A method for correcting track information based on measurement segments

Abstract

The application provides a track information correction method based on measurement segments, and relates to the field of radar data processing.The method comprises the following steps: during track extrapolation, the remaining measurements of the associated failure still maintain a certain correlation in a period of time, the remaining measurement information is used to form measurement segments, and the track state is corrected by associating the measurement segments with the scheduling target, so that the inherent boundary and single-point dependence of the traditional algorithm are avoided, and the problem that the maneuvering target is easy to interrupt is effectively solved.The application has strong scene adaptability, can greatly improve the stability of the maneuvering target tracking, solves the technical problem that the stability of the target tracking in the maneuvering scene is poor in the prior art, and thus the track association accuracy is low.

Description

Technical Field

[0001] This invention relates to the field of radar data processing, and in particular to a method for correcting track information based on measurement segments. Background Technology

[0002] Target tracking, especially maneuvering target tracking, has always been a crucial function of sensors such as airborne phased array fire control radars. The stability of maneuvering target tracking is paramount for airborne phased array fire control radars. However, in actual target tracking processes, the target's motion pattern often changes drastically, or the target enters the Doppler blind zone, causing the radar to be unable to detect the target's true measurement for a period of time, resulting in the target's trajectory being extrapolated. Even if the radar subsequently detects the target's true echo, the target's maneuver is too large, and the true target measurement has exceeded the trajectory correlation threshold range (especially in the velocity dimension), leading to trajectory correlation failure and ultimately tracking interruption.

[0003] In existing technologies, the commonly used methods to address the above problems are to continuously adjust the correlation threshold of the trajectory based on the test flight scenario, or to perform single-point forced correction. The drawbacks of these methods are quite obvious: First, it is difficult to determine a suitable threshold that can adapt to most maneuvering target scenarios. Furthermore, theoretically, inherent thresholds often have boundaries; once the scenario exceeds these boundaries, the algorithm experiences significant performance degradation, and its generalization and robustness cannot be adequately supported by theory, relying solely on historical experience. Second, the single-point forced correction algorithm heavily depends on the accuracy of measurements at a single moment. If noise anomalies occur in the single-point measurement, trajectory tracking is easily degraded, thus this type of method lacks strong practicality. Summary of the Invention

[0004] In view of this, the first aspect of the present invention provides a method for trajectory information correction based on measurement segments to solve the technical problem of poor stability in target tracking under maneuvering scenarios in the prior art, resulting in low trajectory association accuracy. The method includes:

[0005] Residual measurement preprocessing: determine whether the residual measurement is valid based on the modulation flag of the residual measurement; If the remaining measurement is valid, perform distance and velocity defuzzification processing on the remaining measurement; Determine whether a measurement segment has been established for the scheduling target of the current frame. If not, establish the first measurement segment based on the remaining measurements after distance and velocity deblurring and set the basic information of the track segment. The first measurement segment includes buffers corresponding to each remaining measurement. If the scheduling target of the current frame has already established a measurement segment, obtain the established second measurement segment, perform four-dimensional residual calculation on each remaining measurement and the existing buffer in the second measurement segment to obtain residual information, and determine whether the remaining measurement and the buffer of the second measurement segment are successfully associated based on the residual information to obtain the association result; Update the buffer of the second measurement segment based on the correlation result; Obtain the remaining number of measurements in the buffer of the updated second measurement segment, and determine whether the updated second measurement segment is successfully associated with the scheduling target based on the remaining number of measurements in the buffer. If successful, correct the track status based on the updated second measurement segment.

[0006] Furthermore, when determining whether the remaining measurement is valid based on the modulation flag of the remaining measurement, if the modulation flag of the remaining measurement is true, the remaining measurement is determined to be invalid, and the invalid remaining measurement is discarded; if the modulation flag of the remaining measurement is not true, the remaining measurement is determined to be valid.

