An environment perception based target tracking method

Abstract

The application discloses an environment-aware target tracking method, comprising: acquiring a first detection signal based on a first area for target tracking and a second detection signal based on a second area with a specified distance in front of the target motion when the radar is in a tracking state, wherein the second area is consistent with the specification of the first area; performing signal processing on the first detection signal and the second detection signal; determining corresponding signal power based on the processed first detection signal and the second detection signal; performing constant false alarm detection on the second detection signal; and adjusting the tracking mode based on the signal power and the result of the constant false alarm detection when the tracking distance changes to the specified distance in front of the target. The method can perceive the environmental information of the target motion route in advance, autonomously select a suitable tracking processing method according to the interference environment faced by the target in front of the target, and avoid the influence of the interference environment on the target tracking.

Description

TECHNICAL FIELD

[0001] The present application relates to the technical field of radar detection, and in particular to a target tracking method based on environment perception. BACKGROUND

[0002] The function of a tracking radar is to receive externally provided target information, complete target interception and tracking, and provide continuous high-precision target information to related devices. The traditional tracking method of a tracking radar only performs target association and filtering extrapolation on a target within a current tracking gate. However, when a target motion route has strong clutter or interference, the tracking radar will track the target to the region. Due to the superposition of the target signal and the strong clutter or interference, the radar signal processing channel is entered, the signal-to-noise ratio of the radar tracking target is deteriorated, the stability of the radar tracking target is affected, and in severe cases, the target is lost. SUMMARY

[0003] Embodiments of the present application provide a target tracking method based on environment perception, which perceives environment information of a target motion route in advance, autonomously selects a suitable tracking processing method according to an interference environment faced by the target before motion, avoids the influence of the interference environment on target tracking, and improves the target tracking capability of a radar in a complex environment.

[0004] Embodiments of the present application provide a target tracking method based on environment perception, which perceives environment information of a target motion route in advance, autonomously selects a suitable tracking processing method according to an interference environment faced by the target before motion, avoids the influence of the interference environment on target tracking, and improves the target tracking capability of a radar in a complex environment.

[0005] In a case where the radar is in a tracking state, a first detection signal is acquired based on a first region of target tracking, and a second detection signal is acquired based on a second region of a specified distance in front of the tracking target, wherein the second region is consistent in specification with the first region;

[0006] The first detection signal and the second detection signal are subjected to signal processing;

[0007] Corresponding signal powers are determined based on the first detection signal and the second detection signal after processing;

[0008] The second detection signal is subjected to constant false alarm detection;

[0009] In a case where a tracking distance changes to the specified distance in front of the tracking target, a tracking method is adjusted based on the signal powers and the result of the constant false alarm detection.

[0010] Optionally, the signal processing of the first detection signal and the second detection signal includes pulse compression and coherent accumulation, so as to change the perceived observation signal into a signal in a range-Doppler domain.

[0011] Optionally, the determination of the corresponding signal powers based on the first detection signal and the second detection signal after processing includes:

[0012]

[0013]

[0014] wherein P1 represents the power of the processed first probe signal, P2 represents the power of the processed second probe signal, MxN represents the size of the received first and second probe signals, S 11 (m,n) represents the processed first probe signal, S 22 (m,n) represents the processed second probe signal.

[0015] Optionally, the first probe signal is subjected to constant false alarm detection to obtain the detection number N and the signal power P s , the signal-to-noise ratio SNR s2 .

[0016] Optionally, in the case that the tracking distance changes to a specified distance in front of the tracking target, adjusting the tracking mode based on the result of the constant false alarm detection comprises:

[0017] When the tracking distance changes from the first region to the second region, if P2-P1>K1dB, and the signal-to-noise ratio SNR s1 of the target is less than K2dB, memory tracking is performed.

[0018] When the tracking distance changes from the first region to the second region, if N=1, and P s >K4, and SNR s2 >K4, memory tracking is performed.

[0019] Optionally, the constant false alarm detection is divided into short CFAR, normal CFAR, and long CFAR according to the length of the reference unit and the length of the reference unit of normal detection, and in the case that the tracking distance changes to a specified distance in front of the tracking target, adjusting the tracking mode based on the result of the constant false alarm detection further comprises:

[0020] When the tracking distance changes from the first region to the second region, if N>K3, the constant false alarm detection mode with short reference unit is selected, if 1

[0021] The embodiments of the present application also propose a radar device comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to implement the steps of the target tracking method based on environment perception as described above.

[0022] The embodiment of the present application also provides a computer readable storage medium, and the computer readable storage medium stores a computer program, and the computer program is executed by a processor to realize the steps of the target tracking method based on environment perception.

[0023] The embodiment of the present application can correct the tracking mode and the detection mode of the target in advance by dividing the perception area in front of the target motion and processing the perception area, and guarantee the stability of tracking. The method of the present application can perceive the environment information of the target motion route in advance, autonomously select a suitable tracking processing method according to the interference environment faced by the target in front of the target motion, avoid the influence of the interference environment on the target tracking, and improve the target tracking capability of the radar in a complex environment.

