A radar track prediction method, device, equipment and medium

Abstract

The present application relates to radar detection technology, disclose radar track prediction method, device, electronic equipment and storage medium, the method comprises: obtaining the reporting point, data screening is carried out to the reporting point, and target point is obtained;Filter threshold judgment is carried out to the target point, and filter updating is carried out according to the judgment result, and the updated track is obtained;According to the correlation threshold, correlation judgment is carried out, and the correlation point is determined, and the candidate echo is calculated according to the target point;According to the result of the candidate echo, the updated track and the correlation point, a track tracking matrix is generated, and the track tracking matrix is merged and tracked according to the preset period, and the target track is obtained.The present application can effectively avoid the situation of small and micro target crossing complex environment and maneuvering flight, and further improve the radar track detection performance and quality.

Description

TECHNICAL FIELD

[0001] The present application relates to the radar detection technical field, especially to a radar track prediction method and device, electronic equipment and computer readable storage medium. BACKGROUND

[0002] In the detection of low-altitude small micro targets, it is easy to be disturbed by ground clutter and environmental clutter, and the signal-to-noise ratio of target detection will be greatly attenuated, resulting in difficulty in target detection. At the same time, low-altitude small micro targets such as rotary-wing unmanned aerial vehicles, fixed-wing unmanned aerial vehicles, etc. have the characteristics of strong maneuvering flight capability, variable flight state, and small reflection cross-sectional area. When the pulsed Doppler radar is disturbed by environmental clutter, in order to realize the detection and stable tracking of low-altitude small micro targets, it is necessary to simultaneously consider the automatic reduction of the detection threshold, the track prediction or judgment of the target tangential flight and the flight through complex environment, so as to ensure the successful connection of the track and further improve the radar detection capability and track quality. However, the reduction of the detection threshold and the like will result in more false point tracks in the track; if the nearest neighbor method is selected, track association errors are prone to occur, which further leads to failure of stable tracking of the target; when the target maneuvers, the Doppler velocity is close to zero in the tangential flight state, and the target cannot be detected, resulting in track batch loss.

[0003] For a Doppler detection radar, when the radar performs low-altitude detection, there is a problem that the small micro target cannot effectively avoid the batch loss and batch change when flying through complex environment and maneuvering, thereby reducing the radar track detection performance and quality. SUMMARY

[0004] To solve the above problems, embodiments of the present application provide a radar track prediction method, device, electronic equipment and computer readable storage medium.

[0005] In a first aspect, the embodiments of the present application provide a radar track prediction method, comprising:

[0006] Obtaining a reported point track, performing data screening on the reported point track to obtain a target point track;

[0007] Performing a filtering threshold judgment on the target point track, performing filtering update according to the judgment result to obtain an updated track;

[0008] Performing an association judgment according to a preset association threshold to determine an associated point track, and calculating a candidate echo according to the target point track;

[0009] Generating a track tracking matrix according to the result of the candidate echo, the updated track and the associated point track, and performing merging tracking on the track tracking matrix according to a preset period to obtain a target track.

[0010] According to an embodiment of the present application, the data filtering on the reported point traces to obtain target point traces comprises:

[0011] The reported point traces are in-frame condensed and inter-frame condensed to obtain condensed point traces;

[0012] The condensed point traces are subjected to false point trace elimination to obtain target point traces.

[0013] According to an embodiment of the present application, the in-frame condensation and inter-frame condensation on the reported point traces to obtain condensed point traces comprises:

[0014] According to the frame number of the reported point traces and the data with the same number of target points in the reported point traces, the pitch angle and azimuth angle are weighted and summed to obtain a weighted value;

[0015] According to a preset amplitude, the weighted value is normalized to obtain an initial condensed point trace;

[0016] According to a preset condensation rule and the frame number, azimuth angle and distance in the initial point trace, the condensed point trace is obtained.

[0017] According to an embodiment of the present application, the filtering update according to the judgment result to obtain an updated track comprises:

[0018] According to the judgment result, all to-be-updated point traces of a preset sector are obtained, and the point trace distance between the target point trace and the to-be-updated point trace is calculated;

[0019] According to the point trace distance, a trajectory gate is determined, a point trace prediction is performed by using a preset Kalman filter to obtain a predicted point trace;

[0020] According to the trajectory gate and the predicted point trace, a paired point trace is determined, and an updated track is generated according to the paired point trace.