[0007] Furthermore, the remaining measurements undergo distance and velocity de-ambiguation processing, including: The remaining measurements are de-fuzzed according to the following formula: ,in, To schedule the distance of the target trajectory, To be the maximum unambiguous distance, The remaining measurement distance, For modulo operation, The remaining measurement distance after deblurring; The remaining measurements are defuzzified according to the following formula: ,in, To adjust the speed of the target trajectory, To achieve the maximum unambiguous speed, For the remaining measurement speed, For modulo operation, The remaining measurement speed after defuzzification.

[0008] Furthermore, the basic information of the track segment includes the valid identifier of the measurement segment, the establishment time of the measurement segment, and the track ID corresponding to the scheduling target.

[0009] Furthermore, a four-dimensional residual calculation is performed on each remaining measurement and each buffer within the second measurement segment, including:

[0010] in, The first The remaining measurements include distance, velocity, azimuth, and pitch angles. The first and second segments within the measurement segment respectively The distance, velocity, azimuth, and elevation angles of the center of each buffer zone The remaining number of measurements. To measure the number of buffers within a segment, These are four-dimensional residual information.

[0011] Furthermore, based on the residual information, it is determined whether the association between each remaining measurement and the buffer of the second measurement segment is successful, according to the following formula:

[0012] These are the associated thresholds for distance, speed, azimuth, and pitch, set according to the maximum maneuverability of the target.

[0013] Furthermore, updating the second measurement segment based on the association result includes: If the remaining measurement is successfully associated with multiple buffers of the second measurement segment, then the remaining measurement is used to update the information of the second measurement segment and its buffer with the smallest error. If the remaining measurement is not successfully associated with any buffer within the second measurement segment, a new buffer is created using the remaining measurement. If any buffer in the second measurement segment is not updated, it is determined whether the duration of the unupdated buffer exceeds a preset threshold. If the duration of the unupdated buffer exceeds the preset threshold, the buffer is deleted.

[0014] Furthermore, if the number of remaining measurements in any of the buffers within the second measurement segment is greater than or equal to 3, then it is determined that the second measurement segment is successfully associated with the scheduling target.

[0015] Furthermore, the method for correcting the track status based on the updated second measurement segment is as follows:

[0016]

[0017] in, These measures segment distance, velocity, azimuth, and pitch angle, respectively. These are the corrected track's northward position, northward speed, eastward position, eastward speed, groundward position, and groundward speed, respectively.

[0018] Compared with the prior art, the beneficial effects achieved by at least one of the above-mentioned technical solutions adopted in the embodiments of this specification include at least the following: This application provides a trajectory information correction method based on measurement segments, which fully utilizes the fact that the remaining measurements that failed to correlate during trajectory extrapolation still maintain a certain correlation for a period of time. Measurement segments are formed using the remaining measurement information, avoiding the inherent boundary and single-point dependency of traditional algorithms, thereby effectively solving the problem of easy interruption of maneuvering target tracking. This method is simple and easy to implement, has strong scene adaptability, and can significantly improve the stability of maneuvering target tracking. Attached Figure Description

[0019] To more clearly illustrate the technical solutions of the embodiments of this application, the drawings used in the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of this application. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort.

[0020] Figure 1 This is a schematic flowchart of a trajectory information correction method based on measurement segments provided by an embodiment of the present invention. Detailed Implementation

[0021] The embodiments of this application will now be described in detail with reference to the accompanying drawings.

[0022] The following specific examples illustrate the implementation of this application. Those skilled in the art can easily understand other advantages and effects of this application from the content disclosed in this specification. Obviously, the described embodiments are only a part of the embodiments of this application, and not all of them. This application can also be implemented or applied through other different specific embodiments, and the details in this specification can also be modified or changed based on different viewpoints and applications without departing from the spirit of this application. It should be noted that, in the absence of conflict, the following embodiments and features in the embodiments can be combined with each other. Based on the embodiments in this application, all other embodiments obtained by those skilled in the art without creative effort are within the scope of protection of this application.

