A method, system and apparatus for target relay of continuous radar regions

Abstract

The present application relates to the technical field of radar signal processing, in particular to a target relay method, system and device of continuous radar area. The method comprises: when the radar coordinates of a first target obtained by a local radar detection and the radar coordinates of a second target obtained by a neighboring radar detection are both located in the coordinate range of an overlapping detection area, the target feature information is more comprehensively analyzed through a multiple information matching mode combining radar coordinate matching and video feature matching and a video review verification means, and the accuracy of target relay judgment in the relay identification and tracking process of the target detected by the local radar and the target detected by the neighboring radar and the reliability of target relay are improved to a certain extent.

Description

Technical Field

[0001] This invention relates to the field of radar signal processing technology, and specifically to a target relay method, system, and device for continuous radar areas. Background Technology

[0002] In special scenarios with large geographical spans, such as border defense and coastal defense, a continuous radar area detection system consisting of multiple radars is required to continuously detect and track moving targets (including vehicles, people, ships, etc.). Therefore, the reliability of adjacent radars in a continuous radar area detection system in relaying tracking of moving targets has a significant impact on the effective control of moving targets.

[0003] Although existing continuous radar area detection systems can accurately identify and continuously track moving targets within the detection coverage of their own radar, there are still technical problems such as high error rates in target relay judgment during the relay identification and tracking process between targets detected by the own radar and targets detected by adjacent radars, due to multipath effects, the close spacing of multiple moving targets, and coordinate drift. Summary of the Invention

[0004] To address the aforementioned technical problems, this invention proposes a target relay method, system, and device for continuous radar areas, aiming to improve the accuracy of target relay judgment during the relay identification and tracking process between targets detected by the local radar and targets detected by adjacent radars.

[0005] This invention adopts the following technical solution: a target relay method for continuous radar areas, comprising the following steps:

[0006] Step 102: Determine the coordinate range of the overlapping detection area between two adjacent radars;

[0007] Step 104: Obtain target information of the first target detected by the local radar and target information of the second target detected by the nearby radar. The target information includes radar coordinates and target identifier.

[0008] Step 106: When the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determine whether the radar coordinates of the first target and the second target match. If they match, replace the target identifier of the second target with the target identifier of the first target. If they do not match, execute the following steps:

[0009] Step 108: Obtain video verification information for the first target and the second target;

[0010] Step 110: Extract video features of the first target and the second target based on the video verification information, match the video features of the first target with the video features of the second target. If the match is successful, replace the target identifier of the second target with the target identifier of the first target. If the match fails, repeat steps 104 to 110 as the first target and the second target as the targets to be relayed.

[0011] The technical concept of this invention is as follows: First, target relay is only required for radar-detected targets located within the overlapping detection area between two adjacent radars, excluding radar-detected targets outside the overlapping detection area between two adjacent radars; Second, coordinate matching is performed on the first target and the second target detected by the local radar and the neighboring radar respectively. If the coordinate matching is successful, target relay is performed directly, that is, the target identifier of the second target is replaced with the target identifier of the first target. If the coordinate matching is unsuccessful, considering possible multipath effects, the close spacing of multiple moving targets, coordinate drift, etc., video verification and video feature extraction are further performed. Feature matching is performed on the video features extracted from the first target and the second target respectively. If the feature matching is consistent, target relay is still performed, that is, the target identifier of the second target is replaced with the target identifier of the first target. If the feature matching is inconsistent, the first target and the second target are used as targets to be relayed, and the target relay operation is performed again on the targets to be relayed.

[0012] By employing a multi-information matching method combining radar coordinate matching and video feature matching, along with video verification techniques, target feature information is analyzed more comprehensively. This improves the accuracy and reliability of target relay judgment during the relay identification and tracking process between targets detected by the local radar and those detected by adjacent radars. Furthermore, automated target relay operations reduce manual intervention and enhance the efficiency and response speed of target relay.

