A system and method for enhancing the trajectory of moving objects based on grating arrays

Abstract

This invention provides a system and method for enhancing the trajectory of a moving object based on a grating array. The system comprises: an acquisition module for acquiring raw vibration signals based on the grating array; a filtering module for filtering the raw vibration signals to remove environmental noise, resulting in a filtered signal; a matrix generation module for combining the filtered signal data to form a multidimensional spatiotemporal signal matrix based on grating points and sampling time; a noise cancellation module for comparing and analyzing the multidimensional spatiotemporal signal matrix and performing local processing to eliminate abnormal grating noise and accompanying noise; and a trajectory enhancement module for performing Radon transform on the noise-cancelled signal to enhance the trajectory of the moving object. This invention can eliminate uncorrelated noise signals in the grating array vibration signals of the moving object's trajectory, effectively eliminate accompanying noise in the non-driving channels of the moving object, and enhance the trajectory of the moving object, making the trajectory more continuous in time and space.

Description

Technical Field

[0001] This invention relates to the field of moving object monitoring technology, and specifically to a moving object trajectory enhancement system and method based on a grating array. Background Technology

[0002] Grating array sensing technology, as a rapidly developing new sensing technology in recent years, has been widely used in many fields such as aerospace, shipbuilding, security, and transportation due to its advantages over electrical sensors, including small size, easy concealment, resistance to electromagnetic interference, high temperature resistance, chemical corrosion resistance, low transmission loss, and large bandwidth. Grating array sensors are fabricated by generating spatial periodic or non-periodic refractive indices on the core of optical fibers, utilizing the photosensitive properties of optical fiber materials. Moreover, compared to traditional optical fibers, it offers advantages such as high precision, the ability to form arrays for distributed sensing, and long-distance operation. Therefore, grating array sensing technology is very suitable for applications in traffic safety, such as the identification and tracking of moving objects like airplanes, subways, and vehicles.

[0003] However, in the identification and tracking of moving objects, various noises are generated in the environment where the moving object is located, and there is also signal noise after the vibration signal is detected, which makes the trajectory of the moving object incomplete and unclear. Therefore, it is necessary to enhance the trajectory of the moving object in order to fully obtain the motion state of the moving object. Summary of the Invention

[0004] In view of this, it is necessary to provide a moving object trajectory enhancement system and method based on grating array to solve the technical problem of unclear and incomplete moving object trajectories caused by noise in the prior art. By utilizing the characteristics of moving objects, the system can eliminate the influence of noise or environmental noise in the grating array system on the identification of moving objects, better extract useful signals, reduce noise, and enhance the continuity of the moving object's trajectory.

[0005] To address the aforementioned technical problems, this invention provides a moving object trajectory enhancement system based on a grating array, comprising:

[0006] The acquisition module is used to acquire raw vibration signals based on a grating array;

[0007] The filtering module is used to filter the original vibration signal to remove environmental noise signals and obtain a filtered signal.

[0008] The matrix generation module is used to combine the filtered signal into a multi-dimensional spatiotemporal signal matrix with respect to grating points and sampling time.

[0009] The noise cancellation module is used to perform comparative analysis and local processing on the multidimensional spatiotemporal signal matrix to eliminate abnormal grating noise and accompanying noise.

[0010] The trajectory enhancement module performs Radon transform on the noise-cancelled signal to enhance the trajectory of the moving object.

[0011] In some possible implementations, the acquisition module is a grating demodulator; the grating demodulator acquires the original vibration signal generated by the moving object detected by the grating array within a preset time period at a preset sampling frequency.

[0012] In some possible implementations, the filtering module includes a frequency reduction module, a bridge filtering module, and a vehicle-to-road filtering module;

[0013] The frequency reduction module is used to reduce the frequency of the original vibration signal and to accumulate the energy of the original vibration signal.

[0014] The bridge filtering module is used to remove non-useful vibration signals generated when driving on the bridge based on the first filtering method, while retaining the vibration trajectory signal of the moving object on the bridge.

[0015] The vehicle-road filtering module is used to remove non-useful vibration signals generated when driving on the road based on the second filtering method, while retaining the vibration trajectory signal of the moving object on the road.

