Single-beam multi-target tracking method, device, electronic device and storage medium

Abstract

The present invention relates to a single-beam multi-target tracking method, device, electronic device and storage medium, the method comprising: obtaining scores of multiple measurement targets; taking the measurement target with the highest score among the multiple measurement targets as an important target, and taking the other measurement targets as general targets; judging whether the general target is separated from the tracking gate of the important target according to the first radial distance of the predicted position corresponding to the general target at the moment of beam arrangement of the radar and the second radial distance of the important target; when the tracking gates of the general target and the important target are separated, and the general target is not in other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold, the separated general target is tracked separately using the remaining tracking resources. Through the above technical scheme, a beam request is made according to the measurement target score, and the general target is covered, so that single-beam tracking of multiple targets is completed, the radar target tracking capacity is increased, and the radar resource utilization rate is improved.

Description

Technical Field

[0001] The present invention relates to the field of radar target tracking technology, and in particular to a single-beam multi-target tracking method, device, electronic equipment and storage medium. Background Art

[0002] The birth of phased array radar can be traced back to the 1960s, when both phased array antenna technology and computer technology experienced rapid development, leading to multiple rounds of changes in phased array radar technology. From the initial vacuum tube passive phased array to the later solid-state active analog phased array, and then to the popular digital array radar, the development of phased array radar has not only promoted the advancement of military and civilian radar technology, but has also been widely used in practical applications.

[0003] At present, the tense international situation and the complexity of the electromagnetic environment have put forward higher requirements for phased array radar technology. Therefore, phased array radar technology is also developing rapidly, gradually possessing the characteristics of distributed detection, platform integration, intelligent process and coordinated systematization.

[0004] Compared with the traditional mechanical scanning radar system, the phased array radar has faster beam pointing and shape change capabilities, and can form multiple beams at the same time, thereby forming different power distributions in the scanning space. This enables the phased array radar to better adapt to tasks such as multi-target tracking and identification, and achieves high adaptability.

[0005] Phased array radar has multiple working modes according to different usage scenarios and environments, such as scanning and tracking, search and tracking, single target tracking, etc. Among them, the search and tracking mode requires an additional tracking beam for each tracked target to cope with the threat level of different targets, but this also means greater radar resource consumption and limited target capacity. For example, scenarios such as missile separation, flight return capsule target separation, and swarm drones pose a huge challenge to the tracking resources of phased array radars. In this case, the search and tracking mode may not be well adapted to these complex application scenarios due to its large radar resource consumption. The radar arranges an additional tracking beam for each tracked target. At a certain tracking data rate, the number of targets tracked is very limited. In the application scenario of dense targets, due to the large number of targets, the radar's tracking resources are consumed a lot, and it is difficult to track all targets. Summary of the invention

[0006] In order to solve the above problems existing in the prior art, the present invention provides a single-beam multi-target tracking method, device, electronic device and storage medium.

[0007] According to a first aspect of an embodiment of the present invention, a single-beam multi-target tracking method is provided, the method comprising:

[0008] Get scores for multiple measurement targets;

[0009] The measurement target with the highest score among the multiple measurement targets is regarded as an important target, and the other measurement targets are regarded as general targets;

[0010] Determine whether the general target is separated from the tracking gate of the important target according to the first radial distance of the predicted position corresponding to the general target at the moment of radar beam arrangement and the second radial distance of the important target;

[0011] When the tracking gates of the general target and the important target are separated, and the general target is not within other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold, the separated general target is tracked separately using the remaining tracking resources.

[0012] Optionally, obtaining scores of multiple measurement targets includes:

[0013] Acquiring measurement data of the multiple measurement targets;

[0014] Performing correlation filtering on the multiple measurement targets to obtain a filtered point group;

[0015] According to the measurement data, the distance between each point in the filtered point group and the centroid of the filtered point group, the radial velocity of the filtered point group, and the signal-to-noise ratio of the filtered point group are obtained;

[0016] The score of each of the measurement targets is obtained according to the distance between each point in the filtered point group and the centroid, the radial velocity of the filtered point group, and the signal-to-noise ratio of the filtered point group.

