Dynamic allocation method and system based on multi-domain fusion target

Abstract

The application discloses a kind of based on multi-domain fusion target dynamic allocation method, comprising the following steps: obtaining external target information;External target is initially allocated to corresponding front-end tracking array;Front-end tracking array carries out target tracking according to the external target information obtained, marks tracking state, and feedback;With the batch number of external target as the basis, the target information of front-end tracking array feedback is associated, generates M*N target information situation, and carries out dynamic update;External target information is extrapolated according to the motion information in the target information of front-end tracking array prediction;When a target is captured by front-end tracking array, the target is tracked by the front-end tracking array, and track information is established, when target tracking state is stable, target information situation is switched to tracking track information.The application can exert the maximum performance of light frequency tracking device and the coordination and cooperation ability between light frequency device and between external device.

Description

Technical Field

[0001] This invention relates to the field of information fusion, and in particular to a dynamic allocation method and system based on multi-domain fusion objectives. Background Technology

[0002] In the current field of multi-source information fusion, for optical frequency equipment, the most common guidance is external target guidance and the scanning of the target by the self-monitoring equipment as target guidance information. After a certain comprehensive processing, the guidance information is sent to the tracking equipment to complete the discovery, detection, identification and tracking of the target, and finally realize the measurement of the target's three-dimensional data and the comprehensive reporting of information.

[0003] Typical optoelectronic devices have an azimuth range of 0-360°. Therefore, existing technologies only target a single array or optoelectronic device and do not address the need to allocate targets from multiple front-end arrays to external targets. However, the technical features proposed in this patent can solve the problem of dynamic allocation of multiple front-end arrays and multiple targets. Summary of the Invention

[0004] The main objective of this invention is to provide a dynamic allocation method and system based on multi-domain fusion targets that can maximize the performance of optical frequency tracking equipment and enhance the coordination and cooperation capabilities between optical frequency equipment and with external equipment.

[0005] The technical solution adopted in this invention is:

[0006] A dynamic allocation method based on multi-domain fusion targets is provided, comprising the following steps:

[0007] S1. Obtain external target information, which includes radio frequency domain radar target information, optical frequency domain warning targets, and the approximate direction of simulated virtual targets;

[0008] S2. Calculate the front-end tracking array of the photoelectric tracking device where the target is located based on the external target information, and initially assign the external target to the corresponding front-end tracking array; multiple front-end tracking arrays constitute a 360° all-round tracking measurement range;

[0009] S3. The front-end tracking array tracks the target based on the acquired external target information, marks the tracking status, and provides feedback.

[0010] S4. Based on the batch number of the external target, associate the target information fed back by the front-end tracking array, store the associated target information in an M*N array-target information matrix, generate an M*N target information situation, and dynamically update the target information situation in real time according to the acquired external target information.

[0011] S5. External target information is predicted and extrapolated based on the motion information in the target information of the front-end tracking array. Specifically, it involves high-frequency data interpolation and extrapolation prediction including position, velocity, etc. When a target is captured by the front-end tracking array, the front-end tracking array tracks the target and establishes track information. When the target tracking state is stable, the target information state is switched to the tracking track information.

[0012] Following the above technical solution, the process of dynamically updating the target information situation in real time in step S4 specifically includes:

[0013] When the target is located within the overlapping area, the target allocation information is sent out or the target is added or deleted based on the target allocation status of the two arrays in the overlapping area.

[0014] When the number of external targets assigned reaches the upper limit of the number of targets assigned to a single array, the external targets will discard the lowest priority targets according to their priority levels.

[0015] When a target leaves the current array due to movement or the superior system actively cancels the designation of a certain batch of targets, the target will be deleted in a timely manner. When a target moves from one array to an area overlapping with another array, the adjacent array will be notified in a timely manner that a target has invaded, and the target information will be shared to form a new target information situation, which will be sent to the array where the overlapping area is located.

[0016] When external target information is sent out normally, inference and prediction are performed by combining the movement information of the external target. If the error between the predicted value and the actual external target is less than the threshold, it is retained; otherwise, it is discarded.

[0017] Following the above technical solution, the method further includes the following steps:

[0018] When a batch of targets is captured and stabilized by the front-end tracking array, if the front-end target tracking status is stable, the tracking information is used to make a prediction extrapolation. If the error between the predicted extrapolation value and the predicted extrapolation value of the external target is less than the threshold, the front-end tracking target information is accepted; otherwise, the external target is switched back.

