft elevation angle, a radar installation angle and a radar elevation direction beam width provided by an embodiment of the present application;

[0047] Figure 5 is a flowchart of a process of obtaining a tracking result based on a first target provided by an embodiment of the present application;

[0048] Figure 6 is a schematic diagram of a process of obtaining a tracking result provided by an embodiment of the present application;

[0049] Figure 7 is a schematic diagram of a business processing device provided by an embodiment of the present application;

[0050] Figure 8 is a structural schematic diagram of a second obtaining module provided by an embodiment of the present application;

[0051] Figure 9 is a structural schematic diagram of a server provided by an embodiment of the present application;

[0052] Figure 10 is a structural schematic diagram of a terminal provided by an embodiment of the present application. DETAILED DESCRIPTION

[0053] In order to make the objectives, technical solutions and advantages of the present application clearer, the following will further describe the embodiments of the present application in conjunction with the accompanying drawings.

[0054] It should be noted that the terms "first", "second" and the like in the specification and claims of the present application are used to distinguish similar objects, and do not necessarily have to describe a specific order or sequence. It should be understood that such data 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. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present application. Rather, they are merely examples of devices and methods consistent with some aspects of the present application as detailed in the appended claims.

[0055] Figure 1 A schematic diagram of an implementation environment of a business processing method provided by an embodiment of the present application is shown. The implementation environment includes a computer device 11.

[0056] The computer device 11 can obtain the first state information of the candidate target detected by the radar installed on the aircraft and the first state information of the aircraft, and then screen the candidate target based on the first state information of the aircraft and the first state information of the candidate target, and further obtain the tracking result for guiding the flight of the aircraft based on the first target retained after screening. Illustratively, the computer device 11 can send the tracking result to a control device for controlling the flight of the aircraft, and the control device formulates a flight strategy according to the tracking result, and then controls the aircraft to fly away from the obstacle by using the flight strategy.

[0057] Illustratively, the implementation environment further includes an aircraft, and the aircraft is installed with a radar having a function of detecting targets. The radar detected by the radar installed on the aircraft is referred to as a candidate target in the embodiments of the present application, and the first state information of the candidate target is obtained by processing the reflected echo received during the process of detecting the candidate target by the processing device of the radar. In a possible implementation manner, the aircraft refers to an unmanned aircraft, which can also be referred to as a drone. Illustratively, the types of the aircraft include but are not limited to fixed-wing drones, unmanned helicopters, multi-rotor drones, parachute drones, flapping drones, etc.

[0058] Illustratively, the radar installed on the aircraft and the aircraft are connected through a wired or wireless network, and the aircraft and the computer device 11 are connected through a wired or wireless network. After obtaining the first state information of the candidate target by processing, the processing device of the radar sends the first state information of the candidate target to the aircraft; after obtaining the first state information of the candidate target, the aircraft sends the first state information of the candidate target to the computer device 11. Illustratively, the aircraft can also send its flight state information (referred to as first state information) to the computer device 11.

[0059] In a possible implementation manner, the computer device 11 can refer to a terminal, and can also refer to a server. Illustratively, the terminal can be any electronic product that can interact with a user through one or more ways such as a keyboard, a touchpad, a touch screen, a remote controller, voice interaction, or a handwriting device, for example, a PC (Personal Computer), a mobile phone, a smart phone, a PDA (Personal Digital Assistant), a wearable device, a PPC (Pocket PC), a tablet computer, a smart car machine, a smart television, a smart speaker, etc. The server can be a server, or a server cluster composed of multiple servers, or a cloud computing service center.

[0060] Those skilled in the art shall understand that the computer device 11 is only an example, and other existing or future aircraft or computer devices can also be applicable to the present application and shall be included in the protection scope of the present application by reference.

[0061] Based on the above Figure 1 In the implementation environment shown, the embodiment of the present application provides a service processing method for processing the task of obtaining tracking results based on a candidate target detected by a radar. The service processing method provided by the embodiment of the present application is applied to the computer device 11, which can be a terminal or a server, and the embodiment of the present application does not limit this. As shown in the figure, Figure 2 The service processing method provided by the embodiment of the present application includes the following steps 201 to 203.

[0062] In step 201, first state information of an aircraft and first state information of a candidate target are obtained, and the candidate target is detected by a radar installed on the aircraft.

[0063] The first state information of the aircraft is used to indicate the flight state of the aircraft at the time when the candidate target is detected by the radar. The specific type of the first state information of the aircraft is not limited by the embodiment of the present application, and can be set according to experience or flexibly adjusted according to the actual application scene. Exemplarily, the first state information of the aircraft includes but is not limited to the flight speed of the aircraft, the angular velocity of the aircraft, the pitch angle of the aircraft, the height at which the aircraft is located, etc.

[0064] The flight speed of the aircraft is used to indicate the displacement speed of the aircraft in the flight direction, which is the derivative of the displacement of the aircraft in the flight direction with respect to time. The angular velocity of the aircraft is the derivative of the yaw angle of the aircraft with respect to time, and exemplarily, the unit of the angular velocity of the aircraft is radian per second.

[0065] The pitch angle of the aircraft is the angle between the head normal line of the aircraft and the horizontal plane, and the head normal line of the aircraft is a straight line perpendicular to the plane on which the head of the aircraft is located. Exemplarily, if the head normal line of the aircraft is inclined upward, the pitch angle of the aircraft is positive; if the head normal line of the aircraft is inclined downward, the pitch angle of the aircraft is negative. Of course, the embodiment of the present application is not limited to this, and in some embodiments, if the head normal line of the aircraft is inclined upward, the pitch angle of the aircraft is negative; if the head normal line of the aircraft is inclined downward, the pitch angle of the aircraft is positive.

[0066] The height at which the aerial vehicle is located is used to indicate the vertical distance between the location at which the aerial vehicle is located and a specified plane, which is exemplarily the ground plane. That is, the height at which the aerial vehicle is located is used to indicate the height of the aerial vehicle relative to the ground plane. The information of the pitch angle of the aerial vehicle and the height at which the aerial vehicle is located is used to indicate the pose of the aerial vehicle, exemplarily.

[0067] In an exemplary embodiment, the first state information of the aerial vehicle is measured by sensors installed on the aerial vehicle, and different information can be measured by the same sensor or by different sensors, which is not limited in the embodiments of the present application. Exemplarily, the flight speed of the aerial vehicle is measured by a speed sensor installed on the aerial vehicle; the angular velocity of the aerial vehicle is measured by an angular velocity sensor installed on the aerial vehicle; the pitch angle of the aerial vehicle is measured by an inertial sensor installed on the aerial vehicle; and the height at which the aerial vehicle is located is measured by a barometric pressure sensor installed on the aerial vehicle.

[0068] In a possible implementation manner, the sensors for measuring the first state information of the aerial vehicle are in communication connection with the aerial vehicle, and the aerial vehicle is in communication connection with the computer device. The sensors on the aerial vehicle send the measured first state information of the aerial vehicle to the aerial vehicle, and then the aerial vehicle sends the acquired first state information of the aerial vehicle to the computer device, so that the computer device acquires the first state information of the aerial vehicle.

[0069] In another possible implementation manner, the sensors for measuring the first state information of the aerial vehicle are in communication connection with the control device of the aerial vehicle, and the control device is in communication connection with the computer device. The sensors on the aerial vehicle send the measured first state information of the aerial vehicle to the control device of the aerial vehicle, and then the control device of the aerial vehicle sends the acquired first state information of the aerial vehicle to the computer device, so that the computer device acquires the first state information of the aerial vehicle.

[0070] In another possible implementation manner, the sensors for measuring the first state information of the aerial vehicle are directly in communication connection with the computer device. The sensors on the aerial vehicle directly send the measured first state information of the aerial vehicle to the computer device, so that the computer device acquires the first state information of the aerial vehicle.

[0071] In the embodiments of the present application, a radar is installed on the aerial vehicle. The radar is an electronic device for detecting targets by using electromagnetic waves. The type of the radar installed on the aerial vehicle is not limited in the embodiments of the present application, which is exemplarily a millimeter wave radar or a pulse radar. In addition, the position of the radar installed on the aerial vehicle is not limited in the embodiments of the present application. Exemplarily, the radar is installed on the nose of the aerial vehicle.

[0072] The radar installed on the aircraft can continuously emit electromagnetic waves or emit electromagnetic waves at fixed intervals to detect targets around the aircraft. Illustratively, the working principle of the radar is that the transmitter of the radar emits electromagnetic waves to a certain direction in space through an antenna, and a target located in the direction reflects the electromagnetic waves that hit it; the antenna of the radar receives the reflected waves and sends the reflected waves to a processing device for processing to extract some information about the target. In the embodiments of the present application, the target detected by the radar according to the latest emitted electromagnetic waves is referred to as a candidate target. The number of candidate targets is one or more, and the specific number of candidate targets is related to the actual surrounding environment of the aircraft and the detection capability of the radar, which is not limited in the embodiments of the present application.

[0073] The first state information of the candidate target is information obtained by processing the reflected waves received by the processing device of the radar during the detection of the candidate target. The specific type of the first state information of the candidate target is not limited in the embodiments of the present application, and illustratively, the first state information of the candidate target is related to the type of the radar and the processing capability of the processing device of the radar. Illustratively, the first state information of the candidate target includes but is not limited to the radial motion speed of the candidate target relative to the radar, the azimuth angle corresponding to the candidate target, the distance between the candidate target and the radar, etc.

[0074] The radial motion speed of the candidate target relative to the radar is used to indicate the relative motion speed between the candidate target and the radar, and illustratively, the radial motion speed of the candidate target relative to the radar can also be referred to as the Doppler speed of the candidate target. The azimuth angle corresponding to the candidate target is used to indicate which direction the candidate target is located relative to the radar, and illustratively, the azimuth angle can also be referred to as the angle in the azimuth direction. Illustratively, the azimuth angle refers to the included angle between the projection point of the candidate target on the reference plane and the reference coordinate axis in the reference plane. Illustratively, the reference plane refers to the plane parallel to the flight plane of the aircraft where the radar is located, and the reference coordinate axis in the reference plane refers to the coordinate axis parallel to the flight direction of the aircraft in the reference plane.

[0075] In the embodiments of the present application, the processing device of the radar installed on the aircraft has the function of obtaining the radial motion speed, the azimuth angle and the distance by processing the reflected waves. The radial motion speed of the candidate target relative to the radar, the azimuth angle corresponding to the candidate target and the distance between the candidate target and the radar are all obtained by the processing device of the radar. That is, the first state information of the candidate target is obtained by the processing device of the radar.

[0076] In the example embodiment, the radar installed on the aircraft is in communication connection with the aircraft, and the aircraft is in communication connection with the computer device. After the processing device of the radar processes the first state information of the candidate target, the first state information of the candidate target can be sent to the aircraft, so that the aircraft acquires the first state information of the candidate target. After the aircraft acquires the first state information of the candidate target, the first state information of the candidate target is sent to the computer device. Thus, the computer device acquires the first state information of the candidate target.

[0077] In the example embodiment, the radar installed on the aircraft is in communication connection with the control device of the aircraft, and the control device of the aircraft is in communication connection with the computer device. After the processing device of the radar processes the first state information of the candidate target, the first state information of the candidate target can be sent to the control device of the aircraft, so that the control device of the aircraft acquires the first state information of the candidate target. After the control device of the aircraft acquires the first state information of the candidate target, the first state information of the candidate target is sent to the computer device. Thus, the computer device acquires the first state information of the candidate target detected by the radar.

[0078] In the example embodiment, the radar installed on the aircraft is in communication connection with the computer device, and after the processing device of the radar processes the first state information of the candidate target, the first state information of the candidate target can be directly sent to the computer device. Thus, the computer device acquires the first state information of the candidate target.

[0079] In step 202, the candidate target is screened based on the first state information of the aircraft and the first state information of the candidate target, and the candidate target retained after the screening is taken as the first target.

[0080] After the first state information of the aircraft and the first state information of the candidate target are acquired, the candidate target is screened based on the first state information of the aircraft and the first state information of the candidate target, so as to eliminate the candidate target with low reliability. In the example embodiment, the candidate target retained after the screening is taken as the first target, and the first target is the target with a greater possibility of threatening the flight of the aircraft.

[0081] The purpose of screening the candidate target is to eliminate the candidate target with low reliability. The candidate target with low reliability refers to the candidate target that is not concerned in the flight process of the aircraft, that is, the candidate target with a smaller probability of threatening the flight of the aircraft. It should be noted that the number of candidate targets can be one or multiple. The principle of screening each candidate target is the same, and the example embodiment takes one candidate target as an example to explain the process of screening the candidate target based on the first state information of the aircraft and the first state information of the candidate target.