[0021] According to an embodiment of the present application, the calculation of the candidate echo according to the target point trace comprises:

[0022] A coordinate system is constructed according to the target point trace, and a point trace coordinate of the target point trace is generated according to the coordinate system;

[0023] The distance difference of the point trace coordinate is calculated, and a candidate echo is determined according to the distance difference and a preset threshold value;

[0024] The distance difference of the point trace coordinate is calculated by using the following formula:

[0025]

[0026] wherein, represents the distance difference of the point trace coordinate; The target track coordinates are represented as track coordinates of the target track.

[0027] According to an embodiment of the present application, the track tracking matrix is generated according to the result of the candidate echo, the updated track and the associated track, and includes:

[0028] When the candidate echo is 1, the target track corresponding to the candidate echo is selected as a first track, and a first track tracking matrix is generated according to the updated track corresponding to the to-be-processed track and a preset first search rule;

[0029] The first track tracking matrix is represented as:

[0030]

[0031] Wherein, The first track tracking matrix is represented as: The first track tracking matrix is represented as the first track tracking matrix, The first track tracking matrix is represented as the first track tracking matrix, The first track tracking matrix is represented as the first track tracking matrix, , The first track tracking matrix is represented as the first track tracking matrix, , The first track tracking matrix is represented as the first track tracking matrix, If the filter prediction value is 1, then , otherwise ;

[0032] When the candidate echo is greater than 1, track screening is performed according to the target track corresponding to the candidate echo and the associated track, and a plurality of second tracks are obtained, and a second track tracking matrix is generated according to the plurality of second tracks and a preset second search rule;

[0033] When the candidate echo is 0, a third track tracking matrix is generated according to the updated track and a preset third search rule.

[0034] According to an embodiment of the present application, the track tracking matrix is merged and tracked according to the preset period to obtain a target track, and includes:

[0035] The first track tracking matrix, the second track tracking matrix and the third track tracking matrix in the track tracking matrix are summed according to a preset search period to obtain a comprehensive track.

[0036] The summing processing is performed by the following formula:

[0037]

[0038] Wherein, The first comprehensive track is represented as the first comprehensive track, The first comprehensive track is represented as the first comprehensive track, is represented as a preset search period, is represented as a column of a matrix;

[0039] selecting a target track from the integrated track according to a preset track rule.

[0040] In a second aspect, an embodiment of the present application provides a radar track prediction device, characterized in that comprising:

[0041] a target track generation module, configured to acquire a reported track, perform data screening on the reported track, and obtain a target track;

[0042] an updated track generation module, configured to perform filter threshold judgment on the target track, perform filter updating according to a judgment result, and obtain an updated track;

[0043] a candidate echo calculation module, configured to perform association judgment according to a preset association threshold, determine an associated track, and calculate a candidate echo according to the target track;

[0044] a target track generation module, configured to generate a track tracking matrix according to a result of the candidate echo, the updated track and the associated track, perform merging tracking on the track tracking matrix according to a preset period, and obtain a target track.

[0045] In a third aspect, an embodiment of the present application provides an electronic device, comprising:

[0046] a processor;

[0047] a memory for storing instructions executable by the processor;

[0048] The processor is configured to execute the instructions to implement the radar track prediction method according to the first aspect.

[0049] In a fourth aspect, an embodiment of the present application provides a computer readable storage medium having a computer program stored thereon, the program being executed by a processor to implement the radar track prediction method according to the first aspect.

[0050] Compared with the prior art, the above technical solution of the present application has the following beneficial effects:

[0051] The embodiment of the present application realizes the stable and continuous tracking of small and micro targets by using the automatic mode switching mode for low-altitude slow stable moving target, using the matrix statistical search mode to perform the track splitting prediction and evaluation merging in different directions in the target tracking process, and finally realizing the stable and continuous tracking of small and micro targets. BRIEF DESCRIPTION OF DRAWINGS

[0052] In order to more clearly illustrate the technical solutions in the embodiments of the present application or the prior art, the drawings needed to be used in the embodiments or the prior art description will be briefly introduced. Obviously, the drawings in the following description only show some embodiments of the present application, and other drawings can be obtained by those skilled in the art without any creative effort on the basis of these drawings.

[0053] Figure 1 A working flowchart of the radar track prediction method of the embodiment one of the present application is shown;

[0054] Figure 2 A flowchart of data screening of the reported point track to obtain the target point track of the embodiment one of the present application is shown;

[0055] Figure 3 A flowchart of calculating the candidate echo according to the target point track of the embodiment one of the present application is shown;

[0056] Figure 4 A functional module diagram of the radar track prediction device of the embodiment three of the present application is shown;

[0057] Figure 5 A component structure diagram of the electronic device for realizing the radar track prediction method of the embodiment four of the present application is shown. DETAILED DESCRIPTION

[0058] The present disclosure will be further described below in combination with the embodiments shown in the drawings.