[0013] Preferably, in step 106, determining whether the radar coordinates of the first target match the radar coordinates of the second target includes:

[0014] A data fusion algorithm is used to unify the radar coordinates of the first target and the second target, resulting in the unified radar coordinates of the first and second targets.

[0015] Calculate the distance between the first radar coordinates and the second radar coordinates. If the distance is within a preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target match. If the distance is outside the preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target do not match.

[0016] Preferably, in step 108, the video verification information for the first target and the second target is obtained, including:

[0017] The unified coordinates of the first and second radar coordinates are converted into the positions of the first and second targets in a normalized coordinate system with the camera as the origin.

[0018] Configure the corresponding camera control parameters according to the first target position and the second target position in the normalized coordinate system;

[0019] Based on the configured camera control parameters, the tracking videos of the first target and the second target are recorded respectively, and recorded as the video verification information of the first target and the second target.

[0020] Preferably, the video features include one or more of the following: target category, target structured information, target movement direction, and target movement speed.

[0021] Preferably, in step 110, the video features of the first target are matched with the video features of the second target. If the match is successful, the target identifier of the second target is replaced with the target identifier of the first target. If the match fails, the first target and the second target are used as targets to be relayed, and the target relay method is re-executed, including:

[0022] Match the video features of the first target with the video features of the second target.

[0023] If a match is successful, the target identifier of the second target will be replaced with the target identifier of the first target, and a relay success signal will be returned to the local radar. After receiving the relay success signal, the local radar will no longer detect the target information of the first target.

[0024] If the matching fails, the first target and the second target will be used as the targets to be relayed, and the target relay method will be re-executed for the targets to be relayed.

[0025] Preferably, in step 106, when the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determining whether the radar coordinates of the first target and the radar coordinates of the second target match includes:

[0026] The radar coordinates of the first target detected by the local radar are matched with the coordinate range of the overlapping detection area. If the coordinate matching fails, the local radar tracks and detects the first target. If the coordinate matching succeeds, the next step is executed.

[0027] The radar coordinates of the second target detected by the neighboring radar are matched with the coordinate range of the overlapping detection area. If the coordinate matching fails, the neighboring radar tracks and detects the second target. If the coordinate matching is successful, it is determined whether the radar coordinates of the first target and the radar coordinates of the second target match.

[0028] A target relay system for a continuous radar area includes: at least two radars, several cameras, a communication module, and an information processing module.

[0029] The communication module is used to realize communication transmission between the radar, camera and information processing module;

[0030] The information processing module is used to perform the following steps:

[0031] Step 102: Determine the coordinate range of the overlapping detection area between two adjacent radars;

[0032] Step 104: Obtain target information of the first target detected by the local radar and target information of the second target detected by the nearby radar. The target information includes radar coordinates and target identifier.

[0033] Step 106: When the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determine whether the radar coordinates of the first target and the second target match. If they match, replace the target identifier of the second target with the target identifier of the first target. If they do not match, execute the following steps:

[0034] Step 108: Obtain video verification information for the first target and the second target;

[0035] Step 110: Extract video features of the first target and the second target based on the video verification information, match the video features of the first target with the video features of the second target. If the match is successful, replace the target identifier of the second target with the target identifier of the first target. If the match fails, repeat steps 104 to 110 as the first target and the second target as the targets to be relayed.

[0036] A computer device, comprising:

[0037] processor;

[0038] Memory for storing the executable instructions of the processor;

[0039] The processor is configured to execute a target relay method for a continuous radar area as described above by executing the executable instructions.

[0040] A computer-readable storage medium,

[0041] The computer-readable storage medium stores a computer program that, when executed by a processor, implements a target relay method for a continuous radar area as described above.

[0042] The beneficial technical effects of this invention include at least the following: by employing a target relay method, system, and device for continuous radar areas, and through a multi-information matching method combining radar coordinate matching and video feature matching, as well as video verification, the target feature information is analyzed more comprehensively. This improves the accuracy of target relay judgment and the reliability of target relay during the relay identification and tracking process between targets detected by the local radar and targets detected by adjacent radars. At the same time, through automated target relay operation, manual intervention can be reduced, and the efficiency and response speed of target relay can be improved.