[0019] When external indexes are stopped or lost, check the front-end tracking status of the current batch of indexes. If the tracking is stable, continue to issue indexes for the current batch; otherwise, delete the batch of indexes.

[0020] Following the above technical solution, in step S2, the initial allocation process for external targets includes the following steps:

[0021] Based on the left and right limits of each array, the external target is assigned to one or two arrays; before the external target is assigned, the targets in the overlapping area need to be statistically processed, and the targets in the overlapping area will be observed by the two adjacent arrays at the same time;

[0022] If an external target moves from one array to another or the parent system cancels the target for the current batch, then delete it;

[0023] If a batch number in the target information situation is not 0, then when the external target index batch number is consistent with the current target index batch number, the external target index information at this time will be used to update the target information in the current target information situation; otherwise, the new target index will be directly allocated and issued.

[0024] Following the above technical solution, the left and right limits are the leftmost and rightmost angle measurements of the target that the corresponding array can observe in its orientation.

[0025] Following the above technical solution, before the new target information is sent out, outliers in the target information's position, velocity, and acceleration are removed to ensure that the data before sending out is valid.

[0026] Following the above technical solution, step S4 specifically involves:

[0027] Based on the target batch number information fed back from the front end, the issued target information is bound to establish a complete target information situation of M array * N targets, and the target information situation is dynamically updated in real time according to the acquired external target information.

[0028] If the front-end feedback information indicates that the target has been stably established and the error between the target information and the external target information is less than the threshold, then the target information of this batch number can replace the external target information as the fused data to be distributed.

[0029] When external target tracking is lost, the filtered and extrapolated track information is used as target guidance information for tracking and continues to be sent down until the front-end target tracking is lost.

[0030] Following the above technical solution, step S5 specifically includes:

[0031] The system determines if an external target index is lost. If the external target index stops updating continuously for more than a certain time threshold, the external target index is set to a lost state.

[0032] If the front-end tracking target is lost, the front-end tracking target is set to lost tracking state if the front-end tracking target stops continuously and enters a stable tracking state for more than a certain time threshold.

[0033] If all external targets stop sending, the working mode is switched to manual and the system is in standby mode.

[0034] If the tracking status of the target information from the front end is stable, that is, a stable track has been established, the track is filtered and extrapolated. If the external target is not lost, the error between the extrapolated value of the track and the external target information is less than the threshold. Then the track information is used to replace the external target information and is sent out. If the external target is lost, the extrapolated value is used to continue to send out guidance information until the front end tracking is lost.

[0035] Target allocation in overlapping areas involves calculating the target movement trend over a specific time period and determining whether to send the target to the current array based on the target's movement status.

[0036] External target prediction extrapolation is performed. Specifically, if the error between the extrapolated value and the external target information is less than a threshold, the extrapolated value is used to replace the external target; otherwise, the extrapolated value is used to send guidance information.

[0037] Following the above technical solution, the time threshold is related to the number of targets sent. For example, if the target loss time is determined to be t and the sending cycle is t1, and there are a total of 3 targets to be assigned at this time, then the external target loss time is 3*t1+t.

[0038] This invention also provides a dynamic allocation system based on multi-domain fusion targets, comprising:

[0039] The information acquisition module is used to acquire external target information, which includes radio frequency domain radar target information, optical frequency domain warning targets, and the approximate direction of simulated virtual targets.

[0040] The external target initial allocation module is used to calculate the front-end tracking array of the photoelectric tracking device where the target is located based on the external target information, and to initially allocate the external target to the corresponding front-end tracking array; multiple front-end tracking arrays constitute a 360° all-round tracking measurement range;

[0041] The front-end tracking target information processing module is used to acquire information fed back by the front-end tracking array. This feedback information is the tracking status marked by the front-end tracking array when tracking the target based on the acquired external target information. It is also used to associate the target information fed back by the front-end tracking array with the batch number of the external target information, store the associated target information in an M*N array-target information matrix, generate an M*N target information situation, and dynamically update the target information situation in real time based on the acquired external target information.

[0042] The target information processing module is used to predict and extrapolate based on the motion information in the target information of the front-end tracking array using external target information. Specifically, it performs high-frequency data interpolation and extrapolation prediction including position, velocity, etc. When a target is captured by the front-end tracking array, the front-end tracking array tracks the target and establishes track information. When the target tracking state is stable, the target information status is switched to the tracking track information.