[0017] Optionally, the position of the centroid of the filtered point group is obtained according to the following formula:

[0018] ;

[0019] in, represents the centroid of the filtered point group, represents the position of the centroid of the filtered point group, are the coordinates of the center of mass in the Cartesian coordinate system, is the number of points in the filtered point group, Indicates The coordinates of the filtered points in the Cartesian coordinate system.

[0020] Optionally, the score of each measurement target is obtained according to the following formula:

[0021] ;

[0022] in, Indicates The score of the measurement target corresponding to the filtered point trace, is the first preset weight, is the second preset weight, is the third weight, is the radar range tracking gate width, Indicates the The distance between the filtered points and the centroid, Indicates the The radial velocity of the filtered points, Indicates the The signal-to-noise ratio of the filtered points.

[0023] Optionally, whether the general target is separated from the tracking gate of the important target is determined according to the following formula:

[0024] ;

[0025] in, , represents the difference between the first radial distance and the second radial distance, represents the coordinates of the general target in the Cartesian coordinate system, represents the radar coordinates, represents the second radial distance of the important target, is the radar range tracking gate width.

[0026] Optionally, the method further comprises:

[0027] When there is still an idle tracking channel after the radar tracks the multiple measurement targets, performing threat assessment on the threat target;

[0028] When the threat level of the threat target is higher than the threat threshold, the threat target is judged to be a high threat target, and the high threat target is tracked separately by using the idle tracking channel;

[0029] When the remaining tracking resources of the radar are higher than a resource threshold, the tracking data rate of the high threat target is increased.

[0030] According to a second aspect of an embodiment of the present invention, a single-beam multi-target tracking device is provided, the device comprising:

[0031] A score acquisition module is used to obtain scores of multiple measurement targets;

[0032] A target classification module, used for selecting the measurement target with the highest score among the multiple measurement targets as an important target, and selecting the other measurement targets as general targets;

[0033] A judgment module, used for judging whether the general target is separated from the tracking gate of the important target according to a first radial distance of the predicted position corresponding to the general target at the moment of beam arrangement of the radar and a second radial distance of the important target;

[0034] A tracking module is used to use the remaining tracking resources to separately track the separated general target when the tracking gates of the general target and the important target are separated and the general target is not within other tracking gates of the radar and the remaining tracking resources of the radar are higher than or equal to a resource threshold.

[0035] According to a third aspect of an embodiment of the present disclosure, there is provided a single-beam multi-target tracking device, comprising: a processor; a memory for storing instructions executable by the processor;

[0036] Wherein, the processor is configured to: execute the executable instructions to implement the steps of the single-beam multi-target tracking method described in any embodiment of the first aspect above.

[0037] According to a fourth aspect of an embodiment of the present invention, there is provided a computer-readable storage medium having computer program instructions stored thereon, wherein the program instructions, when executed by a processor, implement the steps of the single-beam multi-target tracking method described in the first aspect of the present invention.

[0038] The technical solution provided by the embodiments of the present invention may have the following beneficial effects:

[0039] In the above technical scheme, the scores of multiple measurement targets are obtained; the measurement target with the highest score among the multiple measurement targets is taken as an important target, and the other measurement targets are taken as general targets; whether the general target is separated from the tracking gate of the important target is determined based on the first radial distance of the predicted position corresponding to the radar's beam arrangement moment and the second radial distance of the important target; when the tracking gates of the general target and the important target are separated, and the general target is not in other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold, the separated general target is tracked separately using the remaining tracking resources. Through the above technical scheme, the measurement targets are graded according to the scores of each measurement target, divided into important targets and general targets, and the important targets are selected to make beam requests. The beam width can cover other general targets, and the effect of single-beam tracking of multiple targets is achieved, thereby increasing the target tracking capacity of the radar and improving the utilization rate of radar resources.