[0024] The above description is only a summary of the technical scheme of the present application, in order to more clearly understand the technical means of the present application, and the present application can be implemented according to the content of the specification, and in order to make the above and other purposes, characteristics and advantages of the present application more obvious and easy to understand, the following specific embodiments of the present application are described. BRIEF DESCRIPTION OF DRAWINGS

[0025] Various other advantages and benefits will become apparent to those of ordinary skill in the art upon reading the following detailed description of the preferred embodiments. The accompanying drawings are included to provide a description of the preferred embodiments and are not meant to limit the present application. Furthermore, the same reference numerals are used throughout the several drawings to designate the same or similar parts. In the drawings:

[0026] Figure 1 The basic flow of the target tracking method of the embodiment of the present application is shown in the following table.

[0027] Figure 2 The overall flow of the target tracking method of the embodiment of the present application is shown in the following table. DETAILED DESCRIPTION

[0028] Exemplary embodiments of the present disclosure will be described more fully hereinafter with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it is understood that the present disclosure can be embodied in various forms and should not be limited by the embodiments set forth herein. Rather, these embodiments are provided so that this disclosure will be thorough and complete, and will fully convey the scope of the present disclosure to those skilled in the art.

[0029] The embodiment of the present application provides a target tracking method based on environment perception, as shown in the following table. Figure 1 The embodiment of the present application provides a target tracking method based on environment perception, as shown in the following table.

[0030] In step S101, when the radar is in a tracking state, a first detection signal is acquired based on a first region for target tracking, and a second detection signal is acquired based on a second region for tracking target motion in a specified distance in front, wherein the second region is consistent with the specification of the first region. In some specific examples, when the radar is in a tracking state, a tracking observation region (first region) is divided at a tracking target distance R1, and a perception observation region (second region) is divided at a distance R2 in front of the tracking target motion. When the radar is in a tracking state, the target parameters acquired when tracking the target include the distance R1 and the speed V1, and the observation range when tracking the target is L is the distance dimension observation range, V is the speed dimension observation range, the received first detection signal is S1(m, n), and the size is MxN.

[0031] The perception observation region (second region) is divided at a distance R2 in front of the tracking target, and the region size is consistent with the tracking observation range. The second detection signal is represented as S2(m, n), and the size is MxN,

[0032] In step S102, signal processing is performed on the first detection signal and the second detection signal. In some embodiments, the signal processing on the first detection signal and the second detection signal includes pulse compression and coherent accumulation. The same processing is performed on both detection signals S 11 (m, n) and S 22 (m, n) to convert the perception observation signal into a signal in the range-Doppler domain.

[0033] In step S103, based on the first detection signal and the second detection signal after processing, corresponding signal powers P1 and P2 are determined.

[0034] In step S104, constant false alarm detection is performed on the second detection signal. In some embodiments, constant false alarm detection is performed on the second detection signal to obtain the detection number N and the signal power P s , the signal-to-noise ratio SNR s2 .

[0035] In step S105, when the tracking distance changes to a specified distance in front of the tracking target, the tracking mode is adjusted based on the results of the constant false alarm detection. That is, when the tracking distance changes from R1 to R2, the tracking mode or the detection mode is corrected in advance according to the processing results of the tracking observation region and the perception observation region (power information of the two regions, detection results of the perception range).

[0036] The embodiment of the application can correct the tracking mode and detection mode of the target in advance through dividing the sensing area in front of the target and processing the sensing area, thereby ensuring the stability of tracking.

[0037] In some embodiments, determining the corresponding signal power based on the processed first probe signal and the processed second probe signal comprises:

[0038]

[0039]

[0040] wherein P1 represents the power of the processed first probe signal, P2 represents the power of the processed second probe signal, MxN represents the size of the received first and second probe signals, S 11 (m,n) represents the processed first probe signal, S 22 (m,n) represents the processed second probe signal.

[0041] In some embodiments, as shown in FIG. 1, when the tracking distance changes to a specified distance in front of the tracking target, adjusting the tracking mode based on the result of the constant false alarm detection comprises: Figure 2

[0042] When the tracking distance changes from the first area to the second area, that is, the tracking distance changes from R1 to R2, if P2-P1>K1 dB, and the signal-to-noise ratio SNR s1 of the target is less than K2 dB, memory tracking is performed. In the embodiment of the application, memory tracking refers to a mode of continuing to track the target by replacing the current observation value with an extrapolated value of the target when the radar cannot obtain the observation value of the target or the obtained observation value is abnormal in the tracking state.

[0043] When the tracking distance changes from the first area to the second area, if N=1, and P s >K4, and SNR s2 >K4, memory tracking is performed.