[0043] The beneficial effects of this invention are: in the practical application of optical frequency equipment, it makes reasonable and appropriate use of its own hardware resources to deeply integrate multi-domain target information (optical frequency equipment information, radio frequency information), comprehensively utilizes the resources of various sensors (i.e., multiple photoelectric tracking arrays), gives full play to the advantages of each sensor, performs data fusion reasoning on the external radio frequency target indication information, the target information extracted by the optical frequency warning module and the optical frequency tracking target information, and then, through a certain allocation model, forms a complete set of target information allocation, single array multi-target dynamic allocation, and multi-target multi-array dynamic allocation.

[0044] Furthermore, the self-guidance of overlapping areas between arrays, dynamic addition and deletion of targets, and multi-principle and multi-model allocation mechanism maximize and optimize the utilization of tracking resources, giving full play to the maximum performance of optical frequency tracking equipment and the coordination and cooperation capabilities between optical frequency equipment and external equipment. Attached Figure Description

[0045] To more clearly illustrate the technical solutions in the embodiments of the present invention or the prior art, the drawings used in the description of the embodiments or the prior art will be briefly introduced below. Obviously, the drawings described below are some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0046] Figure 1 This is a flowchart of a dynamic allocation method for multi-domain fusion targets according to an embodiment of the present invention;

[0047] Figure 2 This is a schematic block diagram illustrating the dynamic allocation of multi-domain fusion targets according to an embodiment of the present invention;

[0048] Figure 3 This is a schematic diagram of the dynamic allocation system structure based on multi-domain fusion targets in an embodiment of the present invention. Detailed Implementation

[0049] To make the objectives, technical solutions, and advantages of this invention clearer, the invention will be further described in detail below with reference to the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are merely illustrative and not intended to limit the invention.

[0050] The information sources of this invention mainly consist of target information from multi-domain external targets and tracking arrays. Based on this target data and using target batch numbers as a basis, target information is correlated to generate a comprehensive target information situation from the array to the target. Dynamic maintenance of the established target information situation requires dynamic additions and deletions based on target priority, proactive cancellation by the superior system, target movement, and the balance of array resource allocation. Simultaneously, a target motion model needs to be established based on target movement characteristics to perform fusion reasoning on the target information situation database, ultimately forming multi-array resource allocation and scheduling rules to guide dynamic target allocation.

[0051] For front-end tracking arrays, due to the basic principles of optical imaging and servo control, they can only track a batch of targets at a time. However, a single array can quickly switch between tracking two or even more targets by adjusting the servo line of sight, that is, rapidly switching between tracking targets at different azimuths, pitches, and distances. The meaning of single-array multi-target [N] tracking shown in the figure below is the maximum number of targets that a single array can switch between tracking. Front-end tracking arrays mainly refer to various sensors used for target tracking (the hardware and software combination of television, infrared, laser, and servo turntable is called an array). The front end refers to the various detection sensors that are in the most direct "contact" with the target in the entire device, and belongs to the front-end equipment / software.

[0052] External targets (including radio frequency domain radar target information, optical frequency domain early warning targets, simulated virtual targets, etc.) are comprehensively processed by relevant software, and priority levels are assigned to each batch of targets, which is the input information of this invention.

[0053] By utilizing front-end tracking target information and external target indication information, and associating data based on batch number, tracking status, array left and right limits, the associated target information is stored in an M*N array-target information matrix to generate an M*N target information situation. Here, M refers to the number of arrays and N refers to the maximum number of targets that can be allocated to a single array. This patent associates external target indication and front-end tracking target information with batch number, and M*N refers to the maximum number of targets allocated. The target information situation mainly consists of information on all targets allocated in all M arrays (each target includes batch number, azimuth, pitch, range, azimuth / pitch angular velocity, azimuth / pitch angular acceleration, target tracking status, tracking time, threat level, target size, etc.), and its function is to provide various target information to the upper-level system.

[0054] Throughout the entire situation generation process, target situation information is managed and updated. Based on the target's dynamic movement (if the target originally belonged to array 1, but later moved to array 2 because it was outside the range of array 1, for array 1, the content of the target batch in the target situation needs to be deleted, and the target information of the batch in array 2 needs to be added), if the upper-level system cancels a target batch, the target information of that target in all situations needs to be deleted. During the continuous updating of situation information, data fusion and inference are required for the target information allocated on each array. That is, the external target information is interpolated at high frequency and extrapolated and predicted based on the target motion information (position, velocity, acceleration, etc.) and including position, velocity, etc. When a target is captured by the front-end tracking array, the array will track and establish a flight path for the target in a very short time. The target's flight path will be more accurate and faster than that of the external target. Therefore, when the target tracking is stable, the target situation needs to be switched to the tracking flight path information.

