Real-time merging method and system for multi-source angular trajectory data on-orbit processing

Abstract

The application provides a kind of multi-source angular trajectory data in-orbit processing real-time merging method, comprising: distribution step: the angular trajectory data received by 4 cameras is respectively distributed into buffer area 1 and buffer area 2 according to predetermined rules;De-duplication step: according to the priority of 4 camera angular trajectory error, the data of buffer area 1 is de-duplicated according to the priority, and the remaining angular trajectory data is obtained;Data processing step: the remaining angular trajectory data of 4 cameras is merged to generate the target data result of buffer area 1, and the target data is extracted as the final merged angular trajectory data;Buffer area 2 calculation step: empty buffer area 1, store the data of buffer area 2 into buffer area 1, and repeat the de-duplication to the data processing step.The application solves the problem that the fusion input data is heavy and redundant due to the simultaneous imaging of multiple cameras and the non-band intercalibration of target detection results;The application method is reliable, easy to implement, important parameters can be changed, and the occupied computing resources are small.

Description

TECHNICAL FIELD

[0001] The present application relates to the field of satellite on-board real-time processing, in particular to a real-time merging method for on-orbit processing of multi-source angular trajectory data, which provides an effective solution to the problem of multi-camera angular trajectory redundancy. BACKGROUND

[0002] Since multiple cameras can observe the same area and generate image and angular trajectory data, the multi-camera angular data can be for the same target, causing data redundancy in the backend processing. To not affect the backend processing results, the calculation data must be de-duplicated before multi-satellite data fusion calculation.

[0003] The patent document with publication number CN106840104B discloses an optical remote sensing satellite shooting processing method and device. The method includes the following steps: obtaining shooting task requirement information, which includes a shooting area; generating a strip group according to the shooting area, the strip group including one or more shooting strips; displaying the shooting strips on a two-dimensional map; obtaining strip selection information; and determining the shooting strips corresponding to the shooting task according to the strip selection information. This processing method displays the shooting strips corresponding to the shooting task on a two-dimensional map, enabling the operator to have a direct understanding of the relationship between the shooting strips and the shooting area, so as to more effectively and accurately select appropriate shooting strips, and the subsequent satellite shooting image has higher utilization value. The patent document displays the processed image on a two-dimensional map, but does not solve the problem of background data redundancy, nor does it solve the de-duplication and merging method of the present application.

[0004] Therefore, there is an urgent need for a method to ensure the de-duplication of calculation data before multi-satellite data fusion calculation. SUMMARY

[0005] In view of the defects in the prior art, the purpose of the present application is to provide a real-time merging method and system for on-orbit processing of multi-source angular trajectory data.

[0006] According to the real-time merging method for on-orbit processing of multi-source angular trajectory data provided by the present application, the method comprises the following steps:

[0007] The allocation step: angular trajectory data received by the four cameras are respectively allocated to buffer area 1 and buffer area 2 according to predetermined rules;

[0008] The de-duplication step: set the priority according to the angular trajectory error of the four cameras, and de-duplicate the data in buffer area 1 according to the order of priority to obtain the remaining angular trajectory data;

[0009] Data processing step: merge the remaining angular trajectory data of the 4 cameras to generate the target data result of buffer area 1; extract a preset number of target data results as the final merged angular trajectory data;

[0010] Buffer area 2 calculation step: empty buffer area 1, store the data of buffer area 2 into buffer area 1, and repeat the deduplication step until the data processing step.

[0011] Preferably, the allocation step includes:

[0012] First frame data allocation step: receive the first frame angular trajectory data, and store the data in the designated position of buffer area 1 according to the camera ID;

[0013] Buffer area allocation step: calculate the difference between the data time obtained by unpacking the on-board data and the data time of buffer area 1, if the difference is within a preset value, store the data in the designated position of buffer area 1; if the time difference with the data time of buffer area 1 is greater than the preset value, store the data in the designated position of buffer area 2 and activate the merging flag;

[0014] The preset value of the time difference in the buffer area allocation step is annotated on orbit.