[0043] Other features and advantages of the present invention will be disclosed in detail in the following detailed description and accompanying drawings. Attached Figure Description

[0044] The invention will be further described below with reference to the accompanying drawings:

[0045] Figure 1 This is a flowchart of the target relay method for continuous radar areas according to an embodiment of the present invention.

[0046] Figure 2 This is a flowchart illustrating a method for obtaining video verification information of a first target and a second target according to an embodiment of the present invention.

[0047] Figure 3 This is a schematic diagram of the target relay system in a continuous radar area according to an embodiment of the present invention.

[0048] Figure 4 This is a schematic diagram of the target relay system in a continuous radar area according to an embodiment of the present invention.

[0049] Figure 5 This is a schematic diagram of the structure of a computer device according to an embodiment of the present invention. Detailed Implementation

[0050] The technical solutions of the embodiments of the present invention will be explained and described below with reference to the accompanying drawings. However, the following embodiments are only preferred embodiments of the present invention and not all of them. Other embodiments obtained by those skilled in the art based on the embodiments in the implementation methods without creative effort are all within the protection scope of the present invention.

[0051] In the following description, terms such as “inner,” “outer,” “upper,” “lower,” “left,” and “right” are used only to indicate orientation or positional relationship for the convenience of describing the embodiments and simplifying the description, and are not intended to indicate or imply that the device or element referred to must have a specific orientation, or be constructed and operated in a specific orientation, and therefore should not be construed as a limitation of the present invention.

[0052] This specification provides an embodiment of a target relay method for continuous radar areas. Please refer to the appendix. Figure 1 This includes the following steps:

[0053] Step 102: Determine the coordinate range of the overlapping detection area between two adjacent radars.

[0054] The coordinate range of the overlapping detection area between two adjacent radars refers to the radar coordinate range of the overlapping detection area.

[0055] Step 104: Obtain target information of the first target detected by the local radar and target information of the second target detected by the nearby radar. The target information includes radar coordinates and target identifier.

[0056] In this context, "Primary Radar" refers to the radar equipment belonging to a specific radar system, used to transmit and receive radar signals to detect and track targets. It can be a standalone radar site or a specific radar sensor. "Adjacent Radar" refers to other radar systems adjacent to or near the Primary Radar. These other radar systems may belong to the same or different organizations, but they are spatially close. "First Target" refers to the target detected by the Primary Radar for this relay mission, and "Second Target" refers to the target detected by the Adjacent Radar for this relay mission.

[0057] Step 106: When the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determine whether the radar coordinates of the first target and the second target match. If they match, replace the target identifier of the second target with the target identifier of the first target. If they do not match, proceed with the following steps:

[0058] Step 108: Obtain video verification information for the first target and the second target.

[0059] Among them, video verification information refers to video or image data that includes one or more of the following information: the location of the relevant target, its movement trajectory, appearance features, and the time of the event.

[0060] Step 110: Extract the video features of the first target and the video features of the second target based on the video verification information. Match the video features of the first target with the video features of the second target. If the match is successful, replace the target identifier of the second target with the target identifier of the first target. If the match fails, repeat steps 104 to 110 as the first target and the second target as the targets to be relayed.

[0061] The technical concept of this invention is as follows: First, target relay is only required for radar-detected targets located within the overlapping detection area between two adjacent radars, excluding radar-detected targets outside the overlapping detection area between two adjacent radars; Second, coordinate matching is performed on the first target and the second target detected by the local radar and the neighboring radar respectively. If the coordinate matching is successful, target relay is performed directly, that is, the target identifier of the second target is replaced with the target identifier of the first target. If the coordinate matching is unsuccessful, considering possible multipath effects, the close spacing of multiple moving targets, coordinate drift, etc., video verification and video feature extraction are further performed. Feature matching is performed on the video features extracted from the first target and the second target respectively. If the feature matching is consistent, target relay is still performed, that is, the target identifier of the second target is replaced with the target identifier of the first target. If the feature matching is inconsistent, the first target and the second target are used as targets to be relayed, and the target relay operation is performed again on the targets to be relayed.