[0055] Example 1

[0056] like Figure 1 As shown, this embodiment of the dynamic allocation method based on multi-domain fusion targets includes the following steps:

[0057] S1. Obtain external target information, which includes radio frequency domain radar target information, optical frequency domain warning targets, and the approximate direction of simulated virtual targets;

[0058] S2. Calculate the front-end tracking array of the photoelectric tracking device where the target is located based on the external target information, and initially assign the external target to the corresponding front-end tracking array; multiple front-end tracking arrays are installed at different azimuth angle positions on the carrier (such as a ship). Each array has the same observable azimuth angle range, but points to different azimuth angles on the carrier, and there is an overlapping area in the observable azimuth angle between two adjacent arrays. These arrays together constitute a 0-360° all-round tracking measurement range, which is called optical frequency equipment.

[0059] S3. The front-end tracking array tracks the target based on the acquired external target information, marks the tracking status, and provides feedback.

[0060] S4. Based on the batch number of the external target, associate the target information fed back by the front-end tracking array, store the associated target information in an M*N array-target information matrix, generate an M*N target information situation, and dynamically update the target information situation in real time according to the acquired external target information.

[0061] S5. External target information is predicted and extrapolated based on the motion information in the target information of the front-end tracking array. Specifically, it involves high-frequency data interpolation and extrapolation prediction including position, velocity, etc. When a target is captured by the front-end tracking array, the front-end tracking array tracks the target and establishes track information. When the target tracking state is stable, the target information state is switched to the tracking track information.

[0062] In step S2, the target's coordinates in the geographic coordinate system can be obtained based on the external target information. According to the position transformation relationship between this geographic coordinate system and the ship's coordinate system (generally called the deck system), the target's geographic coordinates can be converted to coordinates in the ship's coordinate system, thereby calculating the forward tracking array where the target is located. The azimuth and pitch angles in the external target information are used to calculate the target's deck system azimuth and pitch angles using navigation data (bow angle, pitch angle, roll angle) provided by the inertial navigation system after coordinate rotation.

[0063] Based on existing technological achievements, this invention introduces a matrix-style target situation database of array [M]*target [N] for the first time in optical frequency multi-array information fusion, target dynamic allocation, and array scheduling. It realizes full-process parameter configurability and deep fusion of multi-domain information. It has advantages such as more efficient and reasonable resource utilization, convenient parameter configuration, and standardized process in the full set of information processing technologies such as target information allocation, multi-domain information comprehensive processing, and multi-sensor collaborative cooperation.

[0064] Example 2

[0065] This embodiment is based on embodiment 1, except that step S4 is specifically as follows:

[0066] S41. Bind the issued target information according to the target batch number information fed back from the front end, establish a complete target information situation of M array * N targets, and dynamically update the target information situation in real time according to the acquired external target information.

[0067] S42. If the target information from the front end has been stably established and the error between the target information and the external target information is less than the threshold, then the target information of this batch number can replace the external target information as the fusion data to be distributed.

[0068] S43. When external target tracking is lost, the track information is filtered and extrapolated as target guidance information for tracking and continues to be sent down until the front-end target tracking is lost.

[0069] Specifically, step S4 involves dynamically updating the target information situation in real time, including:

[0070] 1. When the target is located within the overlapping area, the target allocation information or the addition or deletion of targets is determined based on the target allocation status of the two arrays in the overlapping area.

[0071] 2. When the number of external targets assigned reaches the upper limit of the number of targets assigned to a single array, the external targets with the lowest priority will be discarded according to their priority level.

[0072] 3. When a target leaves the current array due to movement or the superior system actively cancels the designation of a batch of targets, the target will be deleted in a timely manner. When a target moves from one array to an area overlapping with another array, the adjacent array will be notified in a timely manner that a target has invaded, and the target information will be shared to form a new target information situation, which will be sent to the array where the overlapping area is located.

[0073] 4. When external target information is sent normally, inference and prediction are performed by combining the movement information of the external target. If the error between the predicted value and the actual external target is less than the threshold, it is retained; otherwise, it is discarded.