[0016] In some possible implementations, the matrix generation module includes a signal conversion module and a signal splicing module;

[0017] The signal conversion module is used to convert the filtered signal to obtain a spatiotemporal signal;

[0018] The signal splicing module is used to splice the spatiotemporal signals at a preset time interval to form a two-dimensional spatiotemporal matrix about grating points and sampling time, and to use the same splicing method for multiple channels to obtain the multidimensional spatiotemporal signal matrix about grating points and sampling time.

[0019] In some possible implementations, the noise cancellation module includes an abnormal grating noise cancellation module and an accompanying noise cancellation module;

[0020] The abnormal grating noise cancellation module is used to compare and analyze the multidimensional spatiotemporal signal matrix with respect to grating points and sampling time, eliminate isolated noise points, and fuse the multidimensional spatiotemporal signal matrix with respect to grating points and sampling time to form a two-dimensional spatiotemporal signal matrix.

[0021] The accompanying noise cancellation module is used to accumulate energy in the multidimensional spatiotemporal signal matrix, perform local extremum processing of the channel, and attenuate the accompanying signal of the moving object to eliminate accompanying noise.

[0022] In some possible implementations, the abnormal grating noise cancellation module includes a contrast analysis module, an isolated noise cancellation module, and a two-dimensional spatiotemporal matrix module;

[0023] The comparison analysis module is used to compare grating signals from multiple different channels based on the propagation of vibration signals in longitudinal space. It combines the multi-dimensional spatiotemporal signal matrices corresponding to each grating signal in the multiple different channels, along with the grating points and sampling time, to form an array of sampling time and grating points. The array is then sorted. When the largest grating signal in the array reaches a set threshold, the two grating signals with the highest energy levels are compared for attenuation. If the two grating signals with the highest energy levels are less than a preset signal attenuation coefficient, the grating points corresponding to these two grating signals are identified as special noise points, and these special noise points are eliminated.

[0024] The isolated noise cancellation module is used to process the signals corresponding to the multidimensional spatiotemporal signal matrix with respect to grating points and sampling time according to the propagation of the vibration signal in the lateral space and the continuous vibration in time. If the current matrix point signal reaches the set threshold, the four matrix point signals adjacent to the current matrix point signal are compared with the current matrix point signal. If the four matrix point signals adjacent to the current matrix point signal are all less than the product of the attenuation coefficient and the current matrix point signal, the grating point corresponding to the current matrix point signal is determined to be an isolated grating point, and the isolated grating point signal is eliminated.

[0025] The two-dimensional spatiotemporal matrix module is used to accumulate and merge the multidimensional spatiotemporal signal matrix about the grating points and sampling time into a fused two-dimensional spatiotemporal signal matrix after the special noise points and the isolated grating points are eliminated.

[0026] In some possible implementations, the accompanying noise cancellation module includes a local value processing module and an attenuation judgment module;

[0027] The local value processing module is used to perform multi-frame energy accumulation processing on the multi-dimensional spatiotemporal signal matrix, and to perform local maximum processing on the two-dimensional spatiotemporal signal matrix of each channel to refine the trajectory of the moving object.

[0028] The attenuation judgment module is used to determine whether the current moving object grating signal is a companion signal generated by something other than the moving object, based on a preset attenuation ratio. If the current moving object grating signal is a companion signal generated by something other than the moving object, the companion signal corresponding to the current moving object is eliminated.

[0029] In some possible implementations, the trajectory enhancement module includes a trajectory smoothing enhancement module;

[0030] The trajectory smoothing enhancement module is used to perform local maxima processing on the fused two-dimensional spatiotemporal signal matrix to enhance the trajectory of the moving object, resulting in a refined and smooth moving object trajectory.

[0031] In some possible implementations, the trajectory enhancement module may further include a trajectory continuity enhancement module;

[0032] The trajectory continuity enhancement module is used to normalize the fused two-dimensional spatiotemporal signal matrix and combine it with image morphology processing to fill in some gaps in the trajectory of the moving object; and to perform Radon transform processing on the fused two-dimensional spatiotemporal signal matrix to enhance the continuity of the moving object's trajectory.

[0033] On the other hand, the present invention also provides a method for enhancing the trajectory of a moving object based on a grating array, comprising:

[0034] Raw vibration signals were acquired using a grating array.

[0035] The original vibration signal is filtered to remove environmental noise, resulting in a filtered signal.