[0062] By employing a multi-information matching method combining radar coordinate matching and video feature matching, along with video verification techniques, target feature information is analyzed more comprehensively. This improves the accuracy and reliability of target relay judgment during the relay identification and tracking process between targets detected by the local radar and those detected by adjacent radars. Furthermore, automated target relay operations reduce manual intervention and enhance the efficiency and response speed of target relay.

[0063] On the other hand, in this embodiment, step 106, determining whether the radar coordinates of the first target match the radar coordinates of the second target, includes:

[0064] A data fusion algorithm is used to unify the radar coordinates of the first target and the second target, resulting in the unified radar coordinates of the first and second targets.

[0065] Calculate the distance between the first radar coordinates and the second radar coordinates. If the distance is within a preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target match. If the distance is outside the preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target do not match.

[0066] The data fusion algorithms include, but are not limited to, the following, and this embodiment does not limit them:

[0067] 1. Extended Kalman Filter (EKF): By linearizing the target model and the observation model, the Kalman filter performs state estimation and covariance update through its iterative process, thereby achieving the fusion of target radar coordinates.

[0068] 2. Particle Filter (PF): It represents the possible states of the target by randomly sampling a set of particles, and performs resampling and weight updates based on the target model and the observation model, thereby realizing the fusion of the target radar coordinates.

[0069] By using the unified first and second radar coordinates as the basis for coordinate matching and extending the coordinate matching standard to a preset error range, the impact of coordinate drift and other factors on target relay judgment can be reduced to some extent. Coordinate drift refers to the potential shift in the target's radar coordinate position due to sensor errors or other factors under certain circumstances.

[0070] On the other hand, in this embodiment, in step 108, video verification information of the first target and the second target is obtained. Please refer to the appendix. Figure 2 ,include:

[0071] Step 202: Convert the unified coordinates of the first radar coordinates and the second radar coordinates into the positions of the first target and the second target in a normalized coordinate system with the camera as the origin.

[0072] For example, the first radar coordinates and the second radar coordinates after unification can be converted into the positions of the first target and the second target in a normalized coordinate system with the camera as the origin by establishing a coordinate transformation relationship between the radar and the camera. For example, a rotation matrix and a translation vector can be used to describe the transformation relationship between the coordinate systems, or the first radar coordinates and the second radar coordinates can be converted to a normalized coordinate system with the camera as the origin according to the coordinate transformation formula.

[0073] Step 204: Configure the corresponding camera control parameters according to the first target position and the second target position in the normalized coordinate system.

[0074] Specifically, based on the first target position and the second target position in the normalized coordinate system, the first target position and the second target position are mapped onto the view of the camera. By combining the camera's internal and external parameters, control parameters such as the camera's orientation, pitch angle, and focal length can be calculated.

[0075] Internal parameters include focal length, pixel size, and principal point position, while external parameters include camera position, orientation, and distortion parameters. Orientation parameters include the camera's horizontal direction, pitch angle parameters determine the field of view, and focal length parameters determine the camera's focal length.

[0076] Based on the positions of the first and second targets in the converted camera view, adjust the camera's control parameters to ensure that the targets are within the camera's field of view.

[0077] Step 206: Record the tracking videos of the first target and the second target respectively according to the configured camera control parameters, and record them as the video verification information of the first target and the second target.

[0078] On the other hand, in this embodiment, the video features include one or more of the following: target category, target structured information, target movement direction, and target movement speed.

[0079] On the other hand, in this embodiment, in step 110, the video features of the first target are matched with the video features of the second target. If the match is successful, the target identifier of the second target is replaced with the target identifier of the first target. If the match fails, the first target and the second target are used as targets to be relayed and the target relay method is re-executed, including:

[0080] Match the video features of the first target with the video features of the second target.

[0081] If a match is successful, the target identifier of the second target will be replaced with the target identifier of the first target, and a relay success signal will be returned to the local radar. After receiving the relay success signal, the local radar will no longer detect the target information of the first target.