[0044] In some embodiments, the constant false alarm detection is divided into short CFAR, normal CFAR, and long CFAR according to the length of the reference unit and the length of the normal detection reference unit. When the tracking distance changes to a specified distance in front of the tracking target, adjusting the tracking mode based on the result of the constant false alarm detection further comprises:

[0045] When the tracking distance changes from the first area to the second area, if N>K3, the constant false alarm detection mode with a short reference unit is selected, if 1 ​

[0046] The method of the present application divides the sensing area in front of the target motion when the radar tracks the target, and through processing of the sensing area, the environmental information of the target motion route can be perceived in advance. The method of the present application can perceive the environmental information of the target motion route in advance, autonomously select a suitable tracking processing method according to the interference environment faced by the target before motion, avoid the influence of the interference environment on target tracking, and improve the radar target tracking capability in complex environment.

[0047] The embodiment of the present application also provides a radar device, comprising a processor and a memory, wherein the memory stores a computer program, and the computer program is executed by the processor to realize the steps of the target tracking method based on environmental sensing as described above.

[0048] The embodiment of the present application also provides a computer readable storage medium, wherein the computer readable storage medium stores a computer program, and the computer program is executed by the processor to realize the steps of the target tracking method based on environmental sensing as described above.

[0049] It should be noted that in the embodiments of the present application, the terms "comprising", "containing" or any other variants thereof are intended to cover non-exclusive containing, so that the process, method, article or device including a series of elements not only includes those elements, but also includes other elements not explicitly listed or inherent to such process, method, article or device. Without more limitations, the element defined by the statement "including a" does not exclude the presence of another identical element in the process, method, article or device including the element.

[0050] The serial numbers of the above embodiments of the present application are only for description, and do not represent the advantages and disadvantages of the embodiments.

[0051] Through the above description of the embodiments, those skilled in the art can clearly understand that the above-mentioned embodiment method can be realized by means of software and necessary general hardware platform, of course, it can also be realized by hardware, but in many cases, the former is a better embodiment. Based on such understanding, the technical solutions of the present application can be embodied in the form of a software product, which is stored in a storage medium (such as ROM / RAM, magnetic disk, optical disk), and includes a plurality of instructions for making a terminal (which can be a mobile phone, computer, server, air conditioner, or network device, etc.) execute the method described in each embodiment of the present application.

[0052] The embodiments of the present application are described above with reference to the accompanying drawings, but the present application is not limited to the specific embodiments described above, and the specific embodiments described above are merely illustrative, but not restrictive, and a person of ordinary skill in the art can make many forms under the inspiration of the present application without departing from the purpose of the present application and the scope protected by the claims, and these all belong to the protection of the present application.

Claims

1. A target tracking method based on environmental perception, characterized in that, include: When the radar is in tracking mode, a first detection signal is acquired based on a first area for tracking the target, and a second detection signal is acquired based on a second area at a specified distance in front of the tracked target, wherein the second area has the same specifications as the first area; Signal processing is performed on the first detection signal and the second detection signal; Based on the processed first and second detection signals, the corresponding signal power is determined; Perform constant false alarm rate (CFAR) detection on the second detection signal; When the tracking distance changes to a specified distance in front of the moving target, the tracking method is adjusted based on the signal power and the results of constant false alarm rate detection. Based on the processed first and second detection signals, the corresponding signal power is determined by: in, This indicates the power of the first detected signal after processing. The power of the processed second detection signal is represented by M×N, where M×N represents the magnitudes of the received first and second detection signals. This represents the first detection signal after processing. This indicates the processed second detection signal; The second detection signal is subjected to constant false alarm rate (CFAR) detection to obtain the number of detections N and the signal power when N=1. Signal-to-noise ratio ; When the tracking distance changes to a specified distance ahead of the tracked target, adjusting the tracking method based on the constant false alarm rate (CFAR) detection results includes: When the tracking distance changes from the first region to the second region, if And the target's signal-to-noise ratio At that time, memory tracking is performed; When the tracking distance changes from the first region to the second region, if ,and , , to perform memory tracking.

2. The target tracking method based on environmental perception as described in claim 1, characterized in that, Signal processing of the first and second detection signals includes pulse compression and coherent accumulation to convert the sensing observation signals into range-Doppler signals.

3. The target tracking method based on environmental perception as described in claim 1, characterized in that, Constant false alarm rate (CFAR) detection is categorized into short CFAR, normal CFAR, and long CFAR based on the length of the reference cell compared to the length of a normally detected reference cell. When the tracking distance changes to a specified distance ahead of the tracked target, adjusting the tracking method based on the CFAR results further includes: When the tracking distance changes from the first region to the second region, if Choose a constant false alarm rate (CFAR) detection method with a short reference cell. If the reference cell length is selected, the constant false alarm rate (CFAR) detection method is chosen; otherwise, the CFAR detection method with the reference cell centered is chosen.

4. A radar device, characterized in that, It includes a processor and a memory, wherein the memory stores a computer program that, when executed by the processor, implements the steps of the environment-aware target tracking method as described in any one of claims 1 to 3.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements the steps of the environment-aware target tracking method as described in any one of claims 1 to 3.

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