[0036] The filtered signals are combined to form a multidimensional spatiotemporal signal matrix with respect to grating points and sampling time.

[0037] The multidimensional spatiotemporal signal matrix is ​​compared, analyzed, and locally processed to eliminate abnormal grating noise and accompanying noise.

[0038] Radon transform is applied to the noise-cancelled signal to enhance the trajectory of the moving object.

[0039] The beneficial effects of the above embodiments are as follows: The moving object trajectory enhancement system based on a grating array provided by the present invention includes an acquisition module for acquiring original vibration signals based on the grating array; a filtering module for filtering the original vibration signals to remove environmental noise signals, resulting in a filtered signal; a matrix generation module for combining the filtered signal into a multi-dimensional spatiotemporal signal matrix based on grating points and sampling time; a noise cancellation module for comparing and analyzing the multi-dimensional spatiotemporal signal matrix and performing local processing to eliminate abnormal grating noise and accompanying noise; and a trajectory enhancement module for performing Radon transform on the noise-cancelled signal to enhance the trajectory of the moving object. The present invention can eliminate unrelated noise signals in the grating array vibration signals in the trajectory of a moving object, effectively eliminate accompanying noise in the non-driving channels of the moving object, and enhance the trajectory of the moving object, making the trajectory more continuous in time and space. Attached Figure Description

[0040] To more clearly illustrate the technical solutions in the embodiments of the present invention, the accompanying drawings used in the description of the embodiments will be briefly introduced below. Obviously, the accompanying drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0041] Figure 1 A schematic diagram of an embodiment of the moving object trajectory enhancement system based on grating array provided by the present invention;

[0042] Figure 2 This is a schematic diagram of the structure of an embodiment of the filtering module provided by the present invention;

[0043] Figure 3 This is a schematic diagram of the structure of an embodiment of the matrix generation module provided by the present invention;

[0044] Figure 4 This is a schematic diagram of the structure of an embodiment of the two-dimensional spatiotemporal signal matrix provided by the present invention;

[0045] Figure 5 This is a schematic diagram of the structure of an embodiment of the noise cancellation module provided by the present invention;

[0046] Figure 6 A schematic diagram of the structure of an embodiment of the multidimensional spatiotemporal signal matrix after noise elimination provided by the present invention;

[0047] Figure 7 A schematic diagram of the structure of an embodiment of the merged two-dimensional spatiotemporal signal matrix provided by the present invention;

[0048] Figure 8 This is a schematic diagram of the structure of an embodiment of the trajectory enhancement module provided by the present invention;

[0049] Figure 9 This is a flowchart illustrating an embodiment of the method for enhancing the trajectory of a moving object based on a grating array provided by the present invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only a part of the embodiments of the present invention, and not all of them. All other embodiments obtained by those skilled in the art based on the embodiments of the present invention without creative effort are within the scope of protection of the present invention.

[0051] Some of the block diagrams shown in the accompanying drawings are functional entities and do not necessarily correspond to physically or logically independent entities. These functional entities can be implemented in software, in one or more hardware modules or integrated circuits, or in different network and / or processor systems and / or microcontroller systems.

[0052] In this document, the term "embodiment" means that a particular feature, structure, or characteristic described in connection with an embodiment may be included in at least one embodiment of the invention. The appearance of this phrase in various places throughout the specification does not necessarily refer to the same embodiment, nor is it a separate or alternative embodiment mutually exclusive with other embodiments. It will be explicitly and implicitly understood by those skilled in the art that the embodiments described herein can be combined with other embodiments.

[0053] This invention provides a system and method for enhancing the trajectory of moving objects based on a grating array, which will be described below.

[0054] Figure 1 A schematic diagram of an embodiment of the moving object trajectory enhancement system based on a grating array provided by the present invention is shown below. Figure 1 As shown, the moving object trajectory enhancement system based on a grating array provided in this embodiment of the invention includes:

[0055] Acquisition module 10 is used to acquire raw vibration signals based on a grating array;

[0056] The filtering module 20 is used to filter the original vibration signal to remove environmental noise signals and obtain a filtered signal.

[0057] Matrix generation module 30 is used to combine the filtered signal into a multi-dimensional spatiotemporal signal matrix with respect to grating points and sampling time;

[0058] The noise cancellation module 40 is used to perform comparative analysis and local processing on the multidimensional spatiotemporal signal matrix to eliminate abnormal grating noise and accompanying noise.