[0023] This application provides a trajectory information correction method based on measurement segments. It fully utilizes the fact that during trajectory extrapolation, the remaining measurements that failed to correlate still maintain a certain correlation for a period of time. Measurement segments are formed using this remaining measurement information, avoiding the inherent boundary conditions and single-point dependencies of traditional algorithms, thus effectively solving the problem of easy interruption of maneuvering target tracking. This method is simple and easy to implement, has strong scene adaptability, and can significantly improve the stability of maneuvering target tracking.

[0024] In this embodiment of the invention, a method for correcting track information based on measurement segments is provided, such as...Figure 1 As shown, the method includes: Step S100: Remaining measurement preprocessing, determining whether the remaining measurement is valid based on the modulation flag of the remaining measurement; Furthermore, when determining whether the remaining measurement is valid based on the modulation flag of the remaining measurement, if the modulation flag of the remaining measurement is true, the remaining measurement is determined to be invalid, and the invalid remaining measurement is discarded; if the modulation flag of the remaining measurement is not true, the remaining measurement is determined to be valid, and invalid remaining measurements do not participate in subsequent segment processing.

[0025] Step S200: If the remaining measurement is valid, perform distance and velocity defuzzification processing on the remaining measurement; Furthermore, the remaining measurements undergo distance and velocity de-ambiguation processing, including: The remaining measurement is subjected to distance defuzzification processing according to formula (1): Formula (1) in, To schedule the distance of the target trajectory, To be the maximum unambiguous distance, The remaining measurement distance, For modulo operation, The remaining measurement distance after deblurring; The remaining measurement is defuzzified according to formula (2): Formula (2) in, To adjust the speed of the target trajectory, To achieve the maximum unambiguous speed, For the remaining measurement speed, For modulo operation, The remaining measurement speed after defuzzification.

[0026] Step S300: Determine whether the scheduling target of the current frame has established a measurement segment. If not, establish the first measurement segment based on the remaining measurements after distance and velocity deblurring and set the basic information of the track segment. The first measurement segment includes buffers corresponding to each remaining measurement. Specifically, the basic information of the track segment includes the valid identifier of the measurement segment, the establishment time of the measurement segment, and the track ID corresponding to the scheduling target. If the scheduling target of the frame has not established a measurement segment, a new measurement segment is established using the remaining measurements, and the basic information of the track segment is set, including the valid identifier of the measurement segment, the establishment time, and the corresponding track ID. If there are multiple remaining measurements in the frame, the new measurement segment needs to establish multiple buffers corresponding to it, and the center of each buffer is set to the distance, velocity, and angle of the remaining measurements.

[0027] Step S400: If the scheduling target of the current frame has established a measurement segment, obtain the established second measurement segment, perform four-dimensional residual calculation on each remaining measurement and the existing buffer in the second measurement segment to obtain residual information, and determine whether the remaining measurement and the buffer of the second measurement segment are successfully associated based on the residual information to obtain the association result; Furthermore, according to formula (3), the four-dimensional residual is calculated for each remaining measurement and each buffer within the second measurement segment, as follows: Formula (3) in, The first The remaining measurements include distance, velocity, azimuth, and pitch angles. The first and second segments within the measurement segment respectively The distance, velocity, azimuth, and elevation angles of the center of each buffer zone The remaining number of measurements. To measure the number of buffers within a segment, These are four-dimensional residual information.

[0028] Furthermore, based on the residual information, it is determined whether the association between each remaining measurement and the buffer of the second measurement segment is successful. The determination is made according to formula (4). If the following formula (4) is satisfied, the association is considered successful: Formula (4) in, These are the associated thresholds for distance, speed, azimuth, and pitch, set according to the maximum maneuverability of the target.

[0029] Step S500: Update the buffer of the second measurement segment according to the correlation result; Furthermore, step S500 also includes: Step S510: If the remaining measurement is successfully associated with multiple buffers of the second measurement segment, then update the information of the second measurement segment and its buffer with the smallest error using the remaining measurement; Step S520: If the remaining measurement is not successfully associated with any buffer within the second measurement segment, then a new buffer is created using the remaining measurement; Step S530: If any buffer in the second measurement segment is not updated, determine whether the duration of the unupdated buffer exceeds a preset threshold. If the duration of the unupdated buffer exceeds the preset threshold, delete the buffer.