[0015] Preferably, the data deduplication step includes:

[0016] Naming step: set the priority of the data collected by the 4 cameras, and name the cameras in order of priority as camera 1, camera 2, camera 3, and camera 4;

[0017] Camera 1 deduplication step: take the data of the highest priority camera 1 as the reference, calculate the included angle between the target X of camera 1 and the angular trajectory of all targets of cameras 2-4, if the included angle is within a preset value, delete the corresponding angular trajectory data of cameras 2-4 in buffer area 1 to complete deduplication, and then enter the camera 2 deduplication step; if the included angle is greater than the preset value, directly enter the camera 2 deduplication step; wherein X is an integer greater than 0;

[0018] Camera 2 deduplication step: take the data of the second highest priority camera 2 as the reference, calculate the included angle between the target X of camera 2 and the angular trajectory of all targets of cameras 3-4, if the included angle is within a preset value, delete the corresponding angular trajectory data of cameras 3-4 in buffer area 1 to complete deduplication, and then enter the camera 3 deduplication step; if the included angle is greater than the preset value, directly enter the camera 3 deduplication step;

[0019] Camera 3 deduplication step: take the camera 3 as the reference, calculate the included angle between the target X of camera 3 and the angular trajectory of all targets of camera 4, if the included angle is within a preset value, delete the corresponding angular trajectory data of camera 4 in buffer area 1 to complete deduplication and obtain the remaining angular trajectory data; if the included angle is greater than the preset value, directly obtain the remaining angular trajectory data.

[0020] Preferably, the preset value of the included angle is set on the track; and the preset value of the included angle of each camera combination can be set to different values;

[0021] The priority can be changed according to the camera on the track;

[0022] The target number X of processing can be changed.

[0023] Preferably, the data processing step comprises:

[0024] The receiving step: after receiving the band angle track data of the four cameras, printing the data time and angle track results, and recording the target number of each camera angle track data in this period;

[0025] The printing step: merging the target number of angle track data, and then printing the calculation input results, setting the processing upper limit to N, and extracting the first N targets as the final merged angle track data;

[0026] N is an integer greater than 0.

[0027] A real-time merging system for multi-source angle track data on-orbit processing, comprising:

[0028] The distribution module: the angle track data received by the four cameras is respectively distributed into cache area 1 and cache area 2 according to the predetermined rules;

[0029] The deduplication module: according to the priority of the angle track error of the four cameras, the data in cache area 1 is deduplicated in the order of priority, and the remaining angle track data is obtained;

[0030] The data processing module: merging the remaining angle track data of the four cameras to generate the target data results of cache area 1; extracting a preset number of target data results as the final merged angle track data;

[0031] The calculation cache area 2 module: emptying cache area 1, storing the data of cache area 2 into cache area 1, and repeating the triggering of the deduplication module to the data processing module.

[0032] Preferably, the distribution module comprises:

[0033] The first frame data distribution module: receiving the first frame angle track data, and storing the data in the specified position of cache area 1 according to the camera ID;

[0034] The cache area distribution module: calculating the difference between the data time obtained by unpacking the data on the star and the data time of cache area 1, if the difference is within the preset value, then storing the data in the specified position of cache area 1; if the difference between the time and the data time of cache area 1 is greater than the preset value, then storing the data in the specified position of cache area 2 and activating the merging flag;

[0035] The preset value of the time difference in the cache allocation module is on-orbit annotated.