[0059] The trajectory enhancement module 50 is used to perform Radon transform on the noise-cancelled signal to enhance the trajectory of the moving object.

[0060] Compared with the prior art, the present invention can eliminate unrelated noise signals in the vibration signal of the grating array in the trajectory of a moving object through a filtering module, effectively eliminate the accompanying noise of the non-driving channel of the moving object through a noise cancellation module, and enhance the trajectory of the moving object through a trajectory enhancement module, making the trajectory more continuous in time and space.

[0061] It should be noted that the preferred moving object is a vehicle. Taking a vehicle as an example, in this embodiment, a grating array sensing optical cable is laid on the road where the vehicle travels. The grating array sensing optical cable is generally arranged with grating arrays at equal intervals. Generally speaking, the grating array sensing optical cable, the number of gratings, and the grating spacing satisfy the following relationship: N = L / D, where N is the number of gratings, L represents the length of the sensing optical cable, and D is the grating spacing.

[0062] In some embodiments of the present invention, the acquisition module 10 is a grating demodulator; the grating demodulator acquires the original vibration signal generated by the moving object detected by the grating array within a preset time period at a preset sampling frequency.

[0063] In some specific embodiments, the preset sampling frequency is 1000Hz.

[0064] In some embodiments of the invention, please refer to Figure 2 The filtering module 20 includes a frequency reduction module 201, a bridge filtering module 202, and a vehicle-to-road filtering module 203;

[0065] The frequency reduction module 201 is used to reduce the frequency of the original vibration signal and accumulate the energy of the original vibration signal.

[0066] The bridge filtering module 202 is used to remove non-useful vibration signals generated when driving on the bridge based on the first filtering method, and retain the vibration trajectory signal of the moving object on the bridge;

[0067] The vehicle-road filtering module 203 is used to remove non-useful vibration signals generated when driving on the road based on the second filtering method, and retain the vibration trajectory signal of the moving object on the road.

[0068] In specific embodiments, the bridge-road filtering module 202 and the vehicle-road filtering module 203 employ different filtering methods to remove non-useful vibration signals brought about by vehicles traveling on roads and bridges, while preserving vehicle vibration trajectory signals as much as possible.

[0069] It should be noted that, in order to ensure subsequent real-time calculations and avoid trajectory interruptions caused by unstable grating signals, a frequency reduction strategy was adopted during data forwarding. That is, the original signal was accumulated by the frequency reduction module 201, which enhanced the temporal continuity of the original vehicle trajectory when the multidimensional spatiotemporal signal matrix was generated.

[0070] In a specific embodiment, the frequency reduction module 201 performs a frequency reduction method to accumulate the signal once, specifically as follows:

[0071] D mk =d 1k +d 2k+…+d mk ;

[0072] Where m is the selected number of accumulations, k is the accumulation raster number, d is the collected data, and D is the accumulated data.

[0073] In some possible implementations, please refer to Figure 3 The matrix generation module 30 includes a signal conversion module 301 and a signal splicing module 302;

[0074] The signal conversion module 301 is used to convert the filtered signal to obtain a spatiotemporal signal;

[0075] The signal splicing module 302 is used to splice the spatiotemporal signals at a preset time interval to form a two-dimensional spatiotemporal matrix about grating points and sampling time, and to use the same splicing method for multiple channels to obtain the multidimensional spatiotemporal signal matrix about grating points and sampling time.

[0076] For a specific embodiment, please refer to Figure 4 After receiving the filtered data, the matrix generation module 30 converts the signal into a form such as... Figure 4 The two-dimensional spatiotemporal signal matrix shown has the X-axis representing the grating number and the Y-axis representing the sampling time, essentially the direction of time movement. In this embodiment, a grating array sensing optical cable with a spacing of 5m is preferred, and the gratings are numbered FBG1-FBG. n This indicates that the sampling time is t1-t n It is indicated that the parameter in the multidimensional spatiotemporal signal matrix is ​​D. 1-1 、…..、Dn-n.

[0077] It should be noted that, Figure 4 In fact, what is presented is a single-channel two-dimensional spatiotemporal signal matrix. When the acquisition module (such as a grating demodulator) is multi-channel, such as four-channel, eight-channel or sixteen-channel, the two-dimensional spatiotemporal signal matrix acquired by the multi-channel grating demodulator is spliced ​​to obtain a multi-dimensional spatiotemporal signal matrix.