[0074] As can be seen, this embodiment is the first to integrate target reasoning, multi-rule-based dynamic allocation mechanism and data association, dynamic addition and deletion of targets, and reasonable allocation of tracking resources into the situation database to form a dynamic target situation cloud.

[0075] Example 3

[0076] This embodiment is based on embodiment 1, except that in step S2, the initial allocation process for external targets includes the following steps:

[0077] External target information is assigned to one or two arrays based on the left and right limits of each array. Before assignment, targets within overlapping areas need to be statistically processed, as targets in overlapping areas will be observed by two adjacent arrays simultaneously. Because the angle at which an array can observe a target in azimuth is limited, typically greater than or equal to 90° (e.g., 100° to ensure overlapping areas between adjacent arrays), at least four arrays are needed to cover 0-360°. Therefore, based on the external target information, it is necessary to calculate which array the target is mapped to using inertial navigation attitude data, and then decide which array to send the corresponding target guidance information to, causing it to rotate to the corresponding azimuth and pitch angle for successful target observation. Here, azimuth refers to the target's position in the deck coordinate system, as the arrays are installed and fixed in a relatively fixed position within the deck coordinate system.

[0078] If an external target moves from one array to another or the parent system cancels the target for the current batch, then delete it;

[0079] If a target structure (i.e., containing information about all targets, such as batch number, azimuth, pitch, range, azimuth / pitch angular velocity, azimuth / pitch angular acceleration, target tracking status, tracking time, threat level, target size, etc.) has a non-zero batch number, then when the external target instruction batch number matches the current target instruction batch number, the external target instruction information will be used to update the target information in the current target structure; otherwise, the new target instruction will be directly assigned and issued.

[0080] Among them, the left and right limits are the leftmost and rightmost angle measurements of the observable target.

[0081] Furthermore, before the new target information is issued, outliers in the target information's position, velocity, and acceleration are removed to ensure that the data before issuance is valid.

[0082] Furthermore, step S5 specifically includes:

[0083] S51. Determine if the external target index is lost. If the external target index stops updating continuously for more than a certain time threshold, then set the external target index to a lost state.

[0084] S52. Determine if the front-end tracking target is lost. If the front-end tracking target stops continuously and enters a stable tracking state for more than a certain time threshold, then set the front-end target tracking loss state.

[0085] S53. If all external targets stop sending, switch the working mode to manual and enter standby mode;

[0086] S54. If navigation data (i.e., using inertial navigation data to calculate external geographic coordinate system data into the ship deck coordinate system, and the ship deck coordinate system can uniquely determine which array the target is on) stops being sent, then clear the outlier counter and restart the filter (i.e. an algorithm for removing outliers from navigation data).

[0087] S55. If the tracking status of the front-end target information feedback is stable, that is, a stable track has been established, the track is filtered and extrapolated. If the external target is not lost, the error between the extrapolated value of the track and the external target information is less than the threshold. Then the track information is used to replace the external target information and sent out. If the external target is lost, the extrapolated value is used to continue to send out guidance information until the front-end tracking is lost.

[0088] S56. Perform target allocation in overlapping areas, specifically by calculating the target movement trend within a specific time period and determining whether to send the target to the current array based on the target movement status.

[0089] S57. Perform external target prediction extrapolation. Specifically, if the error between the extrapolated value and the external target information is less than the threshold, then the extrapolated value is used to replace the external target; otherwise, the extrapolated value is used to send guidance information.

[0090] Specifically, the time thresholds in steps S51 and S52 are related to the number of targets to be sent.

[0091] In step S51, when judging the loss of external targets, if the target loss time is judged to be t and the sending cycle is t1, and there are a total of 3 targets assigned, then the external target loss time is 3*t1+t. Since a single array can switch to track multiple targets, the switching time of 3*t1 needs to be considered, and then the external target loss state is set.

[0092] In step S52, when judging the loss of the front-end target, if the target loss time is judged to be t and the sending cycle is t1, and there are a total of 3 target assignments, then the external target loss time is 3*t1+t. Since a single array can switch to track multiple targets, the switching time of 3*t1 needs to be considered, and then the front-end target tracking loss state is set.

[0093] Example 4

[0094] For optical frequency tracking equipment, external target information (including radio frequency domain target information from radar equipment, warning target information in the optical frequency domain, and simulated virtual target information) is the source of target information for obtaining the approximate direction of the target, and is also a prerequisite for the front-end tracking array of the optoelectronic tracking equipment to acquire and stably track the target. This embodiment is based on Embodiment 1.