[0036] Preferably, the data deduplication module comprises:

[0037] The naming module sets the priority of the data collected by the four cameras, and names the cameras as camera 1, camera 2, camera 3 and camera 4 in order of the priority from high to low;

[0038] The camera 1 deduplication module calculates the included angle between the target X of camera 1 and the angle trajectory of all targets of cameras 2-4 based on the data of camera 1 with the highest priority, and if the included angle is within a preset value, the corresponding angle trajectory data of cameras 2-4 in the cache area 1 is deleted to complete deduplication, and then the camera 2 deduplication module is entered; if the included angle is greater than the preset value, the camera 2 deduplication module is directly entered; wherein X is an integer greater than 0;

[0039] The camera 2 deduplication module calculates the included angle between the target X of camera 2 and the angle trajectory of all targets of cameras 3-4 based on the data of camera 2 with the second highest priority, and if the included angle is within a preset value, the corresponding angle trajectory data of cameras 3-4 in the cache area 1 is deleted to complete deduplication, and then the camera 3 deduplication module is entered; if the included angle is greater than the preset value, the camera 3 deduplication module is directly entered;

[0040] The camera 3 deduplication module calculates the included angle between the target X of camera 3 and the angle trajectory of all targets of camera 4 based on the data of camera 3 with the third highest priority, and if the included angle is within a preset value, the corresponding angle trajectory data of camera 4 in the cache area 1 is deleted to complete deduplication, and then the remaining angle trajectory data is obtained; if the included angle is greater than the preset value, the remaining angle trajectory data is directly obtained.

[0041] Preferably, the preset value of the included angle is on-orbit annotated; and the preset value of the included angle of each camera combination can be set to different values;

[0042] The priority can be changed according to the on-orbit situation of the camera;

[0043] The target number X of processing can be changed.

[0044] Preferably, the data processing module comprises:

[0045] The receiving module prints the data time and angle trajectory result after receiving the band angle trajectory data of the four cameras, and records the target number of the angle trajectory data of each camera in the current period;

[0046] The printing module combines the target number of the angle trajectory data, and then prints the calculation input result, sets the upper limit of processing to N, and then extracts the first N targets as the final combined angle trajectory data;

[0047] N is an integer greater than 0.

[0048] Compared with the prior art, the present application has the following beneficial effects:

[0049] 1、The present application is easy to realize on the star, has strong stability, is suitable for data merging of different number of angular trajectories, and can carry out embedded transplantation under the condition of unknown real error of angular trajectory;

[0050] 2、The present application solves the problem of heavy and redundant fusion input data caused by simultaneous imaging of multiple cameras and non-band registration of target detection results;

[0051] 3、The method of the present application is reliable and easy to realize, all important parameters can be changed by uploading, and the occupied computing resources are small;

[0052] 4、The present application realizes the merging data with minimum time delay by classifying and caching the star data by time range as a period and carrying out data merging when receiving the data of the next period, greatly improving the speed and accuracy of the back-end processing;

[0053] 5、The present application adopts the method of taking the camera angular trajectory data with optimal accuracy as the reference and calculating the included angle with other cameras, which realizes fast target judgment under the premise of limited hardware resources on the star. BRIEF DESCRIPTION OF DRAWINGS

[0054] Other features, objects and advantages of the present application will become more apparent from the following detailed description of non-limiting embodiments with reference to the attached drawings:

[0055] Figure 1 It is a flow chart of the real-time merging method of the present application for multi-source angular trajectory data in-orbit processing;

[0056] Figure 2 It is a serial port printing chart of the test result of the real-time merging method of the present application for multi-source angular trajectory data in-orbit processing;

[0057] Figure 3 It is a display chart of the real-time merging system of the present application for multi-source angular trajectory data in-orbit processing. DETAILED DESCRIPTION

[0058] The present application will be described in detail below with reference to specific embodiments. The following embodiments will help those skilled in the art to further understand the present application, but do not limit the present application in any form. It should be pointed out that those skilled in the art can make several changes and improvements without departing from the concept of the present application. These all belong to the protection scope of the present application.