[0082] In a possible implementation, the process of screening the candidate target based on the first state information of the aircraft and the first state information of the candidate target comprises: obtaining a target measurement index corresponding to the candidate target and a measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target; and screening the candidate target based on a size relationship between the target measurement index and the measurement index threshold.

[0083] The target measurement index corresponding to the candidate target is used to measure the candidate target. For example, the smaller the target measurement index corresponding to the candidate target, the higher the reliability of the candidate target. The measurement index threshold corresponding to the target measurement index is used to compare with the target measurement index corresponding to the candidate target, so as to determine whether the candidate target is reliable according to the comparison result, and then screen the candidate target.

[0084] In an example embodiment, the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index are different according to different specific information included in the first state information of the aircraft and the first state information of the candidate target, and the implementation of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target is also different.

[0085] In a possible implementation, the first state information of the aircraft includes a flight speed of the aircraft, and the first state information of the candidate target includes a radial motion speed of the candidate target relative to the radar and an azimuth angle corresponding to the candidate target. In this case, the target measurement index includes a speed difference index, and the measurement index threshold corresponding to the target measurement index includes a speed difference threshold. The process of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target comprises the following steps 202A to 202C:

[0086] Step 202A: determining a theoretical radial motion speed corresponding to the candidate target based on the flight speed of the aircraft and the azimuth angle corresponding to the candidate target.

[0087] The theoretical radial motion speed corresponding to the candidate target refers to a radial motion speed of a target corresponding to the azimuth angle and meeting a reliability condition relative to the radar. The reliability condition is set according to experience or adjusted flexibly according to an actual application scenario. For example, the target meeting the reliability condition is a target located on a flight plane of the aircraft and stationary relative to the ground. The flight plane of the aircraft refers to a plane on which the aircraft flies in a flight direction. For example, the flight manner of the aircraft is level flight, that is, the flight plane of the aircraft is a horizontal plane.

[0088] In the example embodiment, for the radar installed on the aircraft, it is generally only concerned with the stationary targets in the same plane as the aircraft, and is not concerned with the moving targets whose relative motion relationship is unpredictable and the false alarm targets whose radial motion speed relative to the radar is random. In the example, the stationary target mentioned in the embodiment of the present application refers to the target that is stationary relative to the ground. In particular, when the aircraft moves at a large pitch angle relative to the ground, the radar will observe targets with a large difference in height (such as buildings below the ground), which are targets that do not need to be considered in the process of obstacle avoidance of the aircraft, i.e. targets with poor reliability, and should be excluded in the process of screening the candidate targets.

[0089] In the example embodiment, the theoretical radial motion speed of the candidate target is determined based on the flight speed of the aircraft and the azimuth angle corresponding to the candidate target, by taking the speed component of the flight speed of the aircraft on a first coordinate axis as a first speed component of the aircraft, and taking the speed component of the flight speed of the aircraft on a second coordinate axis as a second speed component of the aircraft, the first coordinate axis and the second coordinate axis being two coordinate axes parallel to the flight plane of the aircraft and perpendicular to each other; and determining the theoretical radial motion speed of the candidate target based on the first speed component of the aircraft, the second speed component of the aircraft and the azimuth angle corresponding to the candidate target.

[0090] In the example, the first coordinate axis and the second coordinate axis are two coordinate axes in a reference coordinate system, the reference coordinate system being a rectangular coordinate system established with the radar as the coordinate origin, the first coordinate axis and the second coordinate axis in the rectangular coordinate system being parallel to the flight plane of the aircraft, and a third coordinate axis in the rectangular coordinate system being perpendicular to the flight plane of the aircraft. In the example, the first coordinate axis points to the front of the aircraft, i.e. the flight direction of the aircraft, for example, the first coordinate axis is the y-axis in the reference coordinate system; the second coordinate axis is parallel to the flight plane of the aircraft and perpendicular to the first coordinate axis, for example, the second coordinate axis is the x-axis in the reference coordinate system; and the third coordinate axis is perpendicular to the plane formed by the first coordinate axis and the second coordinate axis, for example, the third coordinate axis is the z-axis in the reference coordinate system.

[0091] The speed component of the flight speed of the aircraft on the first coordinate axis and the speed component of the flight speed of the aircraft on the second coordinate axis are calculated respectively to obtain the first speed component and the second speed component. In a possible implementation, the process of determining the theoretical radial motion speed of the candidate target based on the first speed component of the aircraft, the second speed component of the aircraft and the azimuth angle corresponding to the candidate target is implemented based on formula 1:

[0092] V dm = -V x *sin(θ) - V y *cos(θ) (Formula 1)

[0093] Among them, V dm V represents the theoretical radial velocity corresponding to the candidate target. y V represents the first velocity component; x θ represents the second velocity component; θ represents the azimuth angle corresponding to the candidate target.

[0094] A schematic diagram illustrating the principle of theoretical radial velocity is shown below. Figure 3 As shown, a Cartesian coordinate system is established with the radar as the origin. The y-axis (i.e., the first coordinate axis) points directly forward of the aircraft, and the z-axis (i.e., the third coordinate axis) is perpendicular to the horizontal plane. When the aircraft moves at a two-dimensional velocity vector V... u =[V x V y When in motion, according to the principle of relative motion, a stationary target (marked with a solid square) located on the same horizontal plane will move with a velocity vector V. t =[-V x -V y The motion relative to the aircraft. It should be noted that when the aircraft has an angular velocity, V... t The expression is more complex, but the velocity component introduced by the rotation angle is perpendicular to the slant range (i.e., the distance between the detected target and the radar) and does not affect the Doppler velocity (i.e., the radial velocity relative to the radar). Therefore, the case of angular velocity is not considered in the calculation of Doppler velocity. Based on this, the radial velocity of a stationary target relative to the radar located in the same horizontal plane with a corresponding azimuth angle of θ is V calculated based on Formula 1. dm For example, Formula 1 is referred to as the theoretical radial velocity calculation model.

[0095] For some moving targets or false alarm targets, such as Figure 3 The solid circle in the image has a Doppler velocity that completely contradicts the theoretical radial velocity calculation model mentioned above. Furthermore, for targets located above or below the flight plane of the aircraft, such as... Figure 3 As shown in the solid pentagon in the diagram, its vector velocity relative to the radar remains V. t However, due to the addition of a one-dimensional projection component along the z-axis, the absolute value of its Doppler velocity will be less than V calculated according to Equation 1. dm The absolute value of . Therefore, effective target screening can be performed by checking whether the Doppler velocity of the target conforms to the theoretical radial motion velocity calculation model given in Formula 1.

[0096] Step 202B: The absolute value of the difference between the radial velocity of the candidate target relative to the radar and the theoretical radial velocity is used as the velocity difference index corresponding to the candidate target.

[0097] The closer the radial motion speed of the candidate target relative to the radar to the theoretical radial motion speed corresponding to the candidate target, the higher the reliability of the candidate target, that is, the greater the risk of the candidate target threatening the aircraft. After obtaining the theoretical radial motion speed corresponding to the candidate target, the absolute value of the difference between the radial motion speed of the candidate target relative to the radar and the theoretical radial motion speed corresponding to the candidate target is taken as the speed difference index corresponding to the candidate target. The speed difference index corresponding to the candidate target can reflect the difference between the radial motion speed of the candidate target relative to the radar and the theoretical radial motion speed.

[0098] Step 202C: Obtain a speed difference threshold value matched with the candidate target.

[0099] The speed difference threshold value is used for comparison with the speed difference index corresponding to the candidate target to determine whether the candidate target is reliable according to the comparison result. In a possible implementation, the speed difference threshold value matched with the candidate target is set according to experience or flexibly adjusted according to an application scenario, which is not limited in the embodiments of the present application. For example, the speed difference threshold value matched with the candidate target is set as a fixed numerical value. Exemplarily, the speed difference threshold values matched with different candidate targets are all set as the same numerical value, or the speed difference threshold values matched with different candidate targets are set as different numerical values.

[0100] In another possible implementation, the first state information of the candidate target further includes the distance between the candidate target and the radar; and the process of obtaining the speed difference threshold value matched with the candidate target includes the following steps 202C-1 to 202C-3:

[0101] Step 202C-1: Determine a first function value based on the flight speed of the aircraft, the first function value being positively correlated with the absolute value of the flight speed of the aircraft.

[0102] The first function value is positively correlated with the absolute value of the flight speed of the aircraft. That is, the greater the absolute value of the flight speed of the aircraft, the greater the first function value; the smaller the absolute value of the flight speed of the aircraft, the smaller the first function value. In an exemplary embodiment, the manner of determining the first function value based on the flight speed of the aircraft is: substituting the flight speed of the aircraft into a positively correlated function with the absolute value of the flight speed as the independent variable, and taking the calculated function value as the first function value. The specific form of the positively correlated function with the absolute value of the flight speed as the independent variable is not limited in the embodiments of the present application.

[0103] Step 202C-2: Determine a second function value based on the distance between the candidate target and the radar, the second function value being positively correlated with a third function value, and the third function value being the reciprocal of the distance between the candidate target and the radar.

[0104] The second function value is positively correlated with a third function value, and the third function value is the reciprocal of the distance between the candidate target and the radar. That is, the greater the reciprocal of the distance between the candidate target and the radar, the greater the second function value; the smaller the reciprocal of the distance between the candidate target and the radar, the smaller the second function value. In an example embodiment, the second function value is determined based on the distance between the candidate target and the radar in the following manner: the reciprocal of the distance between the candidate target and the radar is substituted into a positively correlated function with the reciprocal of the distance as the independent variable, and the calculated function value is taken as the second function value. The example embodiment of the present application does not limit the specific form of the positively correlated function with the reciprocal of the distance as the independent variable.

[0105] Step 202C-3: determining a speed difference threshold matched with the candidate target based on the first function value, the second function value, and a radial motion speed measurement error threshold corresponding to the radar.

[0106] The radial motion speed of the candidate target relative to the radar is obtained by the processing device of the radar. The processing device of the radar has an error in obtaining the radial motion speed. The radial motion speed measurement error threshold corresponding to the radar refers to the maximum measurement error of the radial motion speed obtained by the processing device of the radar. In an example, the radial motion speed measurement error threshold corresponding to the radar is a property parameter of the radar, which can be extracted from the property information of the radar installed on the aircraft. It should be noted that the radial motion speed measurement error thresholds corresponding to different types of radars can be the same or different, and the example embodiment of the present application does not limit this.

[0107] In an example embodiment, the implementation of the step 202C-3 is as follows: calculating the product of the first function value and the second function value, and taking the sum of the calculated product and the radial motion speed measurement error threshold corresponding to the radar as the speed difference threshold matched with the candidate target.

[0108] In an example embodiment, the implementation of the step 202C-3 is as follows: calculating the weighted sum of the first function value, the second function value, and the radial motion speed measurement error threshold corresponding to the radar, and taking the calculated weighted sum as the speed difference threshold matched with the candidate target. In the process of calculating the weighted sum, the weights corresponding to the first function value, the second function value, and the radial motion speed measurement error threshold corresponding to the radar are set according to experience or flexibly adjusted according to application scenarios, and the example embodiment of the present application does not limit this.

[0109] It should be noted that the above-mentioned manner of determining the speed difference threshold matched with the candidate target is only an example, and the example embodiment of the present application is not limited thereto. The step 202C-3 can also be implemented in other manners.

[0110] In an example, the process of determining the speed difference threshold matched with the candidate target is implemented based on the formula 2:

[0111] V T = f (|V u |) * g (1 / R) + b (Formula 2)

[0112] wherein, V T represents a velocity difference threshold matched with the candidate target; f(·) represents a positive correlation function with the absolute value of flight velocity as the independent variable, indicating that the greater the absolute value of flight velocity, the greater the allowed difference; V u represents the flight velocity of the aircraft; |V u | represents the absolute value of the flight velocity of the aircraft; f(|V u |) represents the first function value; g(·) represents a positive correlation function with the reciprocal of distance as the independent variable, indicating that the greater the distance, the greater the allowed difference, because for the same relative aircraft height, when the target is farther away from the radar, the influence of the height dimension velocity projection on the radial motion velocity will become smaller; R represents the distance between the candidate target and the radar; g(1 / R) represents the second function value; b represents the radar corresponding radial motion velocity measurement error threshold.

[0113] In the case of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index based on the above steps 202A to 202C, the process of screening the candidate target based on the size relationship between the target measurement index and the measurement index threshold is the process of screening the candidate target based on the size relationship between the velocity difference index and the velocity difference threshold.