[0095] like Figure 2 As shown, this embodiment of the dynamic allocation method based on multi-domain fusion targets includes the following steps:

[0096] 1) Upon receiving external target indication information, the external target indication is first calculated to the ship's deck coordinate system based on inertial navigation data. According to the array installation position, the target can be initially assigned to the corresponding array. Under the premise that the target is in a certain array, the initial guidance information of the target indication is sent to that array. For example, the target indication sent by the infrared warning equipment can be assigned as a fine target indication because it has been calibrated with the tracking array and the warning equipment itself has high accuracy. At this time, after the front-end tracking array receives the information, it can directly adjust its own azimuth and elevation angle to that position and observe the target within the field of view. However, if the target is an external target indication such as a target generated by radar, its own accuracy is poor. Therefore, the front-end tracking may not be able to observe the target after it is adjusted. Therefore, a coarse target indication needs to be sent. In this way, the front-end tracking control software will perform an area search within a certain range until the target is found.

[0097] 2) When the target is located within the overlapping area, it is necessary to determine whether to send target allocation information or add or delete targets based on the target allocation status of the two arrays in the overlapping area.

[0098] 3) When the number of targets to be assigned is saturated (the number of targets to be assigned to a single array reaches the upper limit N), the priority level of external targets needs to be examined, and the target with the lowest priority level should be discarded.

[0099] 4) When a target "escapes" the current array due to movement or the superior system actively cancels a batch of target designations, the target needs to be deleted in a timely manner. When a target moves from one array to the area where it overlaps with another array, the adjacent arrays are notified in a timely manner that a target has intruded, and the target information is shared to form a new target situation and sent to the array where the overlapping area is located.

[0100] 5) When external target information is sent out normally, it is necessary to combine the external target motion information to make inferences and predictions. If the error between the predicted value and the true value is less than the threshold, it is retained; otherwise, it is discarded.

[0101] 6) When a batch of targets are captured and stabilized by the front-end tracking array, if the front-end target tracking status is stable tracking, the tracking information is used to make a prediction extrapolation. If the error between the extrapolated value and the external target index extrapolation value is less than the threshold, the front-end tracking target information is accepted; otherwise, the external target index is switched back.

[0102] 7) When external indexes are stopped or lost, check the front-end tracking status of the current batch of indexes. If the tracking is stable, continue to issue indexes for the current batch; otherwise, delete the batch of indexes.

[0103] This invention is the first to integrate target reasoning into a situational database, a dynamic allocation mechanism based on multiple rules and data association, dynamic addition and deletion of targets, and reasonable allocation of tracking resources to form a dynamic target situational cloud. It is also the first to implement parameterized configuration of this technology, which can be easily used for secondary development. All parameters, such as the number of tracking arrays, the left and right limits of the tracking arrays, the maximum number of targets that can be allocated to a single tracking array (the number of tracking targets to switch), the period of target distribution to the front-end tracking array, the time of loss of external target indicators and front-end tracking, and the data fusion accuracy threshold, can be adjusted in real time to form a dynamic multi-domain target allocation mechanism.

[0104] Example 5

[0105] like Figure 3 As shown, the dynamic allocation system based on multi-domain fusion targets in this embodiment is used to implement the above method embodiment, including:

[0106] The information acquisition module is used to acquire external target information, which includes radio frequency domain radar target information, optical frequency domain warning targets, and the approximate direction of simulated virtual targets.

[0107] The external target initial allocation module is used to calculate the front-end tracking array of the photoelectric tracking device where the target is located based on the external target information, and to initially allocate the external target to the corresponding front-end tracking array. Multiple front-end tracking arrays are installed at different azimuth angle positions on the carrier (such as a ship). Each array has the same observable azimuth angle range, but points to different azimuth angles on the carrier, and there is an overlapping area in the observable azimuth angle between two adjacent arrays. These arrays together constitute an all-round tracking measurement range of 0-360°, which is called optical frequency equipment.

[0108] The front-end tracking target information processing module is used to acquire information fed back by the front-end tracking array. This feedback information is the tracking status marked by the front-end tracking array when tracking the target based on the acquired external target information. It is also used to associate the target information fed back by the front-end tracking array with the batch number of the external target information, store the associated target information in an M*N array-target information matrix, generate an M*N target information situation, and dynamically update the target information situation in real time based on the acquired external target information.