[0059] The present embodiment provides a real-time merging method for multi-source angular trajectory data in-orbit processing, comprising the following steps:

[0060] Step 1: Establish 4 camera angle trajectory data buffer area 1, buffer area 2;

[0061] Step 2: Receive the first frame of angle trajectory data, and store the data in the designated position of buffer area 1 according to the camera ID;

[0062] Step 3: Determine the data time, if the difference between the time and the data time of buffer area 1 does not exceed the threshold value, store the data in the designated position of buffer area 1; if the difference between the time and the data time of buffer area 1 is greater than the threshold value, store the data in the designated position of buffer area 2, and activate the merging flag;

[0063] Step 4: Set the priority according to the angle trajectory error of the 4 cameras, and perform data merging and deduplication of buffer area 1.

[0064] ① Take the data of the highest priority camera (hereinafter referred to as camera 1) as the reference, calculate the included angle between the target 1 of camera 1 and the angle trajectories of all targets of the other three cameras (if there is data), if the included angle meets the threshold value, delete the corresponding angle trajectories of cameras 2-4 to realize deduplication, and the same applies to targets 2, 3, 4……X of camera 1; X is an integer greater than 0;

[0065] ② Take the data of the second highest priority camera (hereinafter referred to as camera 2) as the reference, calculate the included angle between the target 1 of camera 2 and the angle trajectories of all targets of the other two cameras (cameras 3, 4, if there is data), if the included angle meets the threshold value, delete the corresponding angle trajectory data of cameras 3 and 4 to realize deduplication, and the same applies to targets 2, 3, 4……X of camera 2;

[0066] ③ Take camera 3 as the reference, calculate the included angle between the target 1 of camera 3 and the angle trajectories of all targets of camera 4 (if there is data), if the included angle meets the threshold value, delete the corresponding angle trajectory data of camera 4 to realize deduplication, and the same applies to targets 2, 3, 4……X of camera 3;

[0067] ④ Merge the remaining angle trajectories of cameras 1-4 to generate the data results of buffer area 1, if the number of processing targets is set to N, extract the first N targets and send them to the calculation module.

[0068] Step 5, clear buffer area 1, and store the data of buffer area 2 into buffer area 1.

[0069] The present embodiment meets the technical process of real-time merging of multi-source data in orbit.

[0070] Referring to Figure 1 , see the following description:

[0071] 1. Establish 4 camera angle trajectory data buffer area 1, buffer area 2;

[0072] 2. Receive the first frame of angular trajectory data and store the data in a designated location in buffer 1 according to the camera ID;

[0073] 3. Break the data time, if the difference between the time and the data time of buffer 1 is greater than the threshold, store the data in a designated location in buffer 2, and activate the merging flag;

[0074] 4. Set the priority according to the angular trajectory error of the four cameras, and perform data merging and deduplication of buffer 1.

[0075] ① Take the data of the highest priority camera (hereinafter referred to as camera 1) as the reference, calculate the included angle between the target 1 of camera 1 and the angular trajectories of all targets of the other three cameras (if there is data), if the included angle meets the threshold, delete the corresponding angular trajectory of cameras 2-4, realize deduplication, and the same for target 2 to target X of camera 1;

[0076] ② Take the data of the second highest priority camera (hereinafter referred to as camera 2) as the reference, calculate the included angle between the target 1 of camera 2 and the angular trajectories of all targets of the other two cameras (cameras 3, 4, if there is data), if the included angle meets the threshold, delete the corresponding angular trajectory data of cameras 3, 4, realize deduplication, and the same for target 2 to target X of camera 2;

[0077] ③ Take camera 3 as the reference, calculate the included angle between the target 1 of camera 3 and the angular trajectories of all targets of camera 4 (if there is data), if the included angle meets the threshold, delete the corresponding angular trajectory data of camera 4, realize deduplication, and the same for target 2 to target X of camera 3;

[0078] ④ Merge the remaining angular trajectories of cameras 1-4 to generate the data results of buffer 1, if the set processing target number is N, extract the first N targets and send them to the calculation module.

[0079] Step 5, empty buffer 1 and store the data of buffer 2 in buffer 1.