[0078] In some embodiments of the present invention, please refer to Figure 5 The noise cancellation module 40 includes an abnormal grating noise cancellation module 401 and an accompanying noise cancellation module 402;

[0079] The abnormal grating noise cancellation module 401 is used to compare and analyze the multidimensional spatiotemporal signal matrix about grating points and sampling time, eliminate isolated noise points, and fuse the multidimensional spatiotemporal signal matrix about grating points and sampling time to form a two-dimensional spatiotemporal signal matrix.

[0080] The accompanying noise cancellation module 402 is used to accumulate energy in the multidimensional spatiotemporal signal matrix, perform local extremum processing of the channel, and attenuate the accompanying signal of the moving object to eliminate accompanying noise.

[0081] In some embodiments of the present invention, the abnormal grating noise cancellation module 401 includes a comparison analysis module 4011, an isolated noise cancellation module 4012, and a two-dimensional spatiotemporal matrix module 4013;

[0082] The comparison analysis module 4011 is used to compare grating signals from multiple different channels based on the propagation of the vibration signal in the longitudinal space. It combines the multi-dimensional spatiotemporal signal matrices corresponding to each grating signal in the multiple different channels regarding grating points and sampling time to form an array regarding sampling time and grating points. The array is sorted, and when the largest grating signal in the array reaches a set threshold, the two grating signals with the highest energy are compared for attenuation. If the two grating signals with the highest energy are less than a preset signal attenuation coefficient, the grating points corresponding to the two grating signals with the highest energy are identified as special noise points, and these special noise points are eliminated.

[0083] The isolated noise cancellation module 4012 is used to process the signals corresponding to the multidimensional spatiotemporal signal matrix with respect to grating points and sampling time according to the propagation of the vibration signal in the transverse space and the continuous vibration in time. If the current matrix point signal reaches the set threshold, the four matrix point signals adjacent to the current matrix point signal are compared with the current matrix point signal. If the four matrix point signals adjacent to the current matrix point signal are all less than the product of the attenuation coefficient and the current matrix point signal, the grating point corresponding to the current matrix point signal is determined to be an isolated grating point, and the isolated grating point signal is eliminated.

[0084] The two-dimensional spatiotemporal matrix module 4013 is used to accumulate and merge the multidimensional spatiotemporal signal matrix about the grating points and sampling time into a fused two-dimensional spatiotemporal signal matrix after the special noise points and the isolated grating points are eliminated.

[0085] In a specific embodiment, taking a four-channel example, the comparison analysis module 4011 combines the single grating data of each channel into n {a1} ij a2 ij a3 ij a4 ij The array a1, a2, a3, a4 represent four channels, and i and j represent time and raster number, respectively. The isolated noise cancellation module 4012 processes the signals of the four channels respectively. When signal a ij When the set threshold is reached, signal a i-1j a i+1j aij-1 a ij+1 With a ij Compare them, if all signals (a) i-1j a i+1j a ij-1 a ij+1 Both are less than the attenuation coefficient and a ij The product of the two values ​​is used to determine that the grating point here is an isolated grating point, and the signal of the grating point is eliminated.

[0086] In some embodiments of the present invention, after eliminating some isolated noise points, the two-dimensional spatiotemporal matrix module 4013 merges the multidimensional spatiotemporal signal matrix into a two-dimensional spatiotemporal signal matrix by accumulation. The two-dimensional spatiotemporal signal matrix is ​​as follows: Figure 7 As shown in the image.

[0087] In some embodiments of the present invention, the accompanying noise cancellation module 402 includes a local value processing module 4021 and an attenuation judgment module 4022;

[0088] The local value processing module 4021 is used to perform multi-frame energy accumulation processing on the multi-dimensional spatiotemporal signal matrix, and to perform local maximum processing on the two-dimensional spatiotemporal signal matrix of each channel to refine the trajectory of the moving object.

[0089] The attenuation judgment module 4022 is used to determine whether the current moving object grating signal is a companion signal generated by something other than the moving object, based on a preset attenuation ratio. If the current moving object grating signal is a companion signal generated by something other than the moving object, the companion signal corresponding to the current moving object is eliminated.