[0114] In an exemplary embodiment, the process of screening the candidate target based on the size relationship between the velocity difference index and the velocity difference threshold is: in response to the velocity difference index being less than the velocity difference threshold, retaining the candidate target; in response to the velocity difference index not being less than the velocity difference threshold, eliminating the candidate target. After obtaining the velocity difference index corresponding to the candidate target and the velocity difference threshold matched with the candidate target, the velocity difference index and the velocity difference threshold are compared, if the velocity difference index corresponding to the candidate target is less than the velocity difference threshold matched with the candidate target, it is considered that the candidate target is valid, and the candidate target is retained; if the velocity difference index corresponding to the candidate target is not less than the velocity difference threshold matched with the candidate target, it is considered that the candidate target is invalid, and the candidate target is eliminated.

[0115] In another possible implementation, the first state information of the aircraft comprises a pitch angle of the aircraft, and the first state information of the candidate target comprises a distance between the candidate target and the radar. In this case, the target measurement index comprises a distance index, and the measurement index threshold corresponding to the target measurement index comprises a distance threshold. Based on the first state information of the aircraft and the first state information of the candidate target, the process of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index comprises the following steps 202a to 202d:

[0116] Step 202a: taking the distance between the candidate target and the radar as the distance index corresponding to the candidate target.

[0117] The distance index corresponding to the candidate target can reflect the distance between the candidate target and the radar.

[0118] Step 202b: obtaining an installation angle of the radar and an elevation beam width of the radar.

[0119] The installation angle of the radar refers to the angle at which the radar is installed on the aircraft, and the elevation beam width of the radar refers to the angle between the lower edge and the upper edge of the beam of the electromagnetic wave that can be effectively detected by the radar. Illustratively, the lower edge of the beam of the electromagnetic wave that can be effectively detected by the radar (referred to as the lower edge of the beam of the radar) refers to the electromagnetic wave with the smallest angle to the horizontal plane among the electromagnetic waves that can be effectively detected by the radar, and the upper edge of the beam of the electromagnetic wave that can be effectively detected by the radar (referred to as the upper edge of the beam of the radar) refers to the electromagnetic wave with the largest angle to the horizontal plane among the electromagnetic waves that can be effectively detected by the radar. Illustratively, the electromagnetic wave that can be effectively detected refers to the electromagnetic wave that can obtain a gain greater than a certain threshold in the process of detecting the target. Illustratively, the electromagnetic wave emitted downward to the horizontal plane where the radar is located has a negative angle to the horizontal plane, and the electromagnetic wave emitted upward to the horizontal plane where the radar is located has a positive angle to the horizontal plane.

[0120] The installation angle of the radar is an angle determined when the radar is installed on the aircraft. Illustratively, the installation angle of the radar is input into the computer device by manual operation; or, the installation angle of the radar is input into the control device of the aircraft by manual operation, and then sent to the computer device by the control device of the aircraft. The elevation beam width of the radar is a basic attribute of the radar, which can be directly extracted from the attribute information of the radar.

[0121] Step 202c: determining the pitch angle of the lower edge of the beam of the radar based on the pitch angle of the aircraft, the installation angle of the radar, and the elevation beam width of the radar.

[0122] The pitch angle of the lower edge of the radar beam refers to the angle between the lower edge of the radar beam (i.e., the lower edge of the beam of the electromagnetic wave capable of achieving effective target detection by the radar) and the horizontal plane. In an example embodiment, the pitch angle of the aircraft is summed with the installation angle of the radar to obtain a first angle; half of the pitch-wise beam width of the radar is taken as a second angle; and the difference between the first angle and the second angle is taken as the pitch angle of the lower edge of the radar beam. That is, the pitch angle of the lower edge of the radar beam is calculated based on formula 3:

[0123] β = pit + pit r - Fov p / 2 (formula 3)

[0124] wherein β represents the pitch angle of the lower edge of the radar beam; pit represents the pitch angle of the aircraft; pit r represents the installation angle of the radar; Fov p represents the pitch-wise beam width of the radar. An example diagram of the pitch angle β of the lower edge of the radar beam, the pitch angle pit of the aircraft, the installation angle pit r of the radar, and the pitch-wise beam width Fov p of the radar is shown in FIG. 3. Figure 4

[0125] Step 202d: Obtain a distance threshold value matching the pitch angle of the lower edge of the radar beam.

[0126] The distance threshold value is used for comparison with the distance of the candidate target from the radar to determine whether the candidate target is reliable according to the comparison result. In a possible implementation, the distance threshold value matching the pitch angle of the lower edge of the radar beam is set according to experience or flexibly adjusted according to the application scenario, which is not limited in the embodiments of the present application. For example, the distance threshold value matching the pitch angle of the lower edge of the radar beam is set to a certain fixed value.

[0127] In another possible implementation, the manner of obtaining the distance threshold value matching the pitch angle of the lower edge of the radar beam is related to whether the pitch angle of the lower edge of the radar beam is less than a reference angle. If the pitch angle of the lower edge of the radar beam is less than the reference angle, it means that the radar has a greater possibility to detect the candidate target that does not need to be considered in the obstacle avoidance process. The reference angle is set according to experience or flexibly adjusted according to the actual application scenario, for example, the reference angle is 0 degrees. For example, for the case where the reference angle is 0 degrees, the pitch angle of the lower edge of the radar beam less than the reference angle means that part of the electromagnetic wave emitted by the radar is directed to the ground. In this case, there may be ground clutter below the aircraft among the candidate targets detected by the radar, and such candidate targets do not need to be considered in the obstacle avoidance of the aircraft and need to be removed.

[0128] ​In the example embodiment, in the case where the elevation angle of the lower edge of the beam of the radar is not less than the reference angle, the detection distance threshold of the radar is taken as the distance threshold matching the elevation angle of the lower edge of the beam of the radar. The detection distance threshold of the radar is used to indicate the maximum detection distance of the radar.

[0129] In the example embodiment, the first state information of the aircraft further includes the height at which the aircraft is located; in the case where the elevation angle of the lower edge of the beam of the radar is less than the reference angle, the process of obtaining the distance threshold matching the elevation angle of the lower edge of the beam of the radar includes the following steps 202d-1 and 202d-2:

[0130] Step 202d-1: determining a dangerous height distance based on the height at which the aircraft is located.

[0131] The dangerous height distance refers to the maximum difference between the height at which the target considered for obstacle avoidance is located and the height at which the aircraft is located in the process of flight of the aircraft, that is, when the height at which the target detected by the radar is located and the height at which the aircraft is located differ by not more than the dangerous height distance, it is considered for obstacle avoidance. The dangerous height distance is related to the height at which the aircraft is located, and exemplarily, the greater the height at which the aircraft is located, the greater the dangerous height distance.

[0132] In a possible implementation manner, the dangerous distance corresponding to the height at which the aircraft is located is found in the height-dangerous distance correspondence relationship, and the dangerous distance is taken as the dangerous height distance. The height-dangerous distance correspondence relationship is set according to experience or is flexibly adjusted according to application scenarios.

[0133] In another possible implementation manner, the manner of determining the dangerous height distance based on the height at which the aircraft is located is as follows: taking the product of the height at which the aircraft is located and a reference ratio as a candidate dangerous height distance; in response to the candidate dangerous height distance being greater than a first dangerous height distance and smaller than a second dangerous height distance, taking the candidate dangerous height distance as the finally determined dangerous height distance; in response to the candidate dangerous height distance being not greater than the first dangerous height distance, taking the first dangerous height distance as the finally determined dangerous height distance; in response to the candidate dangerous height distance being not smaller than the second dangerous height distance, taking the second dangerous height distance as the finally determined dangerous height distance.

[0134] The reference ratio is set according to experience or is flexibly adjusted according to application scenarios, which is not limited in the embodiments of the present application. Exemplarily, the reference ratio is 0.6, or the reference ratio is 0.8, etc. The first dangerous height distance is smaller than the second dangerous height distance, and the first dangerous height distance and the second dangerous height distance are set according to experience or are flexibly adjusted according to application scenarios, which is not limited in the embodiments of the present application. Exemplarily, the first dangerous height distance is 3 meters, and the second dangerous height distance is 10 meters. In this case, the determined dangerous height distance Z isd the value range of Z is: 3m (meter)≤Z d ≤10m, in this dangerous height distance, general ground obstacles (such as trees, vehicles, houses, etc.) can be excluded, and the detection distance of the radar in the high altitude can be further.

[0135] Step 202d-2: determining a distance threshold value matched with the elevation angle of the lower edge of the beam of the radar based on the dangerous height distance and the elevation angle of the lower edge of the beam of the radar.

[0136] Taking 0 degrees as the reference angle, the smaller the elevation angle of the lower edge of the beam of the radar, the more likely the radar is to detect the target located below the flight plane of the aircraft, in this case, the distance threshold value matched with the elevation angle of the lower edge of the beam of the radar should be set smaller, so as to more accurately eliminate the candidate target with poor reliability by using the distance threshold value.

[0137] In one possible implementation, in the case that the elevation angle of the lower edge of the beam of the radar is less than 0 degrees, the implementation of the step 202d-2 is: calculating the sine value of the reciprocal of the elevation angle of the lower edge of the beam of the radar; taking the product of the reciprocal of the calculated sine value and the dangerous height distance as the distance threshold value matched with the elevation angle of the lower edge of the beam of the radar. That is, the distance threshold value matched with the elevation angle of the lower edge of the beam of the radar is calculated based on formula 4:

[0138]

[0139] wherein, R d represents the distance threshold value matched with the elevation angle of the lower edge of the beam of the radar; Z d represents the dangerous height distance; β represents the elevation angle of the lower edge of the beam of the radar, and β is less than 0 degrees.

[0140] In the case that the target measurement indicators corresponding to the candidate targets and the measurement indicator thresholds corresponding to the target measurement indicators are obtained based on the steps 202a to 202d described above, the process of screening the candidate targets based on the size relationship between the target measurement indicators and the measurement indicator thresholds is the process of screening the candidate targets based on the size relationship between the distance indicators and the distance thresholds.

[0141] In the example embodiment, the process of screening the candidate target based on the size relationship between the distance index and the distance threshold value is: in response to the distance index being less than the distance threshold value, retaining the candidate target; in response to the distance index not being less than the distance threshold value, eliminating the candidate target. After obtaining the distance index corresponding to the candidate target and the distance threshold value, the distance index is compared with the distance threshold value. If the distance index is less than the distance threshold value, it indicates that the height difference between the candidate target and the aircraft is likely to be small, and the candidate target can be included in the obstacle avoidance range. It is considered that the candidate target is valid, and the candidate target is retained. If the distance index is not less than the distance threshold value, it indicates that the height difference between the candidate target and the aircraft is likely to be large, and the candidate target is included in the obstacle avoidance range. There is a risk of false triggering of obstacle avoidance. It is considered that the candidate target is invalid, and the candidate target is eliminated.

[0142] In another possible implementation, the first state information of the aircraft includes the flight speed of the aircraft and the pitch angle of the aircraft, and the first state information of the candidate target includes the radial motion speed of the candidate target relative to the radar, the azimuth angle corresponding to the candidate target, and the distance between the candidate target and the radar. In this case, the target measurement index includes a speed difference index and a distance index, and the measurement index threshold corresponding to the target measurement index includes a speed difference threshold corresponding to the speed difference index and a distance threshold corresponding to the distance index. Based on the first state information of the aircraft and the first state information of the candidate target, the process of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index includes the following steps 2021 and 2022:

[0143] Step 2021: based on the flight speed of the aircraft and the azimuth angle corresponding to the candidate target, determining the theoretical radial motion speed corresponding to the candidate target; taking the absolute value of the difference between the radial motion speed of the candidate target relative to the radar and the theoretical radial motion speed as the speed difference index corresponding to the candidate target; obtaining the speed difference threshold matched with the candidate target.

[0144] The implementation of this step 2021 is described with reference to steps 202A to 202C, which will not be repeated here.

[0145] Step 2022: taking the distance between the candidate target and the radar as the distance index corresponding to the candidate target; obtaining the installation angle of the radar and the elevation beam width of the radar; based on the pitch angle of the aircraft, the installation angle of the radar and the elevation beam width of the radar, determining the pitch angle of the lower edge of the beam of the radar; obtaining the distance threshold value matched with the pitch angle of the lower edge of the beam of the radar.

[0146] The implementation of this step 2022 is described with reference to steps 202a to 202d, which will not be repeated here.

[0147] In a case that the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index are acquired based on the step 2021 and the step 2022, the process of screening the candidate target based on the size relationship between the target measurement index and the measurement index threshold is the process of screening the candidate target based on the size relationship between the speed difference index and the speed difference threshold and the size relationship between the distance index and the distance threshold.