[0059] It should be noted that the embodiments in the present application and the features in the embodiments can be combined with each other without conflict. The present application will be described in detail below with reference to the drawings and in combination with the embodiments.

[0060] The application provides a radar track prediction method, aiming at the problems of strong maneuverability of small and micro targets and complex low-altitude environment, first, target is screened by using track tracking point number, speed, height and signal-to-noise ratio and the like, so as to ensure real-time updating of the algorithm and real-time cleaning of the memory; then, the selected track is subjected to splitting tracking filter mode instruction issuing, and possible multiple motion directions are predicted and searched and background prediction tracking is performed, wherein the associated point track obtained by referring to the nearest neighborhood in a certain gate is taken as displayed track information, and if there is no associated point track, the track is kept in place and waits, and the background performs multi-direction prediction search; finally, through screening and background tracking in multiple periods, according to M*N-dimensional multi-direction track quality statistics, false tracks are removed and real track information is kept. By using the track multi-direction prediction and merging tracking idea, the track splitting tracking and association merging method is established, so as to improve the prediction reliability of small and micro targets in complex environment and realize the continuous and stable track tracking capability.

[0061] Embodiment one

[0062] As shown in Figure 1 The application provides a radar track prediction method, comprising the following steps:

[0063] S1, acquiring a reported point track, performing data screening on the reported point track, and obtaining a target point track;

[0064] In the embodiment of the application, the reported point track can be acquired by using the data reported by radar signal processing, and the reported point track can include frame number, target number, azimuth, pitch, distance, amplitude, speed and the like.

[0065] As shown in Figure 2 In the embodiment of the application, the data screening on the reported point track to obtain the target point track comprises:

[0066] S21, performing intra-frame condensation and inter-frame condensation on the reported point track, and obtaining a condensed point track;

[0067] S22, performing false point track elimination on the condensed point track, and obtaining a target point track.

[0068] In the embodiment of the application, a radar imaging point track can be formed according to the DVF of each radar scan, and when the point track related to the point track exists for more than a certain time (generally not less than 3 continuous scanning periods), it is considered as a starting track; therefore, in the embodiment of the application, the N / M logical association method can be used to select more than 3 effective radar detection results in 4 periods, so as to eliminate false tracks.

[0069] Specifically, in the embodiment of the application, the intra-frame condensation and inter-frame condensation on the reported point track to obtain the condensed point track comprises:

[0070] According to the frame number of the reported track and the data with the same number of targets in the reported track, the elevation angle and the azimuth angle are weighted and summed to obtain a weighted value;

[0071] According to the preset amplitude, the weighted value is normalized to obtain an initial condensed track;

[0072] According to the preset condensation rule and the frame number, the azimuth angle and the distance in the initial track, the tracks are converged to obtain a condensed track.

[0073] In the embodiment of the application, the condensation rule can be that the frame number difference is less than 5, the track azimuth angle difference is less than 5°, and the distance difference is less than 20 m. By inter-frame condensation of the initial tracks meeting the above condensation rule, the cycle number, speed, azimuth, distance, elevation and amplitude information of the condensed tracks are finally retained.

[0074] S2, filtering threshold judgment is performed on the target track, and filtering update is performed according to the judgment result to obtain an updated track;

[0075] In the embodiment of the application, the target track in the stable track can be screened. If the speed of the target track is less than 50 m / s, the height of flight is below 500 m, and the number of currently tracked tracks is greater than 8, a small micro target tracking mode is automatically triggered, the split tracks are automatically read, and N (n>2) tracking tracks starting from the split point are formed. If the speed of the target track is not less than 50 m / s and the height of flight is not below 500 m, a kalman filter is used for filtering prediction.

[0076] In the embodiment of the application, the filter commonly used in track filtering and tracking processing is a kalman filter. The kalman filter filtering equation set is in the form of recursion in the time domain. The kalman filter has a prediction-correction structure and has real-time processing characteristics. The kalman filter is used to complete the prediction of the target position and speed, generate a smoothed and corrected track, and output the filtered track.

[0077] Specifically, the kalman filter uses the dynamic information (such as position, speed, etc.) of the target track to remove the influence of noise and obtain a good estimate of the target position. This estimate can be an estimate of the current target position (filtering), an estimate of the future position (prediction), or an estimate of the past position (interpolation or smoothing). The kalman filter captures the correlation between the last state and the current state track through the covariance matrix. Each value of the covariance matrix is the correlation degree between the i th variable and the j th variable.