[0040] Other features and advantages of the present invention will be described in detail in the following detailed description. BRIEF DESCRIPTION OF THE DRAWINGS

[0041] The accompanying drawings are used to provide a further understanding of the present invention and constitute a part of the specification. Together with the following specific embodiments, they are used to explain the present invention but do not constitute a limitation of the present invention. In the accompanying drawings:

[0042] Figure 1 The present invention is a flowchart of a single-beam multi-target tracking method according to an exemplary embodiment.

[0043] Figure 2 It is a block diagram of a single-beam multi-target tracking device according to an exemplary embodiment.

[0044] Figure 3 It is a block diagram of an electronic device for a single-beam multi-target tracking method according to an exemplary embodiment.

[0045] Figure 4 It is a block diagram of yet another electronic device for a single-beam multi-target tracking method according to an exemplary embodiment. DETAILED DESCRIPTION

[0046] Figure 1 is a flowchart of a single-beam multi-target tracking method according to an exemplary embodiment. Figure 1 As shown, the method includes the following steps.

[0047] S101. Obtain scores of multiple measurement targets.

[0048] S102: taking the measurement target with the highest score among the multiple measurement targets as an important target, and taking the other measurement targets as general targets.

[0049] It is understandable that when obtaining the scores of the radar's measurement targets, a weighted scoring strategy can be adopted to obtain the scores of multiple measurement targets based on the data on multiple dimensions of the measurement targets, for example, the radial velocity, radial distance, acceleration, flight altitude, signal-to-noise ratio, etc. of the measurement targets. Then, the scores of multiple measurement targets can be obtained. The scores of each measurement target may be the same or different. The scores of the measurement targets can be sorted in a certain order (from large to small or from small to large), and the measurement targets with the highest scores are taken as important targets. The important targets are selected to make beam requests, and other general targets are covered by the width of the beam. It is worth mentioning that measurement targets with too low scores can be classified as invalid targets, and invalid targets can be ignored when using radar for target tracking.

[0050] S103, judging whether the general target is separated from the tracking gate of the important target according to the first radial distance of the predicted position corresponding to the general target at the moment of radar beam arrangement and the second radial distance of the important target.

[0051] It is understandable that when the radar is tracking a target, the target may cross the current beam or deviate from the radar tracking gate during the flight of densely measured targets. In order to deal with the situation where general targets cross the tracking gate, it is necessary to calculate the first radial distance of the predicted position of each general target at the moment of beam arrangement, and compare it with the second radial distance of the important target to determine whether it is outside the tracking gate of the important target. In addition, the radar beam request is an advance behavior. For example, the radar needs to use the filtered current position, current speed, current acceleration and other information in conjunction with the filtering method and motion model within 1S to complete the prediction of the target's position at 1.1s, and then arrange the beam, and then irradiate the beam for this predicted position.

[0052] S104: When the tracking gates of the general target and the important target are separated, and the general target is not in other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold, the separated general target is tracked separately using the remaining tracking resources.

[0053] It is understandable that, in S103, the first radial distance and the second radial distance are used to determine whether the tracking gate of the general target is separated from the tracking gate of the important target. When the tracking gate of the general target is separated from the tracking gate of the important target, if the remaining tracking resources of the radar are sufficient, it is necessary to arrange a separate tracking beam for the target. In addition, when any of the following conditions is met: when the tracking gates of the general target and the important target are not separated, or when the general target is in other tracking gates of the radar, or when the remaining tracking resources are lower than the resource threshold, the tracking resources will not be used to track the separated general target separately.

[0054] In the above technical scheme, the scores of multiple measurement targets are obtained; the measurement target with the highest score among the multiple measurement targets is taken as an important target, and the other measurement targets are taken as general targets; whether the general target is separated from the tracking gate of the important target is determined based on the first radial distance of the predicted position corresponding to the radar's beam arrangement moment and the second radial distance of the important target; when the tracking gates of the general target and the important target are separated, and the general target is not in other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold, the separated general target is tracked separately using the remaining tracking resources. Through the above technical scheme, the measurement targets are graded according to the scores of each measurement target, divided into important targets and general targets, and the important targets are selected to make beam requests. The beam width can cover other general targets, and the effect of single-beam tracking of multiple targets is achieved, thereby increasing the target tracking capacity of the radar and improving the utilization rate of radar resources.