[0090] In a specific embodiment, the multi-frame energy accumulation processing is 20-frame energy accumulation processing; when the vehicle's vibration signal is at the current grating number position, it is determined whether the current lane signal is an accompanying signal generated by a vehicle not operating in this lane, based on a certain attenuation ratio. If the accompanying noise signal condition is met, the signal at its location is eliminated.

[0091] In a specific embodiment, in the smoothing process of the multidimensional spatiotemporal signal matrix, firstly, the data in the two-dimensional spatiotemporal signal matrix of each channel is accumulated in rows of 20. Then, using the same method as the processed and merged two-dimensional spatiotemporal signal matrix, the effective grating signal connected regions in each matrix are found, and the refined and enhanced trajectory is obtained after processing. By comparing the signals of the four channels, the fiber signals with the same time and grating number are combined into an array {a1}. ij a2 ij a3 ij a4 ij}, sorting to obtain the largest raster channel, assuming the largest is a1 ijFor the remaining three channels, three arrays are synthesized respectively: {a2 ij-k a2 ij-k+1 ,……,a2 ij+k-1 a2 ij+k};{a3 ij-k a3 ij-k+1 ,……,a3 ij+k-1 a3 ij+k};{a4 ij-k a4 ijk+1 ,……,a4 ij+k- 1,a4 ij+k}, where k is the vibration signal transmission range. Each array is summed and multiplied by the corresponding attenuation coefficient to obtain three accompanying energies: sum1, sum2, and sum3. When a1 is satisfied... ij If the values ​​are greater than these three accompanying energy values, the rest are determined to be accompanying noise, and the corresponding grating signal is eliminated.

[0092] In some embodiments of the present invention, the attenuation determination module 4022 obtains a two-dimensional spatiotemporal signal matrix after completing the accompanying noise cancellation process, such as... Figure 6 As shown in the image.

[0093] In some embodiments of the present invention, please refer to Figure 8 The trajectory enhancement module 50 includes a trajectory smoothing enhancement module 501 and a trajectory continuity enhancement module 502;

[0094] The trajectory smoothing enhancement module 501 is used to perform local maximum processing on the fused two-dimensional spatiotemporal signal matrix to enhance the trajectory of the moving object, thereby obtaining a refined and smooth running trajectory of the moving object.

[0095] The trajectory continuity enhancement module 502 is used to normalize the fused two-dimensional spatiotemporal signal matrix and combine it with image morphology processing to fill in some gaps in the trajectory of the moving object; and to perform Radon transform processing on the fused two-dimensional spatiotemporal signal matrix to enhance the continuity of the moving object's trajectory.

[0096] In a specific embodiment, in order to obtain a smooth and enhanced trajectory of the merged channel, the local maximum method is used to traverse all grating point signals at the same time, continuously count the gratings that reach the threshold, obtain n grating connected regions, process each connected region, and refine and enhance the trajectory.

[0097] Furthermore, to obtain a smooth and enhanced trajectory for the merged channel, a local maximum method is used to traverse all grating point signals at the same time. Gratings reaching a threshold are continuously statistically analyzed to obtain n connected regions. Each connected region is processed to refine and enhance the trajectory. Then, a normalization method is used to transform the energy values ​​in the matrix to the range of 0-255. Image morphology processing methods are used to fill in some small holes in the matrix. Finally, the Radon transform method is used to connect the broken trajectories in the matrix, enhancing trajectory continuity.

[0098] In summary, this invention can eliminate unrelated noise signals in the vibration signal of the grating array in the trajectory of a moving object through the filtering module, effectively eliminate the accompanying noise of the non-driving channel of the moving object through the noise cancellation module, and enhance the trajectory of the moving object through the trajectory enhancement module, making the trajectory more continuous in time and space.

[0099] On the other hand, embodiments of the present invention also provide a method for enhancing the trajectory of a moving object based on a grating array, such as... Figure 9 As shown, the method for enhancing the trajectory of a moving object based on a grating array includes:

[0100] S901. Acquire raw vibration signals based on a grating array;

[0101] S902. The original vibration signal is filtered to remove environmental noise signals, resulting in a filtered signal.