[0078] In the embodiment of the application, the filtering update according to the judgment result to obtain an updated track comprises:

[0079] According to the judgment result, all to-be-updated point trails of the preset sector are acquired, and a point trail distance between the target point trail and the to-be-updated point trail is calculated;

[0080] According to the point trail distance, a trajectory wave gate is determined, a point trail prediction is performed by using a preset Kalman filter, and a predicted point trail is obtained;

[0081] According to the trajectory wave gate and the predicted point trail, a matched point trail is determined, and an updated track is generated according to the matched point trail.

[0082] In the embodiment of the application, the preset sector can be a same sector or adjacent sectors, and the target point trail meeting the condition or the classified point trail not meeting the condition in the judgment result can be an initial point trail for track generation.

[0083] S3, association judgment is performed according to a preset association threshold, an associated point trail is determined, and a candidate echo is calculated according to the target point trail;

[0084] In the embodiment of the application, the association threshold is set according to speed, height and amplitude intensity, all associated point trails meeting the tracking wave gate are taken as the associated point trail, and different modes of display and prediction are performed.

[0085] Please refer to Figure 3 In the embodiment of the application, the candidate echo calculated according to the target point trail includes:

[0086] S31, a coordinate system is constructed according to the target point trail, and a point trail coordinate of the target point trail is generated according to the coordinate system;

[0087] S32, a distance difference of the point trail coordinate is calculated, and a candidate echo is determined according to the distance difference and a preset threshold.

[0088] In the embodiment of the application, the distance difference of the point trail coordinate is calculated by using the following formula:

[0089]

[0090] Wherein, represents the distance difference of the point trail coordinate; represents the point trail coordinate of the target point trail.

[0091] In the embodiment of the application, an xyz coordinate system can be constructed according to the azimuth, pitch and distance in the target point trail.

[0092] In the embodiment of the application, when At this time, the corresponding target track meets as a candidate echo; the number of candidate echoes meeting as a candidate echo can be greater than or equal to 0, wherein when the candidate echo is 0, it is indicated that there is no track meeting the condition.

[0093] S4, generating a track tracking matrix according to the result of the candidate echo, the updated track and the associated track, and performing merging tracking on the track tracking matrix according to a preset period to obtain a target track.

[0094] In the embodiment of the application, the track tracking matrix is generated according to the result of the candidate echo, the updated track and the associated track, and includes:

[0095] When the candidate echo is 1, the target track corresponding to the candidate echo is selected as a first track, and a first track tracking matrix is generated according to the updated track corresponding to the to-be-processed track and a preset first search rule;

[0096] When the candidate echo is greater than 1, track screening is performed on the target track corresponding to the candidate echo and the associated track to obtain a plurality of second tracks, and a second track tracking matrix is generated according to the plurality of second tracks and a preset second search rule;

[0097] When the candidate echo is 0, a third track tracking matrix is generated according to the updated track and a preset third search rule.

[0098] In the embodiment of the application, if there is no candidate echo, it is assumed that the target moves at a constant speed in a certain direction, and a third track tracking matrix of 12*M can be formed at intervals of 30° between 0 and 360°; if there is one candidate echo, a first track tracking matrix of 12*M can be formed at intervals of 30° from the nearest neighbor track; if there are multiple candidate echoes, a second track tracking matrix of 12*M can be formed at intervals of 30° from the nearest neighbor track, and 12+n second track tracking matrices can be formed in combination with other associated tracks n.

[0099] In the embodiment of the application, the target is searched at intervals of 30° between 0 and 360° to avoid changes in the target's turning and other maneuvering states.

[0100] Further, in the embodiment of the application, the first track tracking matrix is represented as:

[0101]

[0102] wherein, is the first track tracking matrix, is the first track tracking matrix, is the first track tracking matrix, is the first track tracking matrix, , represents the number of updated tracks, , represents a preset search period, if is a filtered prediction value, then , otherwise .

[0103] In the embodiment of the present application, the track tracking matrix contains N (n>2) tracking tracks, and when the track runs for M periods, an N*M matrix A is formed.

[0104] In the embodiment of the present application, the representation of the second track tracking matrix and the third track tracking matrix is similar to the first track tracking matrix , which will not be described in detail here.