[0148] In an example embodiment, the process of screening the candidate target based on the size relationship between the speed difference index and the speed difference threshold and the size relationship between the distance index and the distance threshold is: in response to the speed difference index corresponding to the candidate target being less than the speed difference threshold matched with the candidate target, or in response to the distance index corresponding to the candidate target being less than the distance threshold, the candidate target is retained; in response to the speed difference index corresponding to the candidate target not being less than the speed difference threshold matched with the candidate target and the distance index corresponding to the candidate target not being less than the distance threshold, the candidate target is eliminated.

[0149] In an example embodiment, the process of screening the candidate target based on the size relationship between the speed difference index and the speed difference threshold and the size relationship between the distance index and the distance threshold is: in response to the speed difference index corresponding to the candidate target being less than the speed difference threshold matched with the candidate target and the distance index corresponding to the candidate target being less than the distance threshold, the candidate target is retained; in response to the speed difference index corresponding to the candidate target not being less than the speed difference threshold matched with the candidate target, or in response to the distance index corresponding to the candidate target not being less than the distance threshold, the candidate target is eliminated.

[0150] The above describes the process of screening one candidate target by taking one candidate target as an example. For a case that the number of candidate targets is multiple, each candidate target is screened according to the above description, and all the candidate targets retained after screening are regarded as the first target. The number of the first target is one or multiple, which is not limited by the embodiments of the present application.

[0151] In the step 203, the tracking result is acquired based on the first target, and the tracking result is used to provide guidance for the flight of the aircraft.

[0152] The first target is the target retained after the candidate target is screened based on the first state information of the aircraft and the first state information of the candidate target. The first target is a target with high reliability, that is, a target that is more likely to threaten the flight of the aircraft. After the first target is determined, the tracking result used to provide guidance for the flight of the aircraft is acquired based on the first target.

[0153] In the example embodiment, the tracking result includes relevant information of the existing track analyzed based on the target detected by the radar, so as to further determine the effective target by using the existing track, or to re-plan the flight track of the aircraft by using the existing track. In the example embodiment, the process of obtaining the tracking result in the embodiment of the application is achieved based on the assumption of a stationary target, and the flight speed and the rotation speed of the aircraft are comprehensively considered. For example, the process of obtaining the tracking result is achieved based on four modules, i.e., a track initiation module, a track association module, a track filtering module and a track management module.

[0154] The process of obtaining the tracking result based on the first target refers to a process of associating and matching the first target with the existing track to obtain a new track. The existing track refers to a track determined according to the state information of the target detected by the radar in history. In the example embodiment, each existing track has a priority order, and after each first target is determined, each first target is associated and matched with the existing track having the first priority order in each existing track. For example, the number of the first target associated with one existing track is at most one, that is, for any existing track, there may be a first target associated with it, or there may be no first target associated with it. After each first target is associated and matched with the existing track having the first priority order in each existing track, each first target not associated with the existing track having the first priority order in each existing track is associated and matched with the existing track having the second priority order in each existing track, and so on, until all the existing tracks are traversed.

[0155] In a possible implementation manner, the number of the first target is multiple, and after all the existing tracks are traversed, the relationship between the multiple first targets and the multiple existing tracks can be obtained. The relationship between the multiple first targets and the multiple existing tracks can have multiple cases, and in different cases, the way of obtaining the tracking result based on the first target is different. The relationship between the multiple first targets and the multiple existing tracks includes but is not limited to the following three cases:

[0156] Case one: any first target in the multiple first targets is associated with a first existing track in each existing track.

[0157] The first existing track refers to an existing track associated with any first target in the plurality of existing tracks. This indicates that there is a first target associated with a certain existing track in the plurality of first targets. In one possible implementation, the manner of determining whether any first target is associated with the first existing track is: obtaining a reference distance based on the position information of any first target and the position information of the predicted track point corresponding to the first existing track; in response to the reference distance being less than a first threshold, determining that any first target is associated with the first existing track; and in response to the reference distance being not less than the first threshold, determining that any first target is not associated with the first existing track. That is, if the reference distance is less than the first threshold, it is determined that any first target is associated with the first existing track; and if the reference distance is not less than the first threshold, it is determined that any first target is not associated with the first existing track.

[0158] The predicted track point corresponding to the first existing track refers to a track point at the next time point predicted according to the state information of the latest track point in the first existing track. The first existing track is obtained by sequentially connecting one or more track points, and the latest track point in the first existing track refers to the last connected track point in the first existing track. Illustratively, the position information of the predicted track point corresponding to the first existing track is obtained according to the position information, speed information and acceleration information of the latest track point in the first existing track.

[0159] The position information of the predicted track point corresponding to the first existing track is used to indicate the position of the predicted track point corresponding to the first existing track. Illustratively, the position information of the predicted track point corresponding to the first existing track includes a first coordinate and a second coordinate corresponding to the position of the predicted track point corresponding to the first existing track in a reference coordinate system, wherein the first coordinate refers to the coordinate relative to the first coordinate axis in the reference coordinate system, and the second coordinate refers to the coordinate relative to the second coordinate axis in the reference coordinate system. Illustratively, the first coordinate axis is the y axis, and the second coordinate axis is the x axis.

[0160] Illustratively, the position information of the predicted track point corresponding to the first existing track is stored corresponding to the first existing track, and when the first existing track is extracted, the position information of the predicted track point corresponding to the first existing track can be extracted.

[0161] In an illustrative embodiment, the position information of any first target is used to indicate the position of any first target. Illustratively, the position information of any first target includes a first coordinate and a second coordinate corresponding to the position of any first target in a reference coordinate system. The process of obtaining a reference distance based on the position information of any first target and the position information of the predicted track point corresponding to the first existing track is implemented based on formula 5:

[0162]

[0163] wherein, D s represents a reference distance; xp represents a second coordinate corresponding to a position of any first target in a reference coordinate system; yp represents a first coordinate corresponding to the position of any first target in the reference coordinate system; xtn[n] represents a second coordinate corresponding to a position of a predicted track point corresponding to a first existing track in the reference coordinate system; ytn[n] represents a first coordinate corresponding to the position of the predicted track point corresponding to the first existing track in the reference coordinate system; [n] represents that the current frame is the nth+1 frame (n is an integer not less than 0), and a frame of processing is performed each time the radar detects a target.

[0164] The first threshold is used for comparison with the reference distance to determine whether any first target is associated with the first existing track according to a comparison result. In an example embodiment, the first threshold is set according to experience or is flexibly adjusted according to an application scenario, and embodiments of the present application do not limit this. In an example embodiment, the first threshold is a threshold value associated with a position of any first target relative to the radar, which can be adaptively set according to the position of any first target relative to the radar. Exemplarily, the first threshold has a positive correlation with a distance of any first target from the radar. That is, the greater the distance of any first target from the radar, the greater the first threshold. If the reference distance is less than the first threshold, it is determined that any first target is associated with the first existing track. That is, if the reference distance D s and the first threshold D t satisfy D s <D t , it is determined that any first target is associated with the first existing track. Exemplarily, the process of determining whether any first target is associated with the first existing track can be regarded as a processing process of a track association module.

[0165] In a possible implementation manner, in a case where any first target is associated with the first existing track among the existing tracks, the process of obtaining a tracking result based on the first target includes the following steps 203A to 203C:

[0166] Step 203A: based on second state information of the aircraft, second state information of any first target, state information of a predicted track point corresponding to the first existing track, and speed information of a latest track point in the first existing track, state information of a first extended track point is obtained, the first extended track point is used to extend the first existing track to obtain an updated first existing track.

[0167] The second state information of the aircraft refers to state information related to the aircraft that needs to be considered in the process of obtaining the tracking result based on the first target. The second state information of the aircraft can be partially or wholly the same as the first state information of the aircraft, or can be completely different from the first state information of the aircraft, which is not limited in the embodiments of the present application. The second state information of any first target refers to state information related to any first target that needs to be considered in the process of obtaining the tracking result based on the first target. The second state information of any first target can be partially or wholly the same as the first state information of any first target, or can be completely different from the first state information of any first target, which is not limited in the embodiments of the present application.

[0168] The state information of the predicted track point corresponding to the first existing track is used to represent the predicted track point corresponding to the first existing track. For example, the state information of the predicted track point corresponding to the first existing track includes position information of the predicted track point corresponding to the first existing track, velocity information of the predicted track point corresponding to the first existing track, and acceleration information of the predicted track point corresponding to the first existing track. For example, the state information of the predicted track point corresponding to the first existing track is predicted based on the state information of the latest track point in the first existing track and a state transition equation.

[0169] For example, the state transition equation is an equation that explicitly indicates the change of the state information over time. For example, the state transition equation is a transition equation under the assumption of uniform acceleration. In the case where the position coordinates, the velocity, and the acceleration of the latest track point in the first existing track are known, the position coordinates, the velocity, and the acceleration of the predicted track point corresponding to the first existing track can be solved.

[0170] The velocity information of the latest track point in the first existing track is used to indicate the velocity of the latest track point in the first existing track. For example, the velocity information of the latest track point in the first existing track includes a velocity component of the latest track point in the first existing track in the first coordinate axis and a velocity component of the latest track point in the first existing track in the second coordinate axis. The first extended track point is used to extend the first existing track, that is, the first extended track point is a track point that should be connected after the latest track point in the first existing track in the process of tracking the first target. The state information of the first extended track point is used to represent the first extended track point. For example, the state information of the first extended track point is used to represent the position of the first extended track point, the velocity of the first extended track point, and the acceleration of the first extended track point. The track obtained after the first existing track is extended by the first extended track point is referred to as the updated first existing track in the embodiments of the present application.

[0171] In the example embodiment, the second state information of the aircraft includes a flight speed of the aircraft and an angular velocity of the aircraft, the second state information of any first target includes position information of any first target, the state information of the predicted track point corresponding to the first existing track includes position information of the predicted track point corresponding to the first existing track, speed information of the predicted track point corresponding to the first existing track, and acceleration information of the predicted track point corresponding to the first existing track, and the state information of the first extended track point includes position information of the first extended track point, speed information of the first extended track point, and acceleration information of the first extended track point. Based on this, the process of obtaining the state information of the first extended track point is the process of obtaining the position information, the speed information, and the acceleration information of the first extended track point. The implementation process of the step 203A includes the following steps 203A-1 to 203A-3:

[0172] Step 203A-1: Obtain the position information of the first extended track point based on the first weight coefficient, the position information of the predicted track point corresponding to the first existing track, and the position information of any first target.

[0173] The first weight coefficient refers to a weight coefficient set for the position information of the predicted track point corresponding to the first existing track. Illustratively, the position information of the predicted track point corresponding to the first existing track includes a first coordinate and a second coordinate corresponding to the position where the predicted track point corresponding to the first existing track is located in a reference coordinate system; the position information of any first target includes a first coordinate and a second coordinate corresponding to the position where any first target is located in the reference coordinate system, and the position information of the first extended track point includes a first coordinate and a second coordinate corresponding to the position where the first extended track point is located in the reference coordinate system, and the position information of the first extended track point is calculated based on formula 6:

[0174]

[0175] wherein xt[n] represents the second coordinate corresponding to the position where the first extended track point is located in the reference coordinate system; yt[n] represents the first coordinate corresponding to the position where the first extended track point is located in the reference coordinate system; alfa r represents the first weight coefficient; for details of other parameters, refer to the introduction of formula 5, which will not be repeated here.

[0176] Step 203A-2: Obtain the speed information of the first extended track point based on the second weight coefficient, the speed information of the predicted track point corresponding to the first existing track, the flight speed of the aircraft, the position information of any first target, and the angular velocity of the aircraft.

[0177] The second weight coefficient refers to a weight coefficient set for the speed information of the predicted track point corresponding to the first existing track. Exemplarily, the speed information of the predicted track point corresponding to the first existing track includes a speed component of the predicted track point corresponding to the first existing track in a first coordinate axis of a reference coordinate system and a speed component in a second coordinate axis of the reference coordinate system; the position information of any first target includes a first coordinate and a second coordinate of a position where any first target is located in the reference coordinate system; and the speed information of the first extended track point includes a speed component of the first extended track point in the first coordinate axis of the reference coordinate system and a speed component in the second coordinate axis of the reference coordinate system. The speed information of the first extended track point is calculated based on formula 7:

[0178]

[0179] wherein vxt[n] represents the speed component of the first extended track point in the second coordinate axis of the reference coordinate system; vyt[n] represents the speed component of the first extended track point in the first coordinate axis of the reference coordinate system; alfa v represents the second weight coefficient; vxtn[n] represents the speed component of the predicted track point corresponding to the first existing track in the second coordinate axis of the reference coordinate system; vytn[n] represents the speed component of the predicted track point corresponding to the first existing track in the first coordinate axis of the reference coordinate system; V x represents the speed component of the flight speed of the aircraft in the second coordinate axis of the reference coordinate system; V y represents the speed component of the flight speed of the aircraft in the first coordinate axis of the reference coordinate system; xp represents the second coordinate of the position where any first target is located in the reference coordinate system; yp represents the first coordinate of the position where any first target is located in the reference coordinate system; and ω represents the angular velocity of the aircraft.