[0102] S903. Combine the filtered signal into signal data to form a multi-dimensional spatiotemporal signal matrix with respect to grating points and sampling time;

[0103] S904. The multidimensional spatiotemporal signal matrix is ​​compared, analyzed, and locally processed to eliminate abnormal grating noise and accompanying noise.

[0104] S905. Perform Radon transform on the noise-cancelled signal to enhance the trajectory of the moving object.

[0105] The grating array-based moving object trajectory enhancement method provided in the above embodiments can realize the technical solutions described in the above embodiments of the grating array-based moving object trajectory enhancement system. The specific implementation principle of the above steps can be found in the corresponding content in the above embodiments of the grating array-based moving object trajectory enhancement system, which will not be repeated here.

[0106] Those skilled in the art will understand that all or part of the processes of the methods described in the above embodiments can be implemented by a computer program instructing related hardware, and the program can be stored in a computer-readable storage medium. The computer-readable storage medium may be a disk, optical disk, read-only memory, or random access memory, etc.

[0107] The above provides a detailed description of the moving object trajectory enhancement system and method based on grating array provided by the present invention. Specific examples have been used to illustrate the principles and implementation methods of the present invention. The description of the above embodiments is only for the purpose of helping to understand the method and core ideas of the present invention. At the same time, for those skilled in the art, there will be changes in the specific implementation methods and application scope based on the ideas of the present invention. Therefore, the content of this specification should not be construed as a limitation of the present invention.

Claims

1. A grating array based mobile object trajectory enhancement system, characterized by, The method comprises the following steps: A collection module is used to collect original vibration signals based on a grating array; A filtering module is used to filter the original vibration signals to remove environmental noise signals and obtain filtered signals; A matrix generation module is used to combine the filtered signals to form a multi-dimensional space-time signal matrix related to grating points and sampling time; the matrix generation module comprises a signal conversion module and a signal splicing module; the signal conversion module is used to convert the filtered signals to obtain space-time signals; the signal splicing module is used to splice the space-time signals at a preset time interval to form a two-dimensional space-time matrix related to grating points and sampling time, and the same splicing method is used for multiple channels to obtain the multi-dimensional space-time signal matrix related to grating points and sampling time; A noise elimination module is used to compare and analyze the multi-dimensional space-time signal matrix and perform local processing to eliminate abnormal grating noise and accompanying noise; the noise elimination module comprises an abnormal grating noise elimination module and an accompanying noise elimination module; the abnormal grating noise elimination module is used to compare and analyze the multi-dimensional space-time signal matrix related to grating points and sampling time, eliminate isolated noise points, and fuse the multi-dimensional space-time signal matrix related to grating points and sampling time to form a two-dimensional space-time signal matrix; the accompanying noise elimination module is used to accumulate energy of the multi-dimensional space-time signal matrix, perform local maximum processing of channels, and attenuate accompanying signals of moving objects to eliminate accompanying noise; the accompanying noise elimination module comprises a local value processing module and an attenuation judgment module; the local value processing module is used to perform multi-frame energy accumulation processing on the multi-dimensional space-time signal matrix, and perform local maximum processing on the two-dimensional space-time signal matrix of each channel to refine the trajectory of the moving object; the attenuation judgment module is used to judge whether the current moving object grating signal is an accompanying signal generated by a non-moving object at a preset attenuation ratio, and if the current moving object grating signal is an accompanying signal generated by a non-moving object, the accompanying signal corresponding to the current moving object is eliminated; A trajectory enhancement module is used to perform Radon transformation on the signal after noise elimination to enhance the trajectory of the moving object.

2. The grating array based moving object trajectory enhancement system of claim 1, wherein, The collection module is a grating demodulator; the grating demodulator collects original vibration signals generated by a moving object detected by a grating array within a preset time period at a preset sampling frequency.

3. The grating array based moving object trajectory enhancement system of claim 1, wherein, The filtering module comprises a frequency reduction module, a bridge filtering module, and a vehicle filtering module; The frequency reduction module is used to forward the original vibration signals at a reduced frequency and accumulate energy of the original vibration signals; The bridge filtering module is used to remove non-useful vibration signals generated when driving on a bridge based on a first filtering method and retain the vibration trajectory signal of the moving object on the bridge; The vehicle filtering module is used to remove non-useful vibration signals generated when driving on a road based on a second filtering method and retain the vibration trajectory signal of the moving object on the road.