[0055] Optionally, S101 may include:

[0056] Acquire measurement data of multiple measurement targets;

[0057] Perform correlation filtering on multiple measurement targets to obtain a filtered point group;

[0058] According to the measurement data, the distance between each point in the filtered point group and the centroid of the filtered point group, the radial velocity of the filtered point group and the signal-to-noise ratio of the filtered point group are obtained;

[0059] The score of each measurement target is obtained according to the distance between each point in the filtered point group and the centroid, the radial velocity of the filtered point group and the signal-to-noise ratio of the filtered point group.

[0060] It can be understood that the acquired measurement data mainly includes the position corresponding to the measurement target (which may include coordinates in a Cartesian coordinate system or a spherical coordinate system), the radial velocity of the measurement target, and the signal-to-noise ratio corresponding to the measurement target. When filtering multiple measurement targets, Kalman filtering (KF) and the global nearest neighbor algorithm (GNN) can be associated to perform track management and point filtering on the measurement target to obtain a filtered point group. After the filtered point group is input into the display and control software, a schematic diagram of the track can be obtained.

[0061] In one embodiment, the centroid of the filtered point group is obtained according to the following formula:

[0062] ;

[0063] The distance between the filtered point group and the centroid can be referred to the following formula:

[0064] ;

[0065] in, represents the centroid of the filtered point group, represents the position of the centroid of the filtered point group, is the coordinate of the center of mass in the Cartesian coordinate system, is the number of points in the point group after filtering, Indicates The coordinates of the filtered points in the Cartesian coordinate system.

[0066] The scores of each measurement target are obtained according to the following formula:

[0067] ;

[0068] in, Indicates The score of the measurement target corresponding to the filtered point trace, is the first preset weight, is the second preset weight, is the third weight, is the radar range tracking gate width, Indicates The distance between the filtered points and the centroid, Indicates The radial velocity of the filtered points, Indicates The signal-to-noise ratio of the filtered points.

[0069] In one implementation, step S103 can determine whether the tracking gates of the general target and the important target are separated according to the following formula:

[0070] ;

[0071] in, , represents the difference between the first radial distance and the second radial distance, Indicates The coordinates of the filtered points in the Cartesian coordinate system are: represents the radar coordinates, Indicates the second radial distance of important targets, is the radar range tracking gate width.

[0072] Optionally, the method may further include:

[0073] When the radar still has an idle tracking channel after tracking multiple measurement targets, it conducts threat assessment on the threat target;

[0074] When the threat level of the threat target is higher than the threat threshold, the threat target is judged as a high threat target, and the high threat target is tracked separately using the idle tracking channel;

[0075] When the remaining tracking resources of the radar are above the resource threshold, the tracking data rate for high-threat targets is increased.

[0076] It is understandable that in order to better cope with the different working environments and tasks encountered by the radar, a hazard assessment of the target is also added. In addition to the measurement targets, there may be high-threat targets and general threat targets, such as missiles and missile fragments, flight return capsules and their separations. Under the premise that the radar is capable of tracking all measurement targets, high-threat targets can be tracked. If the radar still has an idle tracking channel after tracking multiple measurement targets, a threat assessment is performed on the threat target, and the high-threat target track is placed in the idle channel of the radar. The single-beam single-target tracking method is used for beam illumination. When the radar has sufficient remaining tracking resources, the tracking data rate can be increased to ensure stable tracking of high-threat targets.

[0077] Figure 2 is a block diagram of a single-beam multi-target tracking device according to an exemplary embodiment. Figure 2 As shown, the device 200 includes:

[0078] A score acquisition module 201 is used to acquire scores of multiple measurement targets;

[0079] A target classification module 202, configured to classify the measurement target with the highest score among the multiple measurement targets as an important target, and classify the other measurement targets as general targets;

[0080] A judgment module 203, used for judging whether the general target is separated from the tracking gate of the important target according to the first radial distance of the predicted position corresponding to the general target at the moment of radar beam arrangement and the second radial distance of the important target;

[0081] The tracking module 204 is used to use the remaining tracking resources to separately track the separated general target when the tracking gates of the general target and the important target are separated and the general target is not in other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold.