[0105] In the embodiment of the present application, the track tracking matrix is merged and tracked according to a preset period to obtain a target track, including:

[0106] The first track tracking matrix, the second track tracking matrix and the third track tracking matrix in the track tracking matrix are summed according to a preset search period to obtain a comprehensive track.

[0107] The target track is selected from the comprehensive track according to a preset track rule.

[0108] Specifically, in the embodiment of the present application, the summation processing is performed by the following formula:

[0109]

[0110] wherein, represents the first comprehensive track, represents a preset search period, represents the column of the matrix.

[0111] In the embodiment of the present application, one track with a larger number of measured track points can be selected as the direction of continuous tracking, while eliminating the track storage information space.

[0112] Embodiment two

[0113] In order to more clearly understand the present application, the following will further explain the case of the embodiment of the present application in data screening of the reported track.

[0114] In the embodiment of the present application, the data screening of the reported track obtains a target track, including:

[0115] Merging the reported tracks to obtain a first track;

[0116] Filtering the first track to obtain a target track.

[0117] In the embodiment of the present application, the radiation beam formed by the radar antenna is a very narrow conical beam, and it can be considered that only the echo of the target at the direction can be received by the radar when the antenna points to the direction; when the target track is located in the range of two or more conical beams, the same target will be repeatedly detected, i.e. the same target will be split. The resolution of the scene surveillance radar is very high, and the size of the target is also very large, so the target in the direction will be split, and the same target will be detected as two or more targets. In the preprocessing of the data, they must be merged into one target, which can be solved by setting a threshold in the direction.

[0118] In the embodiment of the present application, it is judged which tracks are moving tracks, fixed tracks, isolated tracks and suspicious tracks according to the cross-period related processing, so that the state estimation accuracy of the data fusion system can be improved, and the system performance can be improved, and the basic principle is as follows: through a large-capacity memory, the information of 5 scans of the radar antenna is retained, and is stored in the memory in the form of coordinate code. When new data comes, each track is compared with each track in the previous 5 scans in the order from old to new. Here, two windows are set according to the target speed and other factors, a large window and a small window, and six flag bits p1-p5 and GF are set. The new track is first compared with each track in the first circle, and the comparison result is that at least one track in the first circle is within the small window compared with the new track, then the corresponding flag bit is 1 (p1=1), otherwise 0 (p1=0); then the new track is compared with each track in the second circle, and similarly, as long as at least one track in the second circle is within the small window compared with the new track, the corresponding flag bit is 1 (p2=1), otherwise 0 (p2=0); and so on until the fifth circle is compared. Finally, the new track is compared with each track in the fifth circle, and the comparison result is that at least one of them is within the large window, then the corresponding flag bit GF is 1, otherwise 0. The flag bits p1-p5 and GF generate a set of flags according to the above principle, and according to the set of flags, the new track can be statistically determined to belong to a moving target, a fixed target, or an isolated track or a suspicious track according to certain criteria.

[0119] Embodiment three

[0120] As shown in the figure, the embodiment also provides a functional module diagram of a radar track prediction device. Figure 4

[0121] ​The radar track prediction device 100 described in the embodiment can be installed in an electronic device. According to the implemented functions, the radar track prediction device 100 can include a target point track generation module 101, an updated track generation module 102, a candidate echo calculation module 103, and a target track generation module 104. The modules described in the present application can also be referred to as units, which refer to a series of computer program segments that can be executed by an electronic device processor and can complete a fixed function, which are stored in the memory of the electronic device.

[0122] In the embodiment, the functions of each module / unit are as follows:

[0123] The target point track generation module 101 is configured to obtain a reported point track, perform data screening on the reported point track, and obtain a target point track.

[0124] The updated track generation module 102 is configured to perform a filter threshold judgment on the target point track, perform a filter update according to a judgment result, and obtain an updated track.

[0125] The candidate echo calculation module 103 is configured to perform an association judgment according to a preset association threshold, determine an associated point track, and calculate a candidate echo according to the target point track.

[0126] The target track generation module 104 is configured to generate a track tracking matrix according to a result of the candidate echo, the updated track, and the associated point track, perform a merging tracking on the track tracking matrix according to a preset period, and obtain a target track.

[0127] Embodiment Four

[0128] As shown in Figure 5 The embodiment also provides a computer electronic device, which can include a processor 10, a memory 11, a communication bus 12, and a communication interface 13, and can further include a computer program, such as a radar track prediction program, stored in the memory 11 and executable on the processor 10.