4. The grating array based moving object trajectory enhancement system of claim 1, wherein, The abnormal grating noise elimination module comprises a comparison analysis module, an isolated noise elimination module, and a two-dimensional space-time matrix module. The comparison analysis module is configured to compare the grating signals of multiple different channels according to the propagation of the vibration signal in the longitudinal space, combine the multi-dimensional time-space signal matrix corresponding to each grating signal of the multiple different channels with respect to the grating point and the sampling time to form an array with respect to the sampling time and the grating point, sort the array, and when the maximum grating signal in the array reaches a set threshold, attenuate and compare the two grating signals with the largest energy, and if the two grating signals with the largest energy are smaller than a preset signal attenuation coefficient, determine the grating points corresponding to the two grating signals with the largest energy as special noise points and eliminate the special noise points. The isolated noise elimination module is configured to process the signals corresponding to the multi-dimensional time-space signal matrix with respect to the grating point and the sampling time according to the propagation of the vibration signal in the transverse space and the continuous vibration in time. If the current matrix point signal reaches the set threshold, compare the four matrix point signals adjacent to the current matrix point signal with the current matrix point signal, and if the four matrix point signals adjacent to the current matrix point signal are all smaller than the product of the attenuation coefficient and the current matrix point signal, determine the grating point corresponding to the current matrix point signal as an isolated grating point, and eliminate the isolated grating point signal. The two-dimensional time-space matrix module is configured to, after the special noise points and the isolated grating points are eliminated, accumulate and merge the multi-dimensional time-space signal matrix with respect to the grating point and the sampling time into a fused two-dimensional time-space signal matrix.

5. The grating array based moving object trajectory enhancement system of claim 1, wherein, The trajectory enhancement module includes a trajectory smoothing enhancement module. The trajectory smoothing enhancement module is configured to perform local maximum value processing on the fused two-dimensional time-space signal matrix to enhance the trajectory of the moving object, and obtain a refined and smoothed moving object running trajectory.

6. The grating array based moving object trajectory enhancement system of claim 5, wherein, The trajectory enhancement module further includes a trajectory continuity enhancement module. The trajectory continuity enhancement module is configured to perform normalization processing on the fused two-dimensional time-space signal matrix, fill part of the holes in the moving object running trajectory by combining image morphological processing, and perform Radon transform processing on the fused two-dimensional time-space signal matrix to enhance the continuity of the moving object trajectory.

7. A grating array based method for trajectory enhancement of moving objects, characterized in that, The method comprises: collecting an original vibration signal based on a grating array; performing filtering processing on the original vibration signal to remove environmental noise signals and obtain a filtered signal; performing signal data combination on the filtered signal to form a multi-dimensional time-space signal matrix with respect to the grating point and the sampling time, including: performing signal conversion on the filtered signal to obtain a time-space signal; and using a preset time interval to splice the time-space signal to form a time-space two-dimensional matrix with respect to the grating point and the sampling time, and using the same splicing method for multiple channels to obtain the multi-dimensional time-space signal matrix with respect to the grating point and the sampling time; The multi-dimensional space-time signal matrix is compared and analyzed and locally processed to eliminate abnormal grating noise and accompanying noise, including: comparing and analyzing the multi-dimensional space-time signal matrix about grating points and sampling time, eliminating isolated noise points, and fusing the multi-dimensional space-time signal matrix about grating points and sampling time to form a two-dimensional space-time signal matrix; energy accumulation is performed on the multi-dimensional space-time signal matrix, local maximum processing of channels is performed, and accompanying signals of moving objects are attenuated to eliminate accompanying noise; Radon transformation is performed on the noise-eliminated signal to enhance the trajectory of the moving object; Wherein, the energy accumulation is performed on the multi-dimensional space-time signal matrix, the local maximum processing of channels is performed, and the accompanying signals of moving objects are attenuated to eliminate accompanying noise, including: multi-frame energy accumulation processing is performed on the multi-dimensional space-time signal matrix, and local maximum processing is performed on the two-dimensional space-time signal matrix of each channel respectively to refine the trajectory of the moving object; a preset attenuation ratio is used to determine whether the current moving object grating signal is an accompanying signal generated by a non-moving object, and if the current moving object grating signal is an accompanying signal generated by a non-moving object, the accompanying signal corresponding to the current moving object is eliminated.

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