[0082] If a match fails, the first and second targets will be used as the relay targets, and the target relay method will be re-executed on the relay targets.

[0083] By sending a relay success signal back to the local radar, the local radar no longer needs to detect the target information of the first target after receiving the relay success signal, which can reduce the amount of data transmission and calculation during the radar target relay operation to a certain extent.

[0084] On the other hand, in this embodiment, in step 106, when the radar coordinates of the first target and the radar coordinates of the second target are both within the coordinate range of the overlapping detection area, determining whether the radar coordinates of the first target and the radar coordinates of the second target match includes:

[0085] The radar coordinates of the first target detected by the local radar are matched with the coordinates of the overlapping detection area. If the coordinate matching fails, the local radar will track and detect the first target, because only targets in the overlapping detection area are worth tracking. If the coordinate matching fails, it means that the first target is not in the overlapping detection area. If the coordinate matching succeeds, proceed to the next step:

[0086] The radar coordinates of the second target detected by the neighboring radar are matched with the coordinate range of the overlapping detection area. If the coordinate matching fails, the neighboring radar tracks and detects the second target. If the coordinate matching is successful, it is determined whether the radar coordinates of the first target and the radar coordinates of the second target match.

[0087] For example, if the first target is suddenly lost in the overlapping detection area, then the second target detected by the neighboring radar is a newly appeared target in the neighboring radar's detection area. Therefore, the radar coordinates of the second target detected by the neighboring radar may fail to match the coordinate range of the overlapping detection area.

[0088] Another embodiment of this specification provides a target relay system for a continuous radar area, which shares the same technical concept as the aforementioned target relay method for a continuous radar area. Please refer to the appendix. Figure 3 and attached Figure 4 It includes: at least two radars, several cameras, a communication module 2, and an information processing module 1.

[0089] Communication module 2 is used to realize communication transmission between radar, camera and information processing module 1;

[0090] Information processing module 1 is used to perform the following steps:

[0091] Step 102: Determine the coordinate range of the overlapping detection area between two adjacent radars;

[0092] Step 104: Obtain the target information of the first target detected by the local radar and the target information of the second target detected by the nearby radar. The target information includes radar coordinates and target identifier.

[0093] Step 106: When the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determine whether the radar coordinates of the first target and the second target match. If they match, replace the target identifier of the second target with the target identifier of the first target. If they do not match, proceed with the following steps:

[0094] Step 108: Obtain video verification information for the first target and the second target;

[0095] Step 110: Extract the video features of the first target and the video features of the second target based on the video verification information. Match the video features of the first target with the video features of the second target. If the match is successful, replace the target identifier of the second target with the target identifier of the first target. If the match fails, repeat steps 104 to 110 as the first target and the second target as the targets to be relayed.

[0096] The cameras include, but are not limited to, PTZ cameras, smart cameras, and depth cameras.

[0097] On the other hand, in this embodiment, the radar, camera, communication module 2, and information processing module 1 can be integrated into a single target relay device. Multiple integrated target relay devices can then form a target relay system for a continuous radar area. Within this system, each target relay device transmits data to the others via the communication module 2. Alternatively, at least two radars, several cameras, the communication module 2, and the information processing module 1 can be designed separately. The cameras capture the overlapping detection area between adjacent radars, and the target data collected by each radar and camera is transmitted to the information processing module 1 via the communication module 2 mounted on each radar and camera for target relay processing.

[0098] Another embodiment of this specification provides a computer device; please refer to the appendix. Figure 5 ,include:

[0099] Processor 3;

[0100] Memory 4 is used to store the executable instructions of processor 3;

[0101] The processor 3 is configured to execute a target relay method for a continuous radar area as described above by executing executable instructions.

[0102] The computer device provided in this specification can also be applied to various data analysis and processing systems. The computer device can be a standalone server, or it can include server clusters, systems (including distributed systems), software (applications), actual operating devices, logic gate circuit devices, quantum computers, etc., combined with necessary implementation hardware, using the methods of the embodiments in this specification as described in the terminal device.