[0129] The processor 10 may, in some embodiments, be composed of integrated circuits, for example, a single packaged integrated circuit, or a plurality of packaged integrated circuits of the same or different functions, including one or more combinations of central processing units (CPUs), microprocessors, digital processing chips, graphics processors, and various control chips. The processor 10 is the control unit of the electronic device, connects various components of the electronic device through various interfaces and lines, executes programs or modules stored in the memory 11 (for example, radar track prediction programs), and calls data stored in the memory 11 to perform various functions and process data of the electronic device.

[0130] The memory 11 includes at least one type of readable storage medium, including flash memories, mobile hard disks, multimedia cards, card-type memories (for example, SD or DX memories, etc.), magnetic memories, magnetic disks, optical disks, etc. The memory 11 may, in some embodiments, be an internal storage unit of the electronic device, for example, a mobile hard disk of the electronic device. The memory 11 may, in other embodiments, also be an external storage device of the electronic device, for example, a plug-in mobile hard disk, a smart media card (SMC), a secure digital (SD) card, a flash card, etc. Further, the memory 11 may include both an internal storage unit and an external storage device of the electronic device. The memory 11 can be used not only to store application software and various data installed in the electronic device, for example, codes of radar track prediction programs, etc., but also to temporarily store data that has been or will be output.

[0131] The communication bus 12 can be a peripheral component interconnect (PCI) bus or an extended industry standard architecture (EISA) bus, etc. The bus can be divided into an address bus, a data bus, a control bus, etc. The bus is configured to realize the connection and communication between the memory 11, the processor 10, etc.

[0132] The communication interface 13 is used for communication between the electronic device and other devices, including a network interface and a user interface. Optionally, the network interface can include a wired interface and / or a wireless interface (such as a WI-FI interface, a Bluetooth interface, etc.), which is usually used to establish a communication connection between the electronic device and other electronic devices. The user interface can be a display, an input unit (such as a keyboard), and optionally, the user interface can also be a standard wired interface, a wireless interface. Optionally, in some embodiments, the display can be an LED display, a liquid crystal display, a touch liquid crystal display, an OLED (Organic Light-Emitting Diode) touch, etc. The display can also be appropriately referred to as a display screen or a display unit, which is used to display information processed in the electronic device and to display a visualized user interface.

[0133] Only the electronic device with components is shown in the figure, and those skilled in the art can understand that the structure shown in the figure does not constitute a limitation on the electronic device, and can include fewer or more components than shown in the figure, or combine certain components, or different component arrangements.

[0134] For example, although not shown, the electronic device can also include a power supply (such as a battery) for powering each component. Preferably, the power supply can be logically connected to the at least one processor 10 through a power management device, so that functions such as charge management, discharge management, and power consumption management can be realized through the power management device. The power supply can also include one or more direct current or alternating current power supplies, recharging devices, power failure detection circuits, power converters or inverters, power status indicators, and any other components. The electronic device can also include various sensors, Bluetooth modules, Wi-Fi modules, etc., which are not described here.

[0135] It should be understood that the embodiments are only for illustration and are not limited in the scope of the patent application by this structure.

[0136] The radar track prediction program stored in the memory 11 in the electronic device is a combination of a plurality of instructions, which, when executed in the processor 10, can achieve:

[0137] Obtaining a reported point track, performing data filtering on the reported point track to obtain a target point track;

[0138] Performing a filtering threshold judgment on the target point track, and performing a filtering update according to the judgment result to obtain an updated track;

[0139] Performing an association judgment according to a preset association threshold to determine an associated point track, and calculating a candidate echo according to the target point track;

[0140] According to the result of the candidate echo, the updated track and the associated point track, a track tracking matrix is generated, and the track tracking matrix is merged and tracked according to a preset period to obtain a target track.

[0141] Specifically, the specific implementation method of the processor 10 to the above instructions can refer to the description of the related steps in the corresponding embodiments of the drawings, which will not be described here.

[0142] Further, the modules / units integrated in the electronic device, if realized in the form of software function units and sold or used as independent products, can be stored in a computer readable storage medium. The computer readable storage medium can be volatile or non-volatile. For example, the computer readable medium can include any entity or device capable of carrying the computer program code, recording medium, U disk, mobile hard disk, magnetic disk, optical disk, computer memory, read-only memory (ROM, Read-Only Memory).

[0143] Embodiment five

[0144] The embodiment provides a storage medium, which stores a computer program. The computer program is executed by a processor to implement the steps of the radar track prediction method described above.

[0145] These program codes can also be loaded into a computer or other programmable data processing device to make a series of operation steps executed on the computer or other programmable device to produce a computer implemented process, so that the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flow Figure 1 In one flow or multiple flows.