[0080] Refer to Figure 2 , see the description below:

[0081] 1) Receive the data of the four cameras, print the data time and angular trajectory results, and judge the number of targets of each camera angular trajectory data in this period (the number of targets is not limited, this test uses a single target test algorithm to verify the correctness of the process);

[0082] 2) After data merging is completed, print the calculation input results, the target number is 1, which means that the targets detected by the other three cameras are the same target and have been deduplicated, and will not affect the back-end calculation.

[0083] The application further provides a multi-source angular trajectory data on-orbit processing real-time merging system, which can be realized by performing the flow steps of the multi-source angular trajectory data on-orbit processing real-time merging method, i.e., the multi-source angular trajectory data on-orbit processing real-time merging method can be understood by those skilled in the art as a preferred embodiment of the multi-source angular trajectory data on-orbit processing real-time merging system.

[0084] A multi-source angular trajectory data on-orbit processing real-time merging system comprises: a distribution module that distributes angular trajectory data received by four cameras into buffer area 1 and buffer area 2 according to predetermined rules; a deduplication module that sets priorities according to angular trajectory errors of the four cameras, performs data deduplication of buffer area 1 in the order of the priorities, and obtains remaining angular trajectory data; a data processing module that merges the remaining angular trajectory data of the four cameras to generate target data results of buffer area 1; extracts a preset number of target data results as final merged angular trajectory data; and a buffer area 2 calculation module that empties buffer area 1, stores data of buffer area 2 into buffer area 1, and repeats the deduplication module to the data processing module.

[0085] Specifically, the distribution module comprises: a first frame data distribution module that receives first frame angular trajectory data and stores the data in a specified position of buffer area 1 according to a camera ID; a buffer area distribution module that calculates the difference between the data time obtained by unpacking the data on the star and the data time of buffer area 1, and stores the data in a specified position of buffer area 1 if the difference is within a preset value; if the difference between the data time and the data time of buffer area 1 is greater than the preset value, the data is stored in a specified position of buffer area 2 and a merging flag is activated; and the preset value of the time difference in the buffer area distribution module is annotated on-orbit.

[0086] Specifically, the data deduplication module comprises: a naming module: setting the priority of the data collected by the four cameras, and naming the cameras as camera 1, camera 2, camera 3 and camera 4 in order of the priority; a camera 1 deduplication module: taking the data of the camera 1 with the highest priority as a reference, calculating the included angle between the target X of the camera 1 and the angle track of all targets of the cameras 2-4, if the included angle is within a preset value, deleting the corresponding angle track data of the cameras 2-4 in the cache area 1 to complete deduplication, and then entering the camera 2 deduplication module; if the included angle is greater than the preset value, directly entering the camera 2 deduplication module; wherein X is an integer greater than 0; a camera 2 deduplication module: taking the data of the camera 2 with the second highest priority as a reference, calculating the included angle between the target X of the camera 2 and the angle track of all targets of the cameras 3-4, if the included angle is within a preset value, deleting the corresponding angle track data of the cameras 3-4 in the cache area 1 to complete deduplication, and then entering the camera 3 deduplication module; if the included angle is greater than the preset value, directly entering the camera 3 deduplication module; a camera 3 deduplication module: taking the camera 3 with the priority as a reference, calculating the included angle between the target X of the camera 3 and the angle track of all targets of the camera 4, if the included angle is within a preset value, deleting the corresponding angle track data of the camera 4 in the cache area 1 to complete deduplication, and obtaining the remaining angle track data; if the included angle is greater than the preset value, directly obtaining the remaining angle track data.

[0087] Specifically, the preset value of the included angle is set on the track; and the preset value of the included angle of each camera combination can be set to different values; the priority can be changed according to the camera on the track; and the target number X processed can be changed.

[0088] Specifically, the data processing module comprises: a receiving module: after receiving the band angle track data of the four cameras, printing the data time and angle track result, and recording the target number of the angle track data of each camera in the current period; a printing module: combining the target number of the angle track data, and then printing the calculation input result, setting the upper limit of the processing to N, then extracting the first N targets as the final combined angle track data; N is an integer greater than 0.