[0180] Step 203A-3: obtaining the acceleration information of the first extended track point based on the third weight coefficient, the acceleration information of the predicted track point corresponding to the first existing track, the speed information of the first extended track point, the speed information of the latest track point in the first existing track, and the time interval.

[0181] The third weight coefficient refers to a weight coefficient set for acceleration information of the predicted track point corresponding to the first existing track. Exemplarily, the acceleration information of the predicted track point corresponding to the first existing track includes an acceleration component of the predicted track point corresponding to the first existing track in a first coordinate axis of a reference coordinate system and an acceleration component of the predicted track point corresponding to the first existing track in a second coordinate axis of the reference coordinate system; the velocity information of the first extended track point includes a velocity component of the first extended track point in the first coordinate axis of the reference coordinate system and a velocity component of the first extended track point in the second coordinate axis of the reference coordinate system; the velocity information of the latest track point in the first existing track includes an acceleration component of the latest track point in the first existing track in the first coordinate axis of the reference coordinate system and an acceleration component of the latest track point in the first existing track in the second coordinate axis of the reference coordinate system; the time interval refers to a time interval between two adjacent processing processes, which can also be referred to as a time interval of two frames; and the acceleration information of the first extended track point includes an acceleration component of the first extended track point in the first coordinate axis of the reference coordinate system and an acceleration component of the first extended track point in the second coordinate axis of the reference coordinate system. The acceleration information of the first extended track point is calculated based on formula 8:

[0182]

[0183] wherein axt[n] represents the acceleration component of the first extended track point in the second coordinate axis of the reference coordinate system; ayt[n] represents the acceleration component of the first extended track point in the first coordinate axis of the reference coordinate system; alfa a represents the third weight coefficient; axtn[n] represents the acceleration component of the predicted track point corresponding to the first existing track in the second coordinate axis of the reference coordinate system; aytn[n] represents the acceleration component of the predicted track point corresponding to the first existing track in the first coordinate axis of the reference coordinate system; vxt[n] represents the velocity component of the first extended track point in the second coordinate axis of the reference coordinate system; vyt[n] represents the velocity component of the first extended track point in the first coordinate axis of the reference coordinate system; vxt[n-1] represents the acceleration component of the latest track point in the first existing track in the second coordinate axis of the reference coordinate system; vyt[n-1] represents the acceleration component of the latest track point in the first existing track in the first coordinate axis of the reference coordinate system; and dt is the time interval.

[0184] The process of obtaining the state information of the first extended track point based on the steps 203A-1 to 203A-3 can be regarded as a processing process of a track filtering module, and the state information of the first extended track point is obtained through track filtering. In the process of track filtering, the observation of the position (i.e., the position information of the first extended track point) is the actual observation coordinate of the radar; the observation of the speed (i.e., the speed information of the first extended track point) is the relative speed calculated based on the flight speed and the angular speed of the aircraft under the assumption of a stationary target; and the observation of the acceleration (i.e., the acceleration information of the first extended track point) is obtained by differentiating the speed tracking values of the previous two frames, so that the speed tracking result and the acceleration tracking result of the target can be updated in real time based on the motion information of the aircraft, and the tracking accuracy and adaptability to changes can be greatly improved compared with the traditional filtering tracking method relying solely on radar observation.

[0185] The first weight coefficient, the second weight coefficient, and the third weight coefficient represent the degree of trust in the predicted value. In an example embodiment, the first weight coefficient, the second weight coefficient, and the third weight coefficient are set according to experience or flexibly adjusted according to the application scenario, and the embodiments of the present application do not limit this.

[0186] In an example embodiment, considering that the radar is a two-dimensional radar and the aircraft can maneuver in a three-dimensional space, the first weight coefficient, the second weight coefficient, and the third weight coefficient are dynamically set. For example, the principle of dynamic setting is that the first weight coefficient is negatively correlated with at least one of the speed component of the flight speed of the aircraft in the height dimension and the angular speed of the aircraft; the second weight coefficient is negatively correlated with at least one of the speed component of the flight speed of the aircraft in the height dimension and the angular speed of the aircraft; and the third weight coefficient is negatively correlated with at least one of the speed component of the flight speed of the aircraft in the height dimension and the angular speed of the aircraft.

[0187] That is, when the speed component of the flight speed of the aircraft in the height dimension is large, the first weight coefficient, the second weight coefficient, and the third weight coefficient used in the track filtering process are reduced; and when the angular speed of the aircraft is large, the first weight coefficient, the second weight coefficient, and the third weight coefficient used in the track filtering process are reduced. For example, the speed component of the flight speed of the aircraft in the height dimension refers to the speed component of the flight speed of the aircraft in the third coordinate axis of the reference coordinate system.

[0188] Step 203B: based on the state information of the first extended track point, obtaining the state information of the predicted track point corresponding to the updated first existing track.

[0189] The updated first existing track refers to a track obtained by extending the first existing track by using the first extended track point, that is, the first extended track point is the latest track point in the updated first existing track. The predicted track point corresponding to the updated first existing track is the next track point of the updated first existing track obtained by prediction. The process of obtaining the state information of the predicted track point corresponding to the updated first existing track based on the state information of the first extended track point is the process of predicting the state information of the next track point of the updated first existing track based on the state information of the latest track point in the updated first existing track.

[0190] In the example embodiment, the manner of obtaining the state information of the predicted track point corresponding to the updated first existing track based on the state information of the first extended track point is that the state information of the track point at the next time is predicted based on the state information of the first extended track point and the state transition equation, and the predicted state information of the track point is taken as the state information of the predicted track point corresponding to the updated first existing track. In the example embodiment, the state transition equation is a state transition equation under a uniform acceleration motion model, and the state transition equation includes a position transition equation and a velocity transition equation. The process of predicting the state information of the track point at the next time based on the state information of the first extended track point and the state transition equation is that the position information of the track point at the next time is determined based on the position information, the velocity information, the acceleration information of the first extended track point and the position transition equation; the velocity information of the track point at the next time is determined based on the velocity information, the acceleration information of the first extended track point and the velocity transition equation; and the acceleration information of the first extended track point is taken as the acceleration information of the track point at the next time.

[0191] Step 203C: record the updated first existing track and the state information of the predicted track point corresponding to the updated first existing track into the tracking result.

[0192] The updated first existing track can provide intuitive reference for obstacle avoidance flight of the aircraft; the state information of the predicted track point corresponding to the updated first existing track can provide data support for the process of associating and matching the updated first existing track with the subsequently detected target to continue extending the updated first existing track. The updated first existing track and the state information of the predicted track point corresponding to the updated first existing track are recorded into the tracking result, so that the flight track of the aircraft can be controlled by using the tracking result to not conflict with the updated first existing track, and the tracking result can be used to continue extending the updated first existing track.

[0193] In an example embodiment, the manner of recording the updated first existing track can be recording state information of each track point in the updated first existing track; and recording state information of the latest track point in the updated first existing track, and the example embodiments of the present application do not limit this.

[0194] It should be noted that there can be multiple first targets respectively associated with different existing tracks, and for each first target, an existing track is extended according to the manner of steps 203A to 203C to obtain an updated existing track, and further state information of a predicted track point corresponding to the updated existing track is obtained, and then the updated existing track and the state information of the predicted track point corresponding to the updated existing track are recorded into the tracking result.

[0195] In a possible implementation manner, in the case that any first target is associated with a first existing track of each existing track, the method further includes: setting an existing characteristic parameter corresponding to the first existing track to a specified value. The existing characteristic parameter corresponding to the first existing track refers to a characteristic parameter that the first existing track already has before being associated and matched with the first target. The characteristic parameter that the first existing track has is used to indicate the validity of the first existing track. For example, the greater the characteristic parameter that the first existing track has, the worse the validity of the first existing track.

[0196] The specified value is set according to experience or flexibly adjusted according to an application scenario, and the example embodiments of the present application do not limit this. For example, the specified value is set to 0. That is, if a certain first target is associated with a certain existing track, the existing characteristic parameter corresponding to the existing track is set to 0. For example, the characteristic parameter that the first existing track initially has is 0, that is, if the first existing track forms an association with a certain first target in the current frame, the characteristic parameter that the first existing track has is reset to 0.

[0197] In an example embodiment, the process of adjusting the characteristic parameter that the existing track has is a processing process of a track management module. The basic function of the track management module is to perform validity screening on a tracking track that does not form an effective association in the current frame, and further to perform state prediction on the track screened through the screening, so as to improve the processing quality and processing efficiency of the service of obtaining the tracking result.

[0198] Case two: any first target of the multiple first targets is not associated with each existing track.

[0199] In this case two, it is indicated that any first target cannot form an effective association with an existing track, and in this case, a new track needs to be added based on any first target. In this case two, based on the first target, the process of obtaining the tracking result includes the following steps 203a to 203c:

[0200] Step 203a: determining state information of a start track point of a new track based on position information of any first target, flight speed of the aircraft and rotation angle speed of the aircraft.

[0201] Exemplarily, the position information of any first target comprises a first coordinate and a second coordinate corresponding to a position where any first target is located in a reference coordinate system; and the state information of the start track point of the new track comprises position information, speed information and acceleration information of the start track point of the new track. The position information of the start track point of the new track comprises a first coordinate and a second coordinate corresponding to a position where the start track point of the new track is located in the reference coordinate system; the speed information of the start track point of the new track comprises a speed component in a first coordinate axis of the reference coordinate system and a speed component in a second coordinate axis of the reference coordinate system; and the acceleration information of the start track point of the new track comprises an acceleration component in the first coordinate axis of the reference coordinate system and an acceleration component in the second coordinate axis of the reference coordinate system.

[0202] In a possible implementation manner, the tracking process provided by the embodiment of the present application is implemented based on the assumption of a stationary target and the assumption of uniform acceleration motion. The implementation process of step 203a is as follows: obtaining a speed component in a first coordinate axis of the reference coordinate system and a speed component in a second coordinate axis of the reference coordinate system of the flight speed of the aircraft; taking a first coordinate and a second coordinate corresponding to a position where the aircraft is located in the reference coordinate system as a first coordinate and a second coordinate corresponding to a position where the start track point of the new track is located in the reference coordinate system; taking a product of the first coordinate corresponding to the position where the aircraft is located in the reference coordinate system and the rotation angle speed of the aircraft as a first product, and taking a difference between the first product and the speed component in the second coordinate axis of the reference coordinate system of the flight speed of the aircraft as a speed component in the second coordinate axis of the reference coordinate system of the start track point of the new track; taking a product of the second coordinate corresponding to the position where the aircraft is located in the reference coordinate system and the rotation angle speed of the aircraft as a second product, and taking a difference between an opposite number of the second product and the speed component in the first coordinate axis of the reference coordinate system of the flight speed of the aircraft as a speed component in the first coordinate axis of the reference coordinate system of the start track point of the new track; and setting the acceleration component in the first coordinate axis of the reference coordinate system and the acceleration component in the second coordinate axis of the reference coordinate system of the start track point of the new track as 0.

[0203] Exemplarily, the state information of the start track point of the new track is obtained based on formula 9:

[0204] [xt[0], yt[0], vxt[0], vyt[0], axt[0], ayt[0]] = [xp, yp, (-V x + yp * ω), (-V y - xp * ω), 0, 0] (Equation 9)

[0205] wherein xt[0] represents the second coordinate corresponding to the position of the starting track point of the new track in the reference coordinate system; yt[0] represents the first coordinate corresponding to the position of the starting track point of the new track in the reference coordinate system; vxt[0] represents the velocity component of the starting track point of the new track in the second coordinate axis of the reference coordinate system; vyt[0] represents the velocity component of the starting track point of the new track in the first coordinate axis of the reference coordinate system; axt[0] represents the acceleration component of the starting track point of the new track in the second coordinate axis of the reference coordinate system; and ayt[0] represents the acceleration component of the starting track point of the new track in the first coordinate axis of the reference coordinate system.

[0206] xp represents the second coordinate corresponding to the position of the aircraft in the reference coordinate system; yp represents the first coordinate corresponding to the position of the aircraft in the reference coordinate system; V x represents the velocity component of the flight speed of the aircraft in the second coordinate axis of the reference coordinate system; V y represents the velocity component of the flight speed of the aircraft in the first coordinate axis of the reference coordinate system; ω represents the angular velocity of the aircraft; and [0] represents the initial frame.

[0207] Exemplarily, the implementation process of the above step 203a is the processing process of the track starting module. Through the track starting module, the new track can be constructed.