[0146] The storage medium includes permanent and non-permanent, removable and non-removable media, and can be realized by any method or technology. Information can be computer readable instructions, data structures, program modules or other data. Examples of storage media can include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory or other memory technology, compact disc read-only memory (CD-ROM), digital versatile disc (DVD) or other optical storage, magnetic cassette, disk storage or other magnetic storage device, or any other non-transmission medium that can be used to store information accessible by a computing device.

[0147] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used in this description, the terms "comprise" and / or "comprising," or "include" and / or "including" when used in this description, indicate the presence of features, steps, operations, devices, components, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components, and / or combinations thereof.

[0148] It is to be understood that the terminology used herein is for the purpose of describing particular embodiments only and is not intended to be limiting of example embodiments in accordance with the present application. As used in this description, the terms "comprise" and / or "comprising," or "include" and / or "including" when used in this description, indicate the presence of features, steps, operations, devices, components, and / or combinations thereof, but do not preclude the presence or addition of one or more other features, steps, operations, devices, components, and / or combinations thereof.

[0149] In several embodiments provided in the present application, it should be understood that the disclosed devices, apparatuses, and methods can be implemented in other ways. For example, the above-described device embodiments are merely illustrative. For example, the division of the modules is merely a logical function division. In actual implementation, another division manner can be used.

[0150] The modules described as separate components can or can not be physically separate, and the components shown as modules can or can not be physical units, i.e., can be located in one place, or can be distributed on multiple network units. Part or all of the modules can be selected according to actual needs to achieve the purpose of the embodiments.

[0151] In addition, each functional module in each embodiment of the present application can be integrated in one processing unit, or each unit can be physically present separately, or two or more units can be integrated in one unit. The integrated unit can be implemented in the form of hardware or in the form of hardware plus software functional modules.

[0152] It is obvious for those skilled in the art that the present application is not limited to the details of the above exemplary embodiments, and the present application can be implemented in other specific forms without departing from the spirit or essential characteristics of the present application.

[0153] Therefore, from any point of view, the embodiments should be regarded as exemplary and non-limiting, and the scope of the present application is defined by the appended claims rather than the above description, and therefore all changes falling within the meaning and scope of the equivalent elements of the claims are intended to be included in the present application. Any additional reference signs in the claims should not be considered as limiting the claims involved.

[0154] In addition, it is obvious that the word "comprise" does not exclude other units or steps, and the singular does not exclude the plural. The plurality of units or devices stated in the system claims can also be implemented by one unit or device through software or hardware. The words first, second, etc. are used to indicate names and not to indicate any particular order.

[0155] Finally, it should be noted that the above examples are merely intended to illustrate the technical solutions of the present application and not to limit the present application. Although the present application has been described in detail with reference to the preferred embodiments, those skilled in the art should understand that the technical solutions of the present application can be modified or equivalently replaced without departing from the spirit and scope of the present application.

Claims

1. A radar track prediction method, characterized by, The method comprises: Obtaining reported point traces, performing data screening on the reported point traces, and obtaining target point traces; Performing filter threshold judgment on the target point traces, performing filter updating according to the judgment result, and obtaining updated tracks; Performing association judgment according to a preset association threshold, determining associated point traces, and calculating candidate echoes according to the target point traces; Generating a track tracking matrix according to the results of the candidate echoes, the updated tracks, and the associated point traces, and performing merging tracking on the track tracking matrix according to a preset period to obtain target tracks; When the candidate echoes are 1, the generated track tracking matrix is a first track tracking matrix, which is represented as: wherein, is represented as the first track tracking matrix, is represented as the first track tracking matrix, is represented as the first track tracking matrix, is represented as the first track tracking matrix, , is represented as the number of updated tracks, , is represented as a preset search period, if is a filter prediction value, then , otherwise ; When the candidate echoes are greater than 1, the generated track tracking matrix is a second track tracking matrix; When the candidate echoes are 0, the generated track tracking matrix is a third track tracking matrix, wherein the representations of the second track tracking matrix and the third track tracking matrix are similar to the first track tracking matrix; The step of obtaining the target tracks comprises: Performing summation processing on the first track tracking matrix, the second track tracking matrix, and the third track tracking matrix in the track tracking matrix according to a preset search period to obtain a comprehensive track; The summation processing is performed by the following formula: wherein, is represented as the a comprehensive track, is represented as a preset search period, is represented as a column of the matrix; Selecting a target track from the comprehensive track according to a preset point trace rule.