[0082] Regarding the device in the above embodiment, the specific manner in which each module performs operations has been described in detail in the embodiment of the method, and will not be elaborated here.

[0083] Figure 3 is a block diagram of an electronic device for a single-beam multi-target tracking method according to an exemplary embodiment. Figure 3 As shown, the electronic device 300 may include: a processor 301 and a memory 302 .

[0084] The processor 301 is used to control the overall operation of the electronic device 300 to complete all or part of the steps in the above-mentioned single-beam multi-target tracking method. The memory 302 is used to store various types of data to support the operation of the electronic device 300. For example, these data may include instructions for any application or method used to operate on the electronic device 300, and application-related data, such as contact data, sent and received messages, pictures, audio, video, etc. The memory 302 can be implemented by any type of volatile or non-volatile storage device or a combination thereof, such as static random access memory (Static Random Access Memory, referred to as SRAM), electrically erasable programmable read-only memory (Electrically Erasable Programmable Read-Only Memory, referred to as EEPROM), erasable programmable read-only memory (Erasable Programmable Read-Only Memory, referred to as EPROM), programmable read-only memory (Programmable Read-Only Memory, referred to as PROM), read-only memory (Read-Only Memory, referred to as ROM), magnetic memory, flash memory, magnetic disk or optical disk.

[0085] In an exemplary embodiment, the electronic device 300 can be implemented by one or more application specific integrated circuits (ASIC), digital signal processors (DSP), digital signal processing devices (DSPD), programmable logic devices (PLD), field programmable gate arrays (FPGA), controllers, microcontrollers, microprocessors or other electronic components to execute the above-mentioned single-beam multi-target tracking method.

[0086] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned single-beam multi-target tracking method are implemented. For example, the computer-readable storage medium can be the above-mentioned memory 302 including program instructions, and the above-mentioned program instructions can be executed by the processor 301 of the electronic device 300 to complete the above-mentioned single-beam multi-target tracking method.

[0087] Figure 4 4 is a block diagram of another electronic device for a single-beam multi-target tracking method according to an exemplary embodiment. For example, the electronic device 400 may be provided as a server. Figure 4 The electronic device 400 includes a processor 422, which may be one or more, and a memory 432 for storing a computer program executable by the processor 422. The computer program stored in the memory 432 may include one or more modules, each corresponding to a set of instructions. In addition, the processor 422 may be configured to execute the computer program to perform the above-mentioned single-beam multi-target tracking method.

[0088] In another exemplary embodiment, a computer-readable storage medium including program instructions is also provided, and when the program instructions are executed by a processor, the steps of the above-mentioned single-beam multi-target tracking method are implemented. For example, the non-transitory computer-readable storage medium can be the above-mentioned memory 432 including program instructions, and the above-mentioned program instructions can be executed by the processor 422 of the electronic device 400 to complete the above-mentioned single-beam multi-target tracking method.

[0089] In another exemplary embodiment, a computer program product is also provided. The computer program product includes a computer program that can be executed by a programmable device. The computer program has a code portion for executing the above-mentioned single-beam multi-target tracking method when executed by the programmable device.

[0090] The preferred embodiments of the present invention are described in detail above in conjunction with the accompanying drawings. However, the present invention is not limited to the specific details in the above embodiments. Within the technical concept of the present invention, a variety of simple modifications can be made to the technical solution of the present invention, and these simple modifications all belong to the protection scope of the present invention.

[0091] It should also be noted that the various specific technical features described in the above specific embodiments can be combined in any suitable manner without contradiction. In order to avoid unnecessary repetition, the present invention will not further describe various possible combinations.

[0092] In addition, various embodiments of the present invention may be arbitrarily combined, and as long as they do not violate the concept of the present invention, they should also be regarded as the contents disclosed by the present invention.