[0208] Step 203b: obtaining the state information of the predicted track point corresponding to the new track according to the state information of the starting track point of the new track.

[0209] The starting track point of the new track is the latest track point in the new track. The process of obtaining the state information of the predicted track point corresponding to the new track according to the state information of the starting track point of the new track is described in step 203b, which will not be described here.

[0210] Step 203c: recording the new track and the state information of the predicted track point corresponding to the new track into the tracking result.

[0211] Exemplarily, since the new track currently has only one starting track point, the way of recording the new track is to record the state information of the starting track point of the new track.

[0212] Case three: each of the first targets is not associated with the second existing track in each of the existing tracks.

[0213] Case three indicates that none of the first targets can be effectively associated with the second existing track, i.e., the second existing track is less effective. Referring to FIG. 2B, case three is illustrated by the second existing track 201 and the first targets 202 and 203. Figure 5 In case three, based on the first targets, the process of obtaining the tracking result includes the following steps 2031 to 2035:

[0214] Step 2031: increase the existing characteristic parameter corresponding to the second existing track by a reference value to obtain a new characteristic parameter corresponding to the second existing track.

[0215] The reference value is set according to experience or adjusted according to an application scenario, which is not limited in the embodiments of the present application, as long as the new characteristic parameter corresponding to the second existing track indicates a lower effectiveness than the existing characteristic parameter corresponding to the second existing track.

[0216] For example, in a case where the larger the characteristic parameter of an existing track is, the less effective the existing track is, the reference value is a positive number greater than 0, for example, the reference value is 1. That is, if the second existing track cannot be associated with any first target in the processing of the current frame, the existing characteristic parameter corresponding to the second existing track is increased by 1, and the characteristic parameter obtained after the increase is taken as the new characteristic parameter corresponding to the second existing track.

[0217] Step 2032: determine whether the new characteristic parameter corresponding to the second existing track is less than a characteristic parameter threshold; if the new characteristic parameter corresponding to the second existing track is not less than the reference threshold, execute step 2033; if the new characteristic parameter corresponding to the second existing track is less than the reference threshold, execute step 2034 and step 2035.

[0218] After obtaining the new characteristic parameter corresponding to the second existing track, it is determined whether the new characteristic parameter corresponding to the second existing track is less than the characteristic parameter threshold. If the new characteristic parameter corresponding to the second existing track is not less than the characteristic parameter threshold, it indicates that the second existing track has not been associated with a new target for a long time, and the second existing track is less effective, and step 2033 is executed; if the new characteristic parameter corresponding to the second existing track is less than the characteristic parameter threshold, it indicates that the second existing track is more effective, and steps 2034 and 2035 are executed.

[0219] In an example embodiment, the characteristic parameter threshold is set empirically or adjusted flexibly according to application scenarios, which is not limited in the embodiments of the present application. In an example embodiment, the three-dimensional motion of the aircraft is considered, and in some cases the scene changes obviously, in which case the speed of eliminating the irrelevant existing track can be accelerated, therefore, the characteristic parameter threshold is set as a dynamic threshold. Exemplarily, the characteristic parameter threshold is a product of a basic threshold and a specified proportion, and the specified proportion is in a range of 0-1. Exemplarily, the specified proportion is set dynamically, the specified proportion is in a negative correlation with at least one of a speed component of the flight speed of the aircraft in the height dimension and an angular velocity of the aircraft, and the reference proportion is in a positive correlation with a specified distance, and the specified distance is a distance between the latest track point in the second existing track and the radar. That is, when the speed component of the flight speed of the aircraft in the height dimension is large, the specified proportion is reduced; when the angular velocity of the aircraft is large, the specified proportion is reduced; and when the distance between the latest track point in the second existing track and the radar is small, the specified proportion is reduced.

[0220] Step 2033: in response to that the new characteristic parameter corresponding to the second existing track is not less than the characteristic parameter threshold, the second existing track is eliminated from each existing track.

[0221] When the new characteristic parameter corresponding to the second existing track is not less than the characteristic parameter threshold, it is indicated that the second existing track has not been associated with a new target for a long time, and the effectiveness of the second existing track is poor, and at this time the second existing track is eliminated from each existing track.

[0222] Step 2034: in response to that the new characteristic parameter corresponding to the second existing track is less than the characteristic parameter threshold, the state information of the second extended track point is obtained based on the second state information of the aircraft, the state information of the predicted track point corresponding to the second existing track and the speed information of the latest track point in the second existing track, the second extended track point is used to extend the second existing track, and an updated second existing track is obtained.

[0223] When the new characteristic parameter corresponding to the second existing track is less than the characteristic parameter threshold, it is indicated that the effectiveness of the second existing track is good, and in this case, the state information of the second extended track point used to extend the second existing track needs to be obtained, so as to further obtain the updated second existing track.

[0224] In the example embodiment, the second state information of the aircraft comprises a flight speed of the aircraft and an angular velocity of the aircraft, the state information of the predicted track point corresponding to the second existing track comprises position information of the predicted track point corresponding to the second existing track, speed information of the predicted track point corresponding to the second existing track, and acceleration information of the predicted track point corresponding to the second existing track, and the state information of the second extended track point comprises position information of the second extended track point, speed information of the second extended track point, and acceleration information of the second extended track point. The implementation process of the step 2034 comprises the following steps 2034-1 to 2034-3:

[0225] Step 2034-1: taking the position information of the predicted track point corresponding to the second existing track as the position information of the second extended track point.

[0226] Since the first target is not associated with the second existing track, the position information of the second extended track point cannot be obtained by comprehensively considering the position information of the predicted track point corresponding to the second existing track and the position information of the first target associated with the second existing track, and therefore, the position information of the predicted track point corresponding to the second existing track is directly taken as the position information of the second extended track point.

[0227] Illustratively, the position information of the predicted track point corresponding to the second existing track comprises a first coordinate and a second coordinate corresponding to the position of the predicted track point corresponding to the second existing track in a reference coordinate system, and the position information of the second extended track point comprises a first coordinate and a second coordinate corresponding to the position of the second extended track point in the reference coordinate system. The first coordinate corresponding to the position of the predicted track point corresponding to the second existing track in the reference coordinate system is taken as the first coordinate corresponding to the position of the second extended track point in the reference coordinate system, and the second coordinate corresponding to the position of the predicted track point corresponding to the second existing track in the reference coordinate system is taken as the second coordinate corresponding to the position of the second extended track point in the reference coordinate system.

[0228] Step 2034-2: obtaining the speed information of the second extended track point based on the fourth weight coefficient, the speed information of the predicted track point corresponding to the second existing track, the flight speed of the aircraft, the angular velocity of the aircraft, and the position information of the second extended track point.

[0229] The fourth weighting coefficient refers to the weighting coefficient set for the velocity information of the predicted track point corresponding to the second existing track. For example, the velocity information of the predicted track point corresponding to the second existing track includes the velocity component of the predicted track point corresponding to the first existing track under the first coordinate axis and the velocity component under the second coordinate axis in the reference coordinate system; the position information of the second extended track point includes the first and second coordinates corresponding to the position of the second extended track point in the reference coordinate system; the velocity information of the second extended track point includes the velocity component of the second extended track point under the first coordinate axis and the velocity component under the second coordinate axis in the reference coordinate system. The velocity information of the second extended track point is calculated based on Formula 10:

[0230]

[0231] Where vxt[n]' represents the velocity component of the second extended track point under the second coordinate axis in the reference coordinate system; vyt[n]' represents the velocity component of the second extended track point under the first coordinate axis in the reference coordinate system; alfa' v The fourth weighting coefficient can be the same as or different from the second weighting coefficient; this embodiment does not limit this. `vxtn[n]'` represents the velocity component of the predicted trajectory point corresponding to the second existing trajectory under the second coordinate axis in the reference coordinate system; `vytn[n]'` represents the velocity component of the predicted trajectory point corresponding to the second existing trajectory under the first axis in the reference coordinate system; V x V represents the velocity component of the aircraft's flight velocity along the second coordinate axis in the reference coordinate system. y yt[n]' represents the velocity component of the aircraft's flight speed under the first coordinate axis in the reference coordinate system; yt[n]' represents the second coordinate of the position of the second extended track point in the reference coordinate system; xt[n]' represents the first coordinate of the position of the second extended track point in the reference coordinate system; ω represents the angular velocity of the aircraft.

[0232] Step 2034-3: Based on the fifth weighting coefficient, the acceleration information of the predicted track point corresponding to the second existing track, the velocity information of the second extended track point, the velocity information of the latest track point in the second existing track, and the time interval, obtain the acceleration information of the second extended track point.

[0233] The implementation process of step 2034-3 is the same as that of step 203A-3, and will not be repeated here. The fifth weighting coefficient may be the same as or different from the third weighting coefficient, and this application embodiment does not limit this.

[0234] Step 2035: based on the state information of the second extended track point, obtaining state information of a predicted track point corresponding to the second existing track after being updated; recording the second existing track after being updated and the state information of the predicted track point corresponding to the second existing track after being updated into the tracking result.

[0235] The implementation process of this step 2035 is described with reference to steps 203B and 203C, which will not be repeated here.

[0236] In the related art, if the first target is not associated with the second existing track, the state information of the second extended track point is directly obtained based on the state transition equation. In this way, when the aircraft and the target have significant maneuvers during the loss of observation, a large error is easily generated. The embodiments of the present application obtain the state information of the second extended track point by means of the state information of the aircraft, which is beneficial to greatly improving the accuracy of state information prediction.

[0237] For example, the embodiments of the present application take the case that the larger the characteristic parameter possessed by the existing track is, the worse the effectiveness of the existing track is as an example for illustration, and the embodiments of the present application are not limited thereto. In some embodiments, the smaller the characteristic parameter possessed by the existing track is, the worse the effectiveness of the existing track is. In this case, if each first target is not associated with the second existing track, the existing characteristic parameter corresponding to the second existing track is reduced by a certain value. The certain value can be the same as or different from the reference value, and the embodiments of the present application are not limited thereto.

[0238] It should be noted that there can be multiple second existing tracks that cannot be effectively associated with the first target. In this case, for each second existing track, the tracking result is updated according to the manner introduced in steps 2031 to 2035.

[0239] After traversing all the first targets and all the existing tracks, the tracking result is obtained. For example, the tracking result records each updated existing track, the state information of the predicted track point corresponding to each updated existing track, each new track, and the state information of the predicted track point corresponding to each new track. The tracking result can provide guidance for the flight of the aircraft to avoid collision with a target during the flight of the aircraft and improve the flight stability of the aircraft. For example, after the computer device obtains the tracking result, the computer device sends the tracking result to the control device of the aircraft, and the control device of the aircraft adjusts the flight path of the aircraft by analyzing the tracking result.

[0240] In the example embodiment, after obtaining the tracking result, the radar continues to detect targets around the aircraft, and the computer device can continue to obtain a new tracking result according to steps 201 to 203, so that the new tracking result can be used to provide new guidance for the flight of the aircraft, thereby ensuring the flight stability of the aircraft.

[0241] For example, the process of obtaining the tracking result is as shown in Figure 6 The first target and the existing track are obtained; the track association operation is performed; it is determined whether the association is formed; if any first target is associated with the first existing track, the track filtering is implemented based on step 203A, the track prediction is implemented based on step 203B, and then the obtained information is recorded in the tracking result based on step 203C.

[0242] If any first target is not associated with each existing track, that is, the target is not associated, the track initiation is implemented based on step 203a, the track prediction is implemented based on step 203b, and then the obtained information is recorded in the tracking result based on step 203c. If each first target is not associated with the second existing track, that is, the track is not associated, it is determined whether the second existing track is valid by determining whether the new characteristic parameter corresponding to the second existing track is less than the characteristic parameter threshold; if the second existing track is invalid, the second existing track is removed; if the second existing track is valid, the track prediction is implemented based on steps 2034 and 2035, and the obtained information is recorded in the tracking result.

[0243] In the process of obtaining the tracking result based on Figure 6 In the process of obtaining the tracking result, the flight speed and the rotation angle speed of the aircraft are used in the track filtering, the track initiation, the track prediction and other operations, which is beneficial to improve the accuracy of the tracking result and the adaptability to the maneuvering change.

[0244] The embodiment of the application can be applied in the process of millimeter wave radar data processing of the aircraft, and the motion state, the attitude and the position information of the aircraft provided by the external sensor are fully utilized, the elimination of unnecessary targets of various types is strengthened at the target screening level, and the possibility of causing false obstacle avoidance (false alarm) is reduced; the new speed and acceleration observation equation is introduced at the tracking processing level, and the accuracy of the obtained tracking result and the adaptability to the maneuvering change are improved.