[0109] The target information processing module is used to predict and extrapolate based on the motion information in the target information of the front-end tracking array using external target information. Specifically, it performs high-frequency data interpolation and extrapolation prediction including position, velocity, etc. When a target is captured by the front-end tracking array, the front-end tracking array tracks the target and establishes track information. When the target tracking state is stable, the target information status is switched to the tracking track information.

[0110] The specific steps of each module in the method implementation are not detailed here.

[0111] Example 6

[0112] This application also provides a computer-readable storage medium, such as flash memory, hard disk, multimedia card, card-type memory (e.g., SD or DX memory), random access memory (RAM), static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), programmable read-only memory (PROM), magnetic memory, disk, optical disk, server, App application, etc., which stores a computer program, and the program implements corresponding functions when executed by a processor. The computer-readable storage medium of this embodiment implements the dynamic allocation method based on multi-domain fusion target of the method embodiment when executed by a processor.

[0113] It should be noted that, depending on the implementation needs, the various steps / components described in this application can be broken down into more steps / components, or two or more steps / components or parts of the operation of steps / components can be combined into new steps / components to achieve the purpose of this invention.

[0114] The order of the steps in the above embodiments does not imply the order of execution. The execution order of each process should be determined by its function and internal logic, and should not constitute any limitation on the implementation process of the embodiments of this application.

[0115] It should be understood that those skilled in the art can make improvements or modifications based on the above description, and all such improvements and modifications should fall within the protection scope of the appended claims.

Claims

1. A dynamic allocation method based on multi-domain fusion targets, characterized in that, Includes the following steps: S1. Obtain external target information, which includes radio frequency domain radar target information, optical frequency domain warning targets, and the approximate direction of simulated virtual targets; S2. Calculate the front-end tracking array of the photoelectric tracking device where the target is located based on the external target information, and initially assign the external target to the corresponding front-end tracking array; Multiple front-end tracking arrays form a 360° all-around tracking and measurement range; S3. The front-end tracking array tracks the target based on the acquired external target information, marks the tracking status, and provides feedback. S4. Based on the batch number of the external target, associate the target information fed back by the front-end tracking array, store the associated target information in an M×N array-target information matrix, and generate an M×N target information situation, where M refers to the number of arrays and N refers to the maximum number of targets that can be allocated to a single array; and dynamically update the target information situation in real time according to the acquired external target information. S5. External target information is predicted and extrapolated based on the motion information in the target information of the front-end tracking array. Specifically, it involves high-frequency data interpolation and extrapolation prediction including position and velocity. Once a target is captured by the front-end tracking array, the array tracks the target, establishes track information, and switches the target information status to tracking track information when the target tracking status is stable.

2. The dynamic allocation method based on multi-domain fusion targets according to claim 1, characterized in that, The process of dynamically updating the target information situation in real time in step S4 specifically includes: When the target is located within the overlapping area, the target allocation information is sent out or the target is added or deleted based on the target allocation status of the two arrays in the overlapping area. When the number of external targets assigned reaches the upper limit of the number of targets assigned to a single array, the external targets will discard the lowest priority targets according to their priority levels. When a target leaves the current array due to movement or the superior system actively cancels the designation of a certain batch of targets, the target will be deleted in a timely manner. When a target moves from one array to an area overlapping with another array, the adjacent array will be notified in a timely manner that a target has invaded, and the target information will be shared to form a new target information situation, which will be sent to the array where the overlapping area is located. When external target information is sent out normally, inference and prediction are performed by combining the movement information of the external target. If the error between the predicted value and the actual external target is less than the threshold, it is retained; otherwise, it is discarded.

3. The dynamic allocation method based on multi-domain fusion targets according to claim 1, characterized in that, The method also includes the following steps: When a batch of targets is captured and stabilized by the front-end tracking array, if the front-end target tracking status is stable, the tracking information is used to make a prediction extrapolation. If the error between the predicted extrapolation value and the predicted extrapolation value of the external target is less than the threshold, the front-end tracking target information is accepted; otherwise, the external target is switched back. When external indexes are stopped or lost, check the front-end tracking status of the current batch of indexes. If the tracking is stable, continue to issue indexes for the current batch; otherwise, delete the batch of indexes.