[0089] Those skilled in the art know that, in addition to implementing the system provided by the present application and each device, module and unit thereof in the form of pure computer readable program code, the same function can also be realized by logically programming the method steps in the form of logic gates, switches, application specific integrated circuits, programmable logic controllers and embedded microcontrollers. Therefore, the system provided by the present application and each device, module and unit thereof can be considered as a hardware component, and the devices, modules and units included therein for realizing various functions can also be considered as structures within the hardware component; the devices, modules and units for realizing various functions can also be considered as both software modules realizing methods and structures within the hardware component.

[0090] The specific embodiments of the present application have been described. It is to be understood that the application is not limited to particular details described herein and that various modifications can be made therein without departing from the scope of the claimed application. Embodiments and features disclosed in this document, including in the examples, can be combined with each other, unless specifically contradicted by or inconsistent with each other.

Claims

1. A real-time merging method for on-orbit processing of multi-source angular trajectory data, characterized in that, The method comprises the following steps: The angle trajectory data received by the four cameras is respectively allocated to the buffer area 1 and the buffer area 2 according to a predetermined rule in the allocation step; The angle trajectory error of the four cameras is set as a priority, and the data in the buffer area 1 is removed according to the priority in the data removal step, thereby obtaining the remaining angle trajectory data; The remaining angle trajectory data of the four cameras is combined to generate the target data result of the buffer area 1 in the data processing step; and a preset number of target data results are extracted as the final combined angle trajectory data; The data in the buffer area 2 is stored in the buffer area 1, and the data removal step and the data processing step are repeated in the buffer area 2 calculation step. The allocation step comprises: The first frame data allocation step: receiving the first frame angle trajectory data, and storing the data in the specified position of the buffer area 1 according to the camera ID; The buffer area allocation step: calculating the difference between the data time obtained by unpacking the on-orbit data and the data time of the buffer area 1, and storing the data in the specified position of the buffer area 1 if the difference is within a preset value; if the difference between the data time and the data time of the buffer area 1 is greater than the preset value, the data is stored in the specified position of the buffer area 2, and the merging flag is activated; The data removal step comprises: The naming step: setting the priority of the data collected by the four cameras, and naming the cameras as camera 1, camera 2, camera 3 and camera 4 according to the priority from high to low; The camera 1 removal step: taking the data of the camera 1 with the highest priority as the reference, calculating the included angle between the target X of the camera 1 and the angle trajectory of all targets of the cameras 2-4, and deleting the corresponding angle trajectory data of the cameras 2-4 in the buffer area 1 if the included angle is within a preset value, thereby completing the removal and entering the camera 2 removal step; if the included angle is greater than the preset value, the camera 2 removal step is directly entered; wherein X is an integer greater than 0; The camera 2 removal step: taking the data of the camera 2 with the second highest priority as the reference, calculating the included angle between the target X of the camera 2 and the angle trajectory of all targets of the cameras 3-4, and deleting the corresponding angle trajectory data of the cameras 3-4 in the buffer area 1 if the included angle is within a preset value, thereby completing the removal and entering the camera 3 removal step; if the included angle is greater than the preset value, the camera 3 removal step is directly entered; The camera 3 removal step: taking the camera 3 with the priority as the reference, calculating the included angle between the target X of the camera 3 and the angle trajectory of all targets of the camera 4, and deleting the corresponding angle trajectory data of the camera 4 in the buffer area 1 if the included angle is within a preset value, thereby completing the removal and obtaining the remaining angle trajectory data; if the included angle is greater than the preset value, the remaining angle trajectory data is directly obtained.

2. The method of claim 1, wherein, The preset value of the time difference in the buffer area allocation step is set on the orbit.

3. The method of claim 1, wherein, The preset value of the included angle can be set to different values for each combination of cameras; The priority can be changed according to the on-orbit situation of the cameras; The target number X of the processing can be changed.