[0245] Compared with a traditional target screening strategy based on echo intensity, the embodiment of the application introduces a planar stationary target Doppler model for target screening, which can fully screen out various false alarm targets and non-targets of interest observed by the millimeter wave radar of the aircraft in three-dimensional space. Compared with a traditional strategy based on two radars or a cloud platform controlling radar posture, the embodiment of the application is based on a single fixedly installed radar, and remote targets are removed through aircraft pose information, which can reduce the influence of ground clutter at a lower hardware cost. Compared with a traditional tracking filter, the embodiment of the application introduces aircraft motion information in the processes of track initiation, track filtering and track management, thereby improving the tracking accuracy of the state. Meanwhile, in the processes of track filtering and track management, the dynamic setting of processing parameters (such as the first weight coefficient, the second weight coefficient, the third weight coefficient and the specified proportion) is performed according to the non-planar features (the height component of the velocity and the angular velocity) of the aircraft, thereby improving the response speed of the tracking process to the three-dimensional maneuvering changes of the aircraft.

[0246] In the embodiment of the application, the candidate targets are screened by comprehensively considering the state information of the aircraft and the state information of the candidate targets. The screening process not only considers the information of the candidate targets, but also considers the information of the aircraft, and the considered information is rich, which is beneficial to improving the reliability of the targets retained after screening, and thereby making the accuracy of the obtained tracking result higher, and being able to more accurately provide guidance for the flight of the aircraft, thereby improving the processing quality of the service of obtaining the tracking result based on the detected targets by the radar.

[0247] Referring to Figure 7 The embodiment of the application provides a service processing device, which comprises:

[0248] The first acquisition module 701 is configured to acquire first state information of an aircraft and first state information of a candidate target, the candidate target being detected by a radar installed on the aircraft.

[0249] The screening module 702 is configured to screen the candidate target based on the first state information of the aircraft and the first state information of the candidate target, and retain the candidate target after screening as a first target.

[0250] The second acquisition module 703 is configured to acquire a tracking result based on the first target, the tracking result being used to provide guidance for the flight of the aircraft.

[0251] In a possible implementation manner, the screening module 702 is configured to acquire a target measurement index corresponding to the candidate target and a measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target, and screen the candidate target based on the size relationship between the target measurement index and the measurement index threshold.

[0252] In a possible implementation, the first state information of the aircraft includes a flight speed of the aircraft, the first state information of the candidate target includes a radial motion speed of the candidate target relative to the radar and a corresponding azimuth angle of the candidate target, the target measurement index includes a speed difference index, and the measurement index threshold corresponding to the target measurement index includes a speed difference threshold; the screening module 702 is further configured to determine a theoretical radial motion speed of the candidate target based on the flight speed of the aircraft and the corresponding azimuth angle of the candidate target; take an absolute value of a difference between the radial motion speed of the candidate target relative to the radar and the theoretical radial motion speed as the speed difference index corresponding to the candidate target; and obtain the speed difference threshold matched with the candidate target.

[0253] In a possible implementation, the first state information of the candidate target further includes a distance between the candidate target and the radar; the screening module 702 is further configured to determine a first function value based on the flight speed of the aircraft, the first function value being in positive correlation with an absolute value of the flight speed of the aircraft; determine a second function value based on the distance between the candidate target and the radar, the second function value being in positive correlation with a third function value, the third function value being an inverse of the distance between the candidate target and the radar; and determine the speed difference threshold matched with the candidate target based on the first function value, the second function value, and a radial motion speed measurement error threshold corresponding to the radar.

[0254] In a possible implementation, the first state information of the aircraft includes a pitch angle of the aircraft, the first state information of the candidate target includes a distance between the candidate target and the radar, the target measurement index includes a distance index, and the measurement index threshold corresponding to the target measurement index includes a distance threshold; the screening module 702 is further configured to take the distance between the candidate target and the radar as the distance index corresponding to the candidate target; obtain an installation angle of the radar and a pitch-direction beam width of the radar; determine a pitch angle of a lower edge of a beam of the radar based on the pitch angle of the aircraft, the installation angle of the radar, and the pitch-direction beam width of the radar; and obtain the distance threshold matched with the pitch angle of the lower edge of the beam of the radar.

[0255] In a possible implementation, the first state information of the aircraft further includes an altitude at which the aircraft is located; the screening module 702 is further configured to, in response to the pitch angle of the lower edge of the beam of the radar being less than a reference angle, determine a dangerous altitude distance based on the altitude at which the aircraft is located; and determine the distance threshold matched with the pitch angle of the lower edge of the beam of the radar based on the dangerous altitude distance and the pitch angle of the lower edge of the beam of the radar.

[0256] In a possible implementation, the number of the first targets is a plurality, referring to Figure 8 The second obtaining module 703 includes:

[0257] The first obtaining unit 7031 is configured to, in response to any first target of the plurality of first targets being associated with a first existing track of the respective existing tracks, obtain state information of a first extended track point based on the second state information of the aircraft, the second state information of any first target, state information of a predicted track point corresponding to the first existing track, and speed information of a latest track point in the first existing track, the first extended track point being used to extend the first existing track to obtain an updated first existing track.

[0258] The second obtaining unit 7032 is configured to obtain state information of a predicted track point corresponding to the updated first existing track based on the state information of the first extended track point.

[0259] The recording unit 7033 is configured to record the updated first existing track and the state information of the predicted track point corresponding to the updated first existing track into a tracking result.

[0260] In a possible implementation, the second state information of the aircraft includes a flight speed of the aircraft and an angular velocity of the aircraft, the first second state information of any first target includes position information of any first target, the state information of the predicted track point corresponding to the first existing track includes position information of the predicted track point corresponding to the first existing track, speed information of the predicted track point corresponding to the first existing track, and acceleration information of the predicted track point corresponding to the first existing track, and the state information of the first extended track point includes position information of the first extended track point, speed information of the first extended track point, and acceleration information of the first extended track point; the first obtaining unit 7031 is configured to obtain the position information of the first extended track point based on a first weight coefficient, the position information of the predicted track point corresponding to the first existing track, and the position information of any first target; obtain the speed information of the first extended track point based on a second weight coefficient, the speed information of the predicted track point corresponding to the first existing track, the flight speed of the aircraft, the position information of any first target, and the angular velocity of the aircraft; and obtain the acceleration information of the first extended track point based on a third weight coefficient, the acceleration information of the predicted track point corresponding to the first existing track, the speed information of the first extended track point, the speed information of the latest track point in the first existing track, and a time interval.

[0261] In a possible implementation, the number of the first targets is a plurality, and the first obtaining unit 7031 is further configured to, in response to any first target of the plurality of first targets being not associated with any existing track, determine state information of a starting track point of a new track based on the position information of any first target, the flight speed of the aircraft, and the angular velocity of the aircraft.

[0262] The second acquisition unit 7032 is further configured to acquire state information of a predicted track point corresponding to the new track based on state information of a starting track point of the new track.

[0263] The recording unit 7033 is further configured to record the new track and the state information of the predicted track point corresponding to the new track into the tracking result.

[0264] In a possible implementation, the number of the first targets is multiple, see Figure 8 The second acquisition module 703 further includes:

[0265] The parameter adjustment unit 7034 is configured to, in response to each of the first targets not being associated with each of the existing tracks, increase an existing characteristic parameter corresponding to a second existing track in the existing tracks by a reference value to obtain a new characteristic parameter corresponding to the second existing track.

[0266] The first acquisition unit 7031 is further configured to, in response to the new characteristic parameter corresponding to the second existing track being less than a characteristic parameter threshold, acquire state information of a second extended track point based on the second state information of the aircraft, state information of a predicted track point corresponding to the second existing track and speed information of a latest track point in the second existing track, the second extended track point being used to extend the second existing track to obtain an updated second existing track.

[0267] The second acquisition unit 7032 is further configured to acquire state information of a predicted track point corresponding to the new track based on state information of a starting track point of the new track.

[0268] The recording unit 7033 is further configured to record the new track and the state information of the predicted track point corresponding to the new track into the tracking result.

[0269] In a possible implementation, the second state information of the aircraft includes a flight speed of the aircraft and an angular velocity of the aircraft, the state information of the predicted track point corresponding to the second existing track includes position information of the predicted track point corresponding to the second existing track, speed information of the predicted track point corresponding to the second existing track, and acceleration information of the predicted track point corresponding to the second existing track, and the state information of the second extended track point includes position information of the second extended track point, speed information of the second extended track point, and acceleration information of the second extended track point; the first obtaining unit 7031 is further configured to obtain the position information of the second extended track point as the position information of the predicted track point corresponding to the second existing track; obtain the speed information of the second extended track point based on the fourth weight coefficient, the speed information of the predicted track point corresponding to the second existing track, the flight speed of the aircraft, the angular velocity of the aircraft, and the position information of the second extended track point; and obtain the acceleration information of the second extended track point based on the fifth weight coefficient, the acceleration information of the predicted track point corresponding to the second existing track, the speed information of the second extended track point, the speed information of the latest track point in the second existing track, and the time interval.

[0270] In a possible implementation, the second obtaining module 703 further includes: Figure 8

[0271] The deleting unit 7035 is configured to delete the second existing track from the existing tracks in response to the new feature parameter corresponding to the second existing track being greater than or equal to the feature parameter threshold.

[0272] In a possible implementation, the parameter adjusting unit 7034 is further configured to set the existing feature parameter corresponding to the first existing track to a specified value.

[0273] In the embodiments of the present application, the candidate targets are screened by comprehensively considering the state information of the aircraft and the state information of the candidate targets, the screening process not only considers the information of the candidate targets, but also considers the information of the aircraft, and the considered information is relatively rich, which is beneficial to improving the reliability of the targets reserved after screening, and further makes the accuracy of the obtained tracking result higher, and can more accurately provide guidance for the flight of the aircraft, thereby improving the processing quality of the service of obtaining the tracking result based on the targets detected by the radar.

[0274] It should be noted that the apparatus provided in the above embodiments is only used as an example for the division of the above functional modules, and in actual applications, the above functions can be completed by different functional modules according to needs, that is, the internal structure of the device is divided into different functional modules to complete all or part of the above described functions. In addition, the apparatus and method embodiments provided in the above embodiments belong to the same concept, and the specific implementation process is detailed in the method embodiments, which will not be described here.​

[0275] In an example embodiment, a computer device is also provided, which includes a processor and a memory having at least one computer program stored therein. The at least one computer program is loaded and executed by the one or more processors to enable the computer device to implement any of the above business processing methods. The computer device can be a server or a terminal, and the embodiments of the present application do not limit the same. Next, the structure of the server and the terminal will be introduced respectively.

[0276] Figure 9 is a structural schematic diagram of a server provided by an embodiment of the present application. The server can be quite different in configuration or performance, and can include one or more processors (Central Processing Units, CPU) 901 and one or more memories 902, wherein the one or more memories 902 have at least one computer program stored therein, and the at least one computer program is loaded and executed by the one or more processors 901 to enable the server to implement the business processing method provided by each method embodiment. Of course, the server can also have a wired or wireless network interface and an input and output interface and other components for realizing the functions of the device, and thus input and output can be performed. The server can also include other components for realizing the functions of the device, which will not be described herein.

[0277] Figure 10 is a structural schematic diagram of a terminal provided by an embodiment of the present application. The terminal can be a smart phone, a tablet computer, a notebook computer or a desktop computer. The terminal can also be referred to as a user equipment, a portable terminal, a laptop terminal, a desktop terminal or other names.

[0278] Generally, the terminal includes a processor 1001 and a memory 1002.

[0279] The processor 1001 can include one or more processing cores, such as a 4-core processor, an 8-core processor, and the like. The processor 1001 can be implemented in at least one of a hardware form of a DSP (Digital Signal Processing), an FPGA (Field-Programmable Gate Array), a PLA (Programmable Logic Array). The processor 1001 can also include a main processor and a coprocessor, the main processor being a processor for processing data in an awake state, also known as a CPU (Central Processing Unit), and the coprocessor being a low-power processor for processing data in a standby state. In some embodiments, the processor 1001 can be integrated with a GPU (Graphics Processing Unit) for rendering and drawing content required to be displayed by the display screen. In some embodiments, the processor 1001 can further include an AI (Artificial Intelligence) processor for processing computing operations related to machine learning.

[0280] The memory 1002 can include one or more computer-readable storage media that can be non-transitory. The memory 1002 can also include high-speed random access memory and nonvolatile memory such as one or more disk storage devices, flash storage devices. In some embodiments, the non-transitory computer-readable storage medium in the memory 1002 is used to store at least one instruction for being executed by the processor 1001 to enable the terminal to implement the service processing method provided by the method embodiments in the present application.