[0030] Step S600: Obtain the number of remaining measurements in the buffer of the updated second measurement segment, and determine whether the updated second measurement segment is successfully associated with the scheduling target based on the number of remaining measurements in the buffer. If successful, correct the track status based on the updated second measurement segment.

[0031] Furthermore, if the number of remaining measurements in any of the buffers within the second measurement segment is greater than or equal to 3, then it is determined that the second measurement segment is successfully associated with the scheduling target, and the buffer center information is proposed as the upgraded measurement segment information.

[0032] Furthermore, the method for correcting the track status based on the updated second measurement segment (including distance, speed, azimuth, and pitch angle) is shown in the following formulas (5) and (6): Formula (5) Formula (6) in, These measures segment distance, velocity, azimuth, and pitch angle, respectively. These are the corrected track's northward position, northward speed, eastward position, eastward speed, groundward position, and groundward speed, respectively.

[0033] Example 1 Based on the implementation method described in the above specific embodiments, in this embodiment: Step 1: Set the radar detection period to 50ms, and the radar ranging error to... The direction finding error is Within the radar's field of view, a target is simulated flying. Initially, it flies at a constant speed in a straight line for 60 seconds. After 60 seconds, the target begins to perform a 4g offset maneuver. The radar cannot detect the target's echo between 65 and 70 seconds, but it is detected normally after 70 seconds. The initial flight parameter settings are shown in Table 1. Table 1

[0034] Step 2: Remaining Measurement Preprocessing. In the simulation scenario, all remaining measurements are valid. Step 3: De-ambiguity processing of remaining measurement distance and velocity. The radar unambiguous distance is set to 3700 meters, and the velocity unambiguous distance is set to 1400 meters / second. Step 4: Establish measurement segments using remaining measurements; Step 5: Calculate the residuals between the remaining measurements and the measurement segments. If the residuals meet the thresholds, update the measurement segment information. The thresholds are set as follows: distance residual threshold is 200 meters, radial velocity residual threshold is 10 meters / second, azimuth residual threshold is 1.5 degrees, and pitch residual threshold is 1.5 degrees. Step 6: Determine whether the measurement segment needs to be upgraded based on the number of measurements in the buffer within the measurement segment; Step 7: Correct track information using upgraded measurement segments.

[0035] The embodiments of the present invention achieve the following technical effects: 1. This application provides a trajectory information correction method based on measurement fragments. It fully utilizes the correlation between remaining measurements after trajectory association failures to promptly correct extrapolated trajectory information. Since the associated measurement information itself is a temporally and spatially varying value, changing with each frame, it achieves a degree of adaptability and decouples from traditional methods that set inherent thresholds, thus significantly reducing the probability of scene out-of-bounds errors. Simultaneously, this method fully leverages the time accumulation effect; only when measurements in the same direction accumulate to a certain level of confidence are they used to correct targets with degraded quality, thereby pulling the target trajectory back onto the correct path. This avoids algorithm performance degradation caused by single-point anomalies, improves tracking robustness, and significantly enhances the stability of maneuvering target tracking. 2. This application is applicable to airborne multi-function fire control radar air-to-air maneuvering target tracking scenarios, and can also be applied to multi-target tracking processing of other platform radars, with a wide range of applications.

[0036] The above description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, various modifications and variations can be made to the embodiments of the present invention. Any modifications, equivalent substitutions, improvements, etc., made within the spirit and principles of the present invention should be included within the protection scope of the present invention.