2. The radar track prediction method of claim 1, wherein, The data screening on the reported point traces to obtain target point traces comprises: Performing intra-frame condensation and inter-frame condensation on the reported point traces to obtain condensed point traces; Performing false point trace elimination on the condensed point traces to obtain target point traces.

3. The radar track prediction method of claim 2, wherein, The intra-frame condensation and inter-frame condensation on the reported point traces to obtain condensed point traces comprises: Performing weighted summation of pitch angle and azimuth angle according to the frame number of the reported point traces and the data with the same target number in the reported point traces to obtain a weighted value; Performing normalization on the weighted value according to a preset amplitude to obtain an initial condensed point trace; Performing convergence according to a preset condensation rule and the frame number, azimuth angle, and distance in the initial condensed point trace to obtain condensed point traces.

4. The radar track prediction method of claim 1, wherein, The filter updating according to the judgment result to obtain updated tracks comprises: Obtaining all to-be-updated point traces of a preset sector according to the judgment result, calculating the point trace distance between the target point traces and the to-be-updated point traces; Determining a trajectory gate according to the point trace distance, performing point trace prediction using a preset Kalman filter to obtain predicted point traces; Determining paired point traces according to the trajectory gate and the predicted point traces, and generating updated tracks according to the paired point traces.

5. The radar track prediction method of claim 1, wherein, The calculation of candidate echoes according to the target point traces comprises: Constructing a coordinate system according to the target point traces, and producing point trace coordinates of the target point traces according to the coordinate system; Calculating the distance difference of the point trace coordinates, and determining candidate echoes according to the distance difference and a preset threshold; The distance difference of the point trace coordinates is calculated by the following formula: wherein, is a distance difference expressed as the point coordinates of the point track; is a point track coordinate expressed as the point coordinates of the target point track.

6. The radar track prediction method of claim 1, wherein, The generation of a track tracking matrix according to the results of the candidate echoes, the updated tracks, and the associated point traces comprises: When the candidate echo is 1, a target point track corresponding to the candidate echo is selected as a first point track, and a first track tracking matrix is generated according to an updated track corresponding to the first point track and a preset first search rule; When the candidate echo is greater than 1, point track screening is performed according to target point tracks corresponding to the candidate echo and the associated point tracks, a plurality of second point tracks are obtained, and a second track tracking matrix is generated according to the plurality of second point tracks and a preset second search rule; When the candidate echo is 0, a third track tracking matrix is generated according to the updated track and a preset third search rule.

7. A radar track prediction device characterized by comprising: The device comprises: a target point track generation module configured to obtain a reported point track, and perform data screening on the reported point track to obtain a target point track; an updated track generation module configured to perform filter threshold judgment on the target point track, and perform filter updating according to a judgment result to obtain an updated track; a candidate echo calculation module configured to perform association judgment according to a preset association threshold to determine an associated point track, and calculate a candidate echo according to the target point track; a target track generation module configured to generate a track tracking matrix according to a result of the candidate echo, the updated track and the associated point track, and perform merging tracking on the track tracking matrix according to a preset period to obtain a target track; When the candidate echo is 1, the generated track tracking matrix is a first track tracking matrix, which is represented as: wherein, is represented as the first track tracking matrix, is represented as the first track tracking matrix, is represented as the first track tracking matrix, is represented as the first track tracking matrix, , is represented as the first track tracking matrix, , is represented as the first track tracking matrix, is represented as the first track tracking matrix, is represented as the first track tracking matrix, is represented as the first track tracking matrix. When the candidate echo is greater than 1, the generated track tracking matrix is a second track tracking matrix; When the candidate echo is 0, the generated track tracking matrix is a third track tracking matrix, wherein the representation of the second track tracking matrix and the third track tracking matrix is similar to that of the first track tracking matrix; The step of obtaining the target track comprises: performing summation processing on the first track tracking matrix, the second track tracking matrix and the third track tracking matrix in the track tracking matrix according to a preset search period to obtain a comprehensive track; The summation processing is performed by the following formula: wherein, is represented as the comprehensive track, is represented as a preset search period, is represented as a column of the matrix; selecting a target track from the comprehensive track according to a preset point track rule.

8. An electronic device comprising: a processor; a memory for storing instructions executable by the processor; wherein the processor is configured to execute the instructions to implement the radar track prediction method according to any one of claims 1 to 6.

9. A computer-readable storage medium, characterized in that, A computer program is stored thereon, which is executed by a processor to implement the radar track prediction method according to any one of claims 1 to 6.

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