[0103] The processor 3 can be a Central Processing Unit (CPU), or it can be other general-purpose processors, digital signal processors (DSPs), application-specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor can be a microprocessor or any conventional processor.

[0104] The memory 4 stores program code that can be executed by the processor 3, causing the processor 3 to perform a target relay method for a continuous radar area as described above. In some embodiments, the memory 4 can be an internal storage unit of a computer device, such as a hard disk or RAM. In other embodiments, the memory 4 can be an external storage device of a computer device, such as a plug-in hard disk, smart media card (SMC), secure digital (SD) card, or flash card. Furthermore, the memory 4 can include both internal and external storage units of the computer device.

[0105] Another embodiment of this specification provides a computer-readable storage medium.

[0106] The computer-readable storage medium stores a computer program that, when executed by the processor 3, implements a target relay method for a continuous radar area as described above.

[0107] It should be noted that the computer-readable storage medium described above in this disclosure can be, for example,—but not limited to—an electrical, magnetic, optical, electromagnetic, infrared, or semiconductor system, apparatus, or device, or any combination thereof. More specific examples of computer-readable storage media may include, but are not limited to: an electrical connection having one or more wires, a portable computer disk, a hard disk, random access memory (RAM), read-only memory (ROM), erasable programmable read-only memory (EPROM or flash memory), optical fiber, portable compact disk read-only memory (CD-ROM), optical storage device, magnetic storage device, or any suitable combination thereof. In this disclosure, a computer-readable storage medium can be any tangible medium that contains or stores a program that can be used by or in conjunction with an instruction execution system, apparatus, or device.

[0108] In some implementations, clients and servers can communicate using any currently known or future-developed network protocol, such as HTTP (Hypertext Transfer Protocol), and can interconnect with digital data communication (e.g., communication networks) of any form or medium. Examples of communication networks include local area networks (“LANs”), wide area networks (“WANs”), the Internet (e.g., the Internet of Things), and peer-to-peer networks (e.g., ad hoc peer-to-peer networks), as well as any currently known or future-developed networks.

[0109] The aforementioned computer-readable storage medium may be included in the aforementioned computer device; or it may exist independently and not assembled into the computer device.

[0110] The above is merely a preferred embodiment disclosed in this application and an explanation of the technical principles used. Those skilled in the art should understand that the scope of disclosure involved in this application is not limited to the technical solutions formed by specific combinations of the above-mentioned technical features, but should also cover other technical solutions formed by arbitrary combinations of the above-mentioned technical features or their equivalent features without departing from the above-disclosed concept. For example, technical solutions formed by substituting the above-mentioned features with (but not limited to) technical features with similar functions disclosed in this application.

[0111] Furthermore, while the operations are described in a specific order, this should not be construed as requiring these operations to be performed in the specific order shown or in a sequential order. In certain environments, multitasking and parallel processing may be advantageous. Similarly, while several specific implementation details are included in the above discussion, these should not be construed as limiting the scope of this disclosure. Certain features described in the context of individual embodiments may also be implemented in combination in a single embodiment. Conversely, various features described in the context of a single embodiment may also be implemented individually or in any suitable sub-combination in multiple embodiments.