4. The method of claim 1, wherein, The data processing step comprises: The receiving step: after receiving the band angle trajectory data of the four cameras, the data time and the angle trajectory result are printed, and the target number of the angle trajectory data of each camera in the current period is recorded. The printing step is: merging the target number of angular trajectory data, then printing the calculation input result, setting the processing upper limit as N, then extracting the first N targets as the final merged angular trajectory data; N is an integer greater than 0.

5. A real-time merging system for on-orbit processing of multi-source angular trajectory data, characterized in that, It comprises: The distribution module: according to the predetermined rules, the angular trajectory data received by the four cameras are respectively distributed into buffer area 1 and buffer area 2; The deduplication module: according to the angular trajectory error of the four cameras, the priority is set, and the data deduplication of buffer area 1 is performed in the order of priority to obtain the remaining angular trajectory data; The data processing module: merge the remaining angular trajectory data of the four cameras to generate the target data result of buffer area 1; extract a preset number of target data results as the final merged angular trajectory data; The calculation buffer area 2 module: clear buffer area 1, store the data of buffer area 2 into buffer area 1, and repeat the triggering of the deduplication module to the data processing module; The distribution module comprises: The first frame data distribution module: receives the first frame angular trajectory data, and stores the data in the specified position of buffer area 1 according to the camera ID; The buffer area distribution module: calculates the difference between the data time obtained by unpacking the on-board data and the data time of buffer area 1, if the difference is within the preset value, the data is stored in the specified position of buffer area 1; if the time difference with the data time of buffer area 1 is greater than the preset value, the data is stored in the specified position of buffer area 2, and the merging flag is activated; The data deduplication module comprises: The naming module: sets the priority of the data collected by the four cameras, and names the cameras according to the priority from high to low as camera 1, camera 2, camera 3 and camera 4; The camera 1 deduplication module: taking the data of the highest priority camera 1 as the reference, calculates the included angle between the target X of camera 1 and the angular trajectory of all targets of cameras 2-4, if the included angle is within the preset value, the corresponding angular trajectory data of cameras 2-4 in buffer area 1 is deleted, the deduplication is completed, and then the camera 2 deduplication module is entered; if the included angle is greater than the preset value, the camera 2 deduplication module is directly entered; wherein X is an integer greater than 0; The camera 2 deduplication module: taking the data of the second highest priority camera 2 as the reference, calculating the included angle between the target X of camera 2 and the angular trajectory of all targets of cameras 3-4, if the included angle is within the preset value, the corresponding angular trajectory data of cameras 3-4 in buffer area 1 is deleted, the deduplication is completed, and then the camera 3 deduplication module is entered; if the included angle is greater than the preset value, the camera 3 deduplication module is directly entered; The camera 3 deduplication module: taking the camera 3 as the reference, calculating the included angle between the target X of camera 3 and the angular trajectory of all targets of camera 4, if the included angle is within the preset value, the corresponding angular trajectory data of camera 4 in buffer area 1 is deleted, the deduplication is completed, and the remaining angular trajectory data is obtained; if the included angle is greater than the preset value, the remaining angular trajectory data is directly obtained.

6. The real-time on-board processing system for multi-source angular trajectory data merging according to claim 5, wherein, The preset value of the time difference in the buffer area distribution module is on-board.

7. The real-time on-board processing system for multi-source angular trajectory data merging according to claim 5, wherein, The preset value of the included angle can be set to different values for each combination of cameras; The priority can be changed according to the on-board situation of the camera; The target number X of the processing can be changed.

8. The real-time on-board processing system for merging multi-source angular trajectory data according to claim 5, wherein, The data processing module comprises: Receiving module: after receiving the band angle trajectory data of the four cameras, print the data time and angle trajectory results, and record the target number of each camera angle trajectory data in this period; Printing module: combine the target number of angle trajectory data, then print the calculation input results, set the upper limit of processing to N, then extract the first N targets as the final combined angle trajectory data; N is an integer greater than 0.

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