4. The dynamic allocation method based on multi-domain fusion targets according to claim 1, characterized in that, In step S2, the initial allocation process for external targets includes the following steps: Based on the left and right limits of each array, the external target is assigned to one or two arrays; before the external target is assigned, the targets in the overlapping area need to be statistically processed, and the targets in the overlapping area will be observed by the two adjacent arrays at the same time; If an external target moves from one array to another or the parent system cancels the target for the current batch, then delete it; If a batch number in the target information situation is not 0, then when the external target index batch number is consistent with the current target index batch number, the external target index information at this time will be used to update the target information in the current target information situation; otherwise, the new target index will be directly allocated and issued.

5. The dynamic allocation method based on multi-domain fusion targets according to claim 4, characterized in that, The left and right limits are the leftmost and rightmost angle measurements of the target that can be observed by the corresponding array in its orientation.

6. The dynamic allocation method based on multi-domain fusion targets according to claim 4, characterized in that, Before the new target information is issued, outliers in the target information's position, velocity, and acceleration are removed to ensure that the data before issuance is valid.

7. The dynamic allocation method based on multi-domain fusion targets according to claim 1, characterized in that, Step S4 is as follows: Based on the target batch number information fed back from the front end, the issued target information is bound to establish a complete target information situation of M array × N targets, and the target information situation is dynamically updated in real time according to the acquired external target information. If the front-end feedback information indicates that the target has been stably established and the error between the target information and the external target information is less than the threshold, then the target information of this batch number can replace the external target information as the fused data to be distributed. When external target tracking is lost, the filtered and extrapolated track information is used as target guidance information for tracking and continues to be sent down until the front-end target tracking is lost.

8. The dynamic allocation method based on multi-domain fusion targets according to claim 1, characterized in that, Step S5 specifically includes: The system determines if an external target index is lost. If the external target index stops updating continuously for more than a certain time threshold, the external target index is set to a lost state. If the front-end tracking target is lost, the front-end tracking target is set to lost tracking state if the front-end tracking target stops continuously and enters a stable tracking state for more than a certain time threshold. If all external targets stop sending, the working mode is switched to manual and the system is in standby mode. If navigation data stops being sent, clear the outlier counter and restart the filter; If the tracking status of the target information from the front end is stable, that is, a stable track has been established, the track is filtered and extrapolated. If the external target is not lost, the error between the extrapolated value of the track and the external target information is less than the threshold. Then the track information is used to replace the external target information and is sent out. If the external target is lost, the extrapolated value is used to continue to send out guidance information until the front end tracking is lost. Target allocation in overlapping areas involves calculating the target movement trend over a specific time period and determining whether to send the target to the current array based on the target's movement status. External target prediction extrapolation is performed. Specifically, if the error between the extrapolated value and the external target information is less than a threshold, the extrapolated value is used to replace the external target; otherwise, the extrapolated value is used to send guidance information.

9. The dynamic allocation method based on multi-domain fusion targets according to claim 8, characterized in that, The time threshold is related to the number of targets. For example, if the target loss time is determined to be t and the distribution cycle is t1, and there are a total of 3 targets to be allocated at this time, then the external target loss time is 3t1+t.

10. A dynamic allocation system based on multi-domain fusion objectives, characterized in that, include: The information acquisition module is used to acquire external target information, which includes radio frequency domain radar target information, optical frequency domain warning targets, and the approximate direction of simulated virtual targets. The external target initial allocation module is used to calculate the front-end tracking array of the photoelectric tracking device where the target is located based on the external target information, and to initially allocate the external target to the corresponding front-end tracking array. Multiple front-end tracking arrays form a 360° all-around tracking and measurement range; The front-end tracking target information processing module is used to acquire information fed back by the front-end tracking array. This feedback information is the tracking status marked by the front-end tracking array based on the acquired external target information. It is also used to associate the target information fed back by the front-end tracking array with the batch number of the external target information, and store the associated target information in an M×N array-target information matrix to generate an M×N target information situation, where M refers to the number of arrays and N refers to the maximum number of targets that can be allocated to a single array. Furthermore, it dynamically updates the target information situation in real time based on the acquired external target information. The target information processing module is used to perform prediction extrapolation based on the motion information in the target information of the front-end tracking array using external target information. Specifically, it performs high-frequency data interpolation and extrapolation prediction including position and velocity. Once a target is captured by the front-end tracking array, the array tracks the target, establishes track information, and switches the target information status to tracking track information when the target tracking status is stable.

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