Claims

1. A target relay method for a continuous radar area, characterized in that, Includes the following steps: Step 102: Determine the coordinate range of the overlapping detection area between two adjacent radars; Step 104: Obtain target information of the first target detected by the local radar and target information of the second target detected by the nearby radar. The target information includes radar coordinates and target identifier. Step 106: When the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determine whether the radar coordinates of the first target and the second target match. If they match, replace the target identifier of the second target with the target identifier of the first target. If they do not match, execute the following steps: Step 108: Convert the unified coordinates of the first radar coordinates and the second radar coordinates into the positions of the first target and the second target in a normalized coordinate system with the camera as the origin. Configure the corresponding camera control parameters according to the first target position and the second target position in the normalized coordinate system; Based on the configured camera control parameters, record the tracking videos of the first target and the second target respectively, and record them as the video verification information of the first target and the second target; Step 110: Extract video features of the first target and the second target based on the video verification information. The video features include one or more of the following: target category, target structured information, target movement direction, and target movement speed. Match the video features of the first target with the video features of the second target. If the match is successful, replace the target identifier of the second target with the target identifier of the first target and return a relay success signal to the local radar. After receiving the relay success signal, the local radar will no longer detect the target information of the first target. If the match fails, the first target and the second target will be used as targets to be relayed, and steps 104 to 110 will be re-executed for the targets to be relayed. In step 106, determining whether the radar coordinates of the first target match the radar coordinates of the second target includes: A data fusion algorithm is used to unify the radar coordinates of the first target and the second target, resulting in the unified radar coordinates of the first and second targets. Calculate the distance between the first radar coordinates and the second radar coordinates. If the distance is within a preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target match. If the distance is outside the preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target do not match.

2. The target relay method for a continuous radar area as described in claim 1, characterized in that, In step 106, when the radar coordinates of both the first target and the second target are within the coordinate range of the overlapping detection area, it is determined whether the radar coordinates of the first target and the radar coordinates of the second target match, including: The radar coordinates of the first target detected by the local radar are matched with the coordinate range of the overlapping detection area. If the coordinate matching fails, the local radar tracks and detects the first target. If the coordinate matching succeeds, the next step is executed. The radar coordinates of the second target detected by the neighboring radar are matched with the coordinate range of the overlapping detection area. If the coordinate matching fails, the neighboring radar tracks and detects the second target. If the coordinate matching is successful, it is determined whether the radar coordinates of the first target and the radar coordinates of the second target match.

3. A target relay system for a continuous radar area, characterized in that, include: It contains at least two radars, several cameras, a communication module, and an information processing module. The communication module is used to realize communication transmission between the radar, camera and information processing module; The information processing module is used to perform the following steps: Step 102: Determine the coordinate range of the overlapping detection area between two adjacent radars; Step 104: Obtain target information of the first target detected by the local radar and target information of the second target detected by the nearby radar. The target information includes radar coordinates and target identifier. Step 106: When the radar coordinates of the first target and the second target are both within the coordinate range of the overlapping detection area, determine whether the radar coordinates of the first target and the second target match. If they match, replace the target identifier of the second target with the target identifier of the first target. If they do not match, execute the following steps: Step 108: Convert the unified coordinates of the first radar coordinates and the second radar coordinates into the positions of the first target and the second target in a normalized coordinate system with the camera as the origin. Configure the corresponding camera control parameters according to the first target position and the second target position in the normalized coordinate system; Based on the configured camera control parameters, record the tracking videos of the first target and the second target respectively, and record them as the video verification information of the first target and the second target; Step 110: Extract video features of the first target and the second target based on the video verification information. The video features include one or more of the following: target category, target structured information, target movement direction, and target movement speed. Match the video features of the first target with the video features of the second target. If the match is successful, replace the target identifier of the second target with the target identifier of the first target and return a relay success signal to the local radar. After receiving the relay success signal, the local radar will no longer detect the target information of the first target. If the match fails, the first target and the second target will be used as targets to be relayed, and steps 104 to 110 will be re-executed for the targets to be relayed. The information processing module performs the following steps when determining whether the radar coordinates of the first target match the radar coordinates of the second target: A data fusion algorithm is used to unify the radar coordinates of the first target and the second target, resulting in the unified radar coordinates of the first and second targets. Calculate the distance between the first radar coordinates and the second radar coordinates. If the distance is within a preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target match. If the distance is outside the preset error range, it is determined that the radar coordinates of the first target and the radar coordinates of the second target do not match.

4. A computer device, characterized in that, include: processor; Memory for storing the executable instructions of the processor; The processor is configured to execute a target relay method for a continuous radar area as described in any one of claims 1 to 2 by executing the executable instructions.

5. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program that, when executed by a processor, implements a target relay method for a continuous radar area as described in any one of claims 1 to 2.

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