[0281] In some embodiments, the terminal can also optionally include a peripheral device interface 1003 and at least one peripheral device. The processor 1001, the memory 1002, and the peripheral device interface 1003 can be connected through a bus or a signal line. Each peripheral device can be connected to the peripheral device interface 1003 through a bus, a signal line, or a circuit board. Specifically, the peripheral device includes at least one of a radio frequency circuit 1004, a display screen 1005, a camera assembly 1006, an audio circuit 1007, a positioning assembly 1008, and a power supply 1009.

[0282] The peripheral interface 1003 can be used to connect at least one peripheral device related to I / O (Input / Output) to the processor 1001 and the memory 1002. The radio frequency circuit 1004 is used to receive and transmit RF (Radio Frequency) signals, also known as electromagnetic signals. The radio frequency circuit 1004 communicates with communication networks and other communication devices through electromagnetic signals. The display screen 1005 is used to display a UI (User Interface). The UI can include graphics, text, icons, videos, and any combination thereof. The camera assembly 1006 is used to capture images or videos.

[0283] The audio circuit 1007 can include a microphone and a speaker. The microphone is used to capture sound waves of a user and an environment, and convert the sound waves into an electrical signal input to the processor 1001 for processing, or input to the radio frequency circuit 1004 to realize voice communication. The speaker is used to convert an electrical signal from the processor 1001 or the radio frequency circuit 1004 into sound waves. The positioning assembly 1008 is used to locate the current geographical position of the terminal to realize navigation or LBS (Location Based Service). The power supply 1009 is used to supply power to various components in the terminal. The power supply 1009 can be alternating current, direct current, disposable battery or rechargeable battery.

[0284] In some embodiments, the terminal further includes one or more sensors 1010. The one or more sensors 1010 include but are not limited to: an acceleration sensor 1011, a gyroscope sensor 1012, a pressure sensor 1013, a fingerprint sensor 1014, an optical sensor 1015, and a proximity sensor 1016.

[0285] The acceleration sensor 1011 can detect the acceleration in three coordinate axes of the coordinate system established by the terminal. The gyroscope sensor 1012 can detect the body direction and rotation angle of the terminal, and the gyroscope sensor 1012 can cooperate with the acceleration sensor 1011 to capture the 3D action of the user on the terminal. The pressure sensor 1013 can be arranged on the side frame of the terminal and / or the lower layer of the display screen 1005. When the pressure sensor 1013 is arranged on the side frame of the terminal, the grip signal of the user on the terminal can be detected, and the left and right hand recognition or shortcut operation can be performed by the processor 1001 according to the grip signal captured by the pressure sensor 1013. When the pressure sensor 1013 is arranged on the lower layer of the display screen 1005, the controllable control on the UI interface can be controlled by the processor 1001 according to the pressure operation of the user on the display screen 1005.

[0286] The fingerprint sensor 1014 is configured to collect a fingerprint of a user, and the processor 1001 identifies an identity of the user according to the fingerprint collected by the fingerprint sensor 1014, or the fingerprint sensor 1014 identifies the identity of the user according to the collected fingerprint. The optical sensor 1015 is configured to collect ambient light intensity. The proximity sensor 1016, also referred to as a distance sensor, is usually arranged on the front panel of the terminal. The proximity sensor 1016 is configured to collect a distance between the user and the front of the terminal.

[0287] Those skilled in the art can understand that, Figure 10 The structure shown in the above embodiments does not constitute a limitation on the terminal, and can include more or fewer components than those shown in the drawings, or combine certain components, or adopt a different component arrangement.

[0288] In an example embodiment, a computer readable storage medium is also provided, and the computer readable storage medium stores at least one computer program. The at least one computer program is loaded and executed by a processor of a computer device, so that the computer implements any one of the above business processing methods.

[0289] In a possible implementation manner, the computer readable storage medium can be a read-only memory (ROM), a random access memory (RAM), a compact disc read-only memory (CD-ROM), a magnetic tape, a floppy disk, and an optical data storage device, etc.

[0290] In an example embodiment, a computer program product or computer program is also provided, and the computer program product or computer program includes computer instructions stored in a computer readable storage medium. The processor of the computer device reads the computer instructions from the computer readable storage medium, and the processor executes the computer instructions, so that the computer device executes any one of the above business processing methods.

[0291] It should be understood that "multiple" referred to herein refers to two or more. The "and / or" describes the association relationship of the associated objects, which means that there can be three relationships, for example, A and / or B can represent the three cases of A existing alone, A and B existing together, and B existing alone. The character " / " generally represents that the associated objects before and after it are in an "or" relationship.

[0292] The above only describes example embodiments of the present application, and does not limit the present application. Any modification, equivalent replacement, improvement, etc. made within the spirit and principles of the present application shall be included in the protection scope of the present application.

Claims

1. A business processing method, characterized in that, The method includes: Acquire the first state information of the aircraft and the first state information of the candidate target, wherein the candidate target is detected by the radar installed on the aircraft; Based on the first state information of the aircraft and the first state information of the candidate targets, the candidate targets are filtered, and the remaining candidate targets are used as the first target. Based on the first objective, tracking results are obtained, and the tracking results are used to provide guidance for the flight of the aircraft. Wherein, the number of the first targets is multiple, and the step of obtaining tracking results based on the first targets includes: Since none of the first targets are associated with the second existing tracks in the existing tracks, the existing feature parameters corresponding to the second existing tracks are increased with reference values ​​to obtain new feature parameters corresponding to the second existing tracks. In response to the fact that the new feature parameter corresponding to the second existing track is less than the feature parameter threshold, based on the second state information of the aircraft, the state information of the predicted track point corresponding to the second existing track, and the speed information of the latest track point in the second existing track, the state information of the second extended track point is obtained. The second extended track point is used to extend the second existing track to obtain the updated second existing track. Based on the status information of the second extended track point, obtain the status information of the predicted track point corresponding to the updated second existing track; The updated second existing track and the status information of the predicted track points corresponding to the updated second existing track are recorded in the tracking results.

2. The method according to claim 1, characterized in that, The step of filtering the candidate targets based on the first state information of the aircraft and the first state information of the candidate targets includes: Based on the first state information of the aircraft and the first state information of the candidate target, obtain the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index. The candidate targets are screened based on the relationship between the target metric and the metric threshold.

3. The method according to claim 2, characterized in that, The first state information of the aircraft includes the flight speed of the aircraft, the first state information of the candidate target includes the radial motion speed of the candidate target relative to the radar and the azimuth angle corresponding to the candidate target, the target measurement index includes the speed difference index, and the measurement index threshold corresponding to the target measurement index includes the speed difference threshold. The step of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target includes: Based on the flight speed of the aircraft and the azimuth angle corresponding to the candidate target, the theoretical radial velocity of the candidate target is determined; The absolute value of the difference between the radial velocity of the candidate target relative to the radar and the theoretical radial velocity is used as the velocity difference index corresponding to the candidate target; Obtain the speed difference threshold that matches the candidate target.

4. The method according to claim 3, characterized in that, The first state information of the candidate target also includes the distance between the candidate target and the radar; obtaining the velocity difference threshold matching the candidate target includes: Based on the flight speed of the aircraft, a first function value is determined, and the first function value is positively correlated with the absolute value of the flight speed of the aircraft. Based on the distance between the candidate target and the radar, a second function value is determined. The second function value is positively correlated with a third function value, and the third function value is the reciprocal of the distance between the candidate target and the radar. Based on the first function value, the second function value, and the radial motion velocity measurement error threshold corresponding to the radar, a velocity difference threshold matching the candidate target is determined.

5. The method according to claim 2, characterized in that, The first state information of the aircraft includes the pitch angle of the aircraft, the first state information of the candidate target includes the distance between the candidate target and the radar, the target measurement index includes a distance index, and the measurement index threshold corresponding to the target measurement index includes a distance threshold. The step of obtaining the target measurement index corresponding to the candidate target and the measurement index threshold corresponding to the target measurement index based on the first state information of the aircraft and the first state information of the candidate target includes: The distance between the candidate target and the radar is used as the distance index corresponding to the candidate target; Obtain the installation angle of the radar and the elevation beamwidth of the radar; Based on the pitch angle of the aircraft, the installation angle of the radar, and the pitch beamwidth of the radar, the pitch angle of the lower edge of the radar beam is determined. Obtain a range threshold that matches the elevation angle of the lower edge of the radar beam.

6. The method according to claim 5, characterized in that, The first state information of the aircraft also includes the altitude of the aircraft; The step of obtaining the range threshold that matches the elevation angle of the lower edge of the radar beam includes: In response to the lower edge of the radar beam having a pitch angle smaller than a reference angle, a danger altitude distance is determined based on the altitude of the aircraft. Based on the dangerous altitude distance and the elevation angle of the lower edge of the radar beam, a distance threshold matching the elevation angle of the lower edge of the radar beam is determined.

7. The method according to any one of claims 1-6, characterized in that, The number of the first targets is multiple, and the step of obtaining tracking results based on the first targets includes: In response to any first target among a plurality of first targets being associated with a first existing track among various existing tracks, based on the second state information of the aircraft, the second state information of any first target, the state information of the predicted track point corresponding to the first existing track, and the speed information of the latest track point in the first existing track, the state information of the first extended track point is obtained. The first extended track point is used to extend the first existing track to obtain an updated first existing track. Based on the status information of the first extended track point, obtain the status information of the predicted track point corresponding to the updated first existing track. The updated first existing track and the status information of the predicted track points corresponding to the updated first existing track are recorded in the tracking results.

8. The method according to claim 7, characterized in that, The second state information of the aircraft includes the flight speed and the angular velocity of the aircraft; the first and second state information of any first target includes the position information of any first target; the state information of the predicted track point corresponding to the first existing track includes the position information, velocity information, and acceleration information of the predicted track point corresponding to the first existing track; the state information of the first extended track point includes the position information, velocity information, and acceleration information of the first extended track point. The process of obtaining the state information of the first extended track point based on the second state information of the aircraft, the second state information of any first target, the state information of the predicted track point corresponding to the first existing track, and the speed information of the latest track point in the first existing track includes: Based on the first weighting coefficient, the location information of the predicted track point corresponding to the first existing track, and the location information of any first target, the location information of the first extended track point is obtained. Based on the second weighting coefficient, the velocity information of the predicted track point corresponding to the first existing track, the flight speed of the aircraft, the position information of any first target, and the angular velocity of the aircraft, the velocity information of the first extended track point is obtained; Based on the third weighting coefficient, the acceleration information of the predicted track point corresponding to the first existing track, the velocity information of the first extended track point, the velocity information of the latest track point in the first existing track, and the time interval, the acceleration information of the first extended track point is obtained.

9. The method according to any one of claims 1-6, characterized in that, The number of the first targets is multiple, and the step of obtaining tracking results based on the first targets includes: In response to the fact that any of the multiple first targets is not associated with any of the existing tracks, the state information of the starting track point of the new track is determined based on the position information of the first target, the flight speed of the aircraft, and the angular velocity of the aircraft. Based on the state information of the starting track point of the new track, obtain the state information of the predicted track point corresponding to the new track; The status information of the new trajectory and the corresponding predicted trajectory points are recorded in the tracking results.

10. The method according to claim 1, characterized in that, The second state information of the aircraft includes the flight speed and the angular velocity of the aircraft; the state information of the predicted track point corresponding to the second existing track includes the position information, velocity information and acceleration information of the predicted track point corresponding to the second existing track; the state information of the second extended track point includes the position information, velocity information and acceleration information of the second extended track point. The process of obtaining the state information of the second extended track point based on the second state information of the aircraft, the state information of the predicted track point corresponding to the second existing track, and the speed information of the latest track point in the second existing track includes: Use the location information of the predicted track point corresponding to the second existing track as the location information of the second extended track point; Based on the fourth weighting coefficient, the speed information of the predicted track point corresponding to the second existing track, the flight speed of the aircraft, the angular velocity of the aircraft, and the position information of the second extended track point, the speed information of the second extended track point is obtained; Based on the fifth weighting coefficient, the acceleration information of the predicted track point corresponding to the second existing track, the velocity information of the second extended track point, the velocity information of the latest track point in the second existing track, and the time interval, the acceleration information of the second extended track point is obtained.

11. The method according to claim 1, characterized in that, The method further includes: In response to the new feature parameter corresponding to the second existing track being not less than the feature parameter threshold, the second existing track is removed from the existing tracks.

12. A computer device, characterized in that, The computer device includes a processor and a memory, the memory storing at least one computer program, which is loaded and executed by the processor to enable the computer device to implement the business processing method as described in any one of claims 1 to 11.

13. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores at least one computer program, which is loaded and executed by a processor to enable the computer to implement the business processing method as described in any one of claims 1 to 11.

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