Claims

1. A method for correcting track information based on measurement segments, characterized in that, include: Residual measurement preprocessing: determining whether each residual measurement is valid based on the modulation flag of each residual measurement; If the remaining measurement is valid, perform distance and velocity defuzzification processing on the remaining measurement; Determine whether the scheduling target of the current frame has already established a measurement segment. If not, establish a first measurement segment based on the remaining measurements after distance and velocity deblurring and set the basic information of the track segment. The first measurement segment includes a buffer corresponding to each of the remaining measurements. If the scheduling target of the current frame has already established a measurement segment, obtain the established second measurement segment, perform four-dimensional residual calculation on each of the remaining measurements and the existing buffers in the second measurement segment to obtain residual information, and determine whether the remaining measurements and the buffers of the second measurement segment are successfully associated based on the residual information to obtain the association result; Update the buffer of the second measurement segment based on the correlation result; Obtain the remaining number of measurements in the buffer of the updated second measurement segment, and determine whether the updated second measurement segment is successfully associated with the scheduling target based on the remaining number of measurements in the buffer. If successful, correct the track status based on the updated second measurement segment.

2. The method for correcting track information based on measurement segments according to claim 1, characterized in that, When determining whether the remaining measurement is valid based on the modulation flag of the remaining measurement, if the modulation flag of the remaining measurement is true, the remaining measurement is determined to be invalid and the invalid remaining measurement is discarded; if the modulation flag of the remaining measurement is not true, the remaining measurement is determined to be valid.

3. The method for correcting track information based on measurement segments according to claim 1, characterized in that, The remaining measurements are subjected to distance and velocity de-ambiguation processing, including: The remaining measurements are de-fuzzed according to the following formula: ,in, To schedule the distance of the target trajectory, To be the maximum unambiguous distance, The remaining measurement distance, For modulo operation, The remaining measurement distance after deblurring; The remaining measurements are defuzzified according to the following formula: ,in, To adjust the speed of the target trajectory, To achieve the maximum unambiguous speed, For the remaining measurement speed, For modulo operation, The remaining measurement speed after defuzzification.

4. The method for correcting track information based on measurement segments according to claim 1, characterized in that, The basic information of the track segment includes the valid identifier of the measurement segment, the establishment time of the measurement segment, and the track ID corresponding to the scheduling target.

5. The method for correcting track information based on measurement segments according to claim 1, characterized in that, Perform four-dimensional residual calculations for each remaining measurement and each buffer within the second measurement segment, including: in, The first The remaining measurements include distance, velocity, azimuth, and pitch angles. The first and second segments within the measurement segment respectively The distance, velocity, azimuth, and elevation angles of the center of each buffer zone The remaining number of measurements. To measure the number of buffers within a segment, These are four-dimensional residual information.

6. The method for correcting track information based on measurement segments according to claim 5, characterized in that, Based on the residual information, it is determined whether the buffer between each remaining measurement and the second measurement segment is successfully associated, according to the following formula: These are the associated thresholds for distance, speed, azimuth, and pitch, set according to the maximum maneuverability of the target.

7. The method for correcting track information based on measurement segments according to claim 1, characterized in that, Updating the second measurement segment based on the correlation result includes: If the remaining measurement is successfully associated with multiple buffers of the second measurement segment, then the remaining measurement is used to update the information of the second measurement segment and its buffer with the smallest error. If the remaining measurement is not successfully associated with any buffer within the second measurement segment, a new buffer is created using the remaining measurement. If any buffer in the second measurement segment is not updated, it is determined whether the duration of the unupdated buffer exceeds a preset threshold. If the duration of the unupdated buffer exceeds the preset threshold, the buffer is deleted.

8. The method for correcting track information based on measurement segments according to claim 1, characterized in that, If the number of remaining measurements in any of the buffers within the second measurement segment is greater than or equal to 3, then the second measurement segment is determined to be successfully associated with the scheduling target.

9. The method for correcting track information based on measurement segments according to claim 1, characterized in that, The method for correcting the track status based on the updated second measurement segment is as follows: in, These measures segment distance, velocity, azimuth, and pitch angle, respectively. These are the corrected track's northward position, northward speed, eastward position, eastward speed, groundward position, and groundward speed, respectively.

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