Claims

1. A single-beam multi-target tracking method, characterized in that: The method comprises: Get scores for multiple measurement targets; The measurement target with the highest score among the multiple measurement targets is regarded as an important target, and the other measurement targets are regarded as general targets; Selecting the important target to make a beam request to track the important target; Determine whether the general target is separated from the tracking gate of the important target according to the first radial distance of the predicted position corresponding to the general target at the moment of radar beam arrangement and the second radial distance of the important target; When the tracking gates of the general target and the important target are separated, and the general target is not within other tracking gates of the radar, and the remaining tracking resources of the radar are higher than or equal to the resource threshold, the separated general target is tracked separately using the remaining tracking resources.

2. The single-beam multi-target tracking method according to claim 1, characterized in that: The obtaining of scores of multiple measurement targets includes: Acquiring measurement data of the multiple measurement targets; Performing correlation filtering on the multiple measurement targets to obtain a filtered point group; According to the measurement data, the distance between each point in the filtered point group and the centroid of the filtered point group, the radial velocity of the filtered point group, and the signal-to-noise ratio of the filtered point group are obtained; The score of each of the measurement targets is obtained according to the distance between each point in the filtered point group and the centroid, the radial velocity of the filtered point group, and the signal-to-noise ratio of the filtered point group.

3. The single-beam multi-target tracking method according to claim 2, characterized in that: The position of the centroid of the filtered point group is obtained according to the following formula: ； in, represents the centroid of the filtered point group, represents the position of the centroid of the filtered point group, are the coordinates of the center of mass in the Cartesian coordinate system, is the number of points in the filtered point group, Indicates the first The coordinates of the filtered points in the Cartesian coordinate system.

4. The single-beam multi-target tracking method according to claim 2, characterized in that: The scores of each of the measurement targets are obtained according to the following formula: ； in, Indicates The score of the measurement target corresponding to the filtered point trace, is the first preset weight, is the second preset weight, is the third weight, is the radar range tracking gate width, Indicates the The distance between the filtered points and the centroid, Indicates the The radial velocity of the filtered points, Indicates the The signal-to-noise ratio of the filtered points.

5. The single-beam multi-target tracking method according to claim 1, characterized in that: Whether the general target is separated from the tracking gate of the important target is determined according to the following formula: ； in, , represents the difference between the first radial distance and the second radial distance, represents the coordinates of the general target in the Cartesian coordinate system, represents the radar coordinates, represents the second radial distance of the important target, is the radar range tracking gate width.

6. The single-beam multi-target tracking method according to claim 1, characterized in that: The method further comprises: When there is still an idle tracking channel after the radar tracks the multiple measurement targets, performing threat assessment on the threat target; When the threat level of the threat target is higher than the threat threshold, the threat target is judged to be a high threat target, and the high threat target is tracked separately by using the idle tracking channel; When the remaining tracking resources of the radar are higher than the resource threshold, the tracking data rate of the high threat target is increased.

7. A single-beam multi-target tracking device, characterized in that: The device comprises: A score acquisition module is used to obtain scores of multiple measurement targets; A target classification module, used for selecting the measurement target with the highest score among the multiple measurement targets as an important target, and selecting the other measurement targets as general targets; An important target tracking module, used for selecting the important target to make a beam request so as to track the important target; A judgment module, used for judging whether the general target is separated from the tracking gate of the important target according to a first radial distance of the predicted position corresponding to the general target at the moment of beam arrangement of the radar and a second radial distance of the important target; A tracking module is used to use the remaining tracking resources to separately track the separated general target when the tracking gates of the general target and the important target are separated and the general target is not within other tracking gates of the radar and the remaining tracking resources of the radar are higher than or equal to a resource threshold.

8. An electronic device, characterized in that: include: processor; a memory for storing processor-executable instructions; The processor is configured to: execute the executable instructions to implement the steps of the single-beam multi-target tracking method described in any one of claims 1 to 6.

9. A computer-readable storage medium having computer program instructions stored thereon, characterized in that: When the program instructions are executed by a processor, the steps of the single-beam multi-target tracking method described in any one of claims 1 to 6 are implemented.

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