Track initiation method and device based on plot confidence and radar equipment
The radar track initiation method addresses the challenge of maintaining high initiation rates and reducing false tracks by utilizing point track confidence to distinguish between targets and clutter, enhancing radar performance in dense clutter and high false alarm scenarios.
Patent Information
- Application Number
- CN202411371233.2
- Authority / Receiving Office
- CN · China
- Patent Type
- Applications(China)
- Current Assignee / Owner
- Filing Date
- 2024-09-29
- Publication Date
- 2024-12-31
AI Technical Summary
Traditional radar track initiation methods struggle to maintain a high initiation rate of real tracks while reducing false point track initiation in high-density clutter and high false alarm environments, leading to potential track failure due to processing capacity limitations.
A radar track initiation method based on point track confidence, involving association of potential tracks with point tracks, calculation of residual track confidence, and adaptive track start processing to suppress clutter and false alarms, ensuring stable tracking of real targets.
The method enhances the initiation rate and stability of target tracking by distinguishing between target and clutter characteristics, reducing the impact of false alarms and improving radar performance in complex environments.
Smart Images
Figure CN119224718A_ABST
Abstract
Description
Technical Field
[0001] The present application belongs to the field of radar data processing, and in particular relates to a track initiation method, device and radar equipment based on point track confidence. Background Art
[0002] In the development of airborne radar, high-precision and stable tracking of targets is one of the key performance indicators for evaluating radar performance. However, in the face of high-density and strong clutter interference environments, in order to ensure the effective detection and tracking of small targets, radar signal processing will use the method of lowering the detection threshold to achieve the maximum possible detection of weak targets, but this will cause a large number of false alarm target outputs due to the threshold being too low, and the number of signal detection targets will explode, which will put tremendous pressure on the subsequent data processing of the radar. Radar data processing belongs to a real-time processing system, and the number of targets that can be processed in each fixed processing cycle is limited. If the number of radar target points is too large, the failure of the cooperative target track initiation may occur due to the limitation of the radar processing capacity.
[0003] The traditional track initiation method is to start the potential track head based on the remaining points of a scan, and then use the velocity method to establish the initial correlation domain. Potential tracks are established for the secondary scan points that fall into the initial correlation domain. Then, each possible track is linearly extrapolated, and a track correlation domain is established with the extrapolated point as the center. After the three scan points fall into the predicted correlation domain, correlation filtering is performed to form a stable track to complete the track initiation. This method is simple, has a small amount of calculation, and is easy to implement. However, in the face of dense point tracks, strong clutter, and high false alarm environments, the traditional track initiation method cannot simultaneously meet the requirements of maintaining a high initiation rate of the real track and reducing the initiation of false points such as clutter and meteorological clutter.
[0004] Therefore, an effective track initiation method is needed to achieve effective initiation and stable tracking of the cooperative target track by radar in dense point tracks, strong clutter and high false alarm environment. Summary of the invention
[0005] The purpose of the present application is to provide a radar track initiation method, device and radar equipment based on point track confidence to solve or alleviate at least one problem in the background technology.
[0006] In a first aspect, the technical solution of the present application is: a radar track initiation method based on point track confidence, comprising:
[0007] All potential tracks are associated with point tracks, and the potential tracks associated with the point tracks are formed into confirmed tracks, thus completing the track start;
[0008] The points that are not associated with the potential track in the process of associating the track with the potential track constitute the remaining track, the remaining track forms a remaining track set, and the track confidence of the remaining track in the remaining track set is calculated;
[0009] Sort all remaining traces from large to small according to the trace confidence value, and obtain the number of valid remaining traces with a trace confidence greater than 0;
[0010] Determine whether the number of valid remaining track points exceeds the number of remaining tracks that can be started. If the number of valid remaining track points is less than or equal to the number of remaining tracks that can be started, all valid remaining track points are processed for track start to form new potential tracks, and the track confidence value is assigned to the new potential track structure information. If the number of valid remaining track points is greater than the number of remaining tracks that can be started, track start is performed according to the valid remaining track points from the confidence value from large to small, and the traversal is continued until the number of potential tracks reaches the maximum number of potential tracks.
[0011] In an optional implementation manner of the present application, during the process of associating all potential tracks with point tracks, potential tracks whose association update times are less than a predetermined number are deleted.
[0012] In a preferred embodiment of the present application, the method for calculating the point trace confidence is:
[0013]
[0014] Where Q is the point trace confidence value based on feature weighting, ω i is the weight of the i-th position feature of the remaining trace, Σω i =1,x i is the i-th position feature information of the remaining points, is the mean value of the feature information of the i-th position of the remaining points, is the upper limit of the i-th position feature information of the remaining points, It is the lower bound of the i-th position feature information of the remaining points.
[0015] In an optional implementation of the present application, when the number of valid remaining tracks is greater than the number of remaining startable tracks, all potential tracks are traversed and potential tracks whose quality does not meet the requirements and whose track confidence value is less than the track secondary screening threshold are deleted.
[0016] In a second aspect, the technical solution provided by the present application is: a radar track initiation device based on point track confidence, comprising:
[0017] The track initiation module is used to associate all potential tracks with point tracks, associate the potential tracks of the point tracks to form confirmed tracks, and complete the track initiation;
[0018] A confidence calculation module, used for making the points that are not associated with the potential track in the process of associating the points with the potential track form the remaining points, the remaining points form the remaining point set, and calculating the point confidence of the remaining points in the remaining point set;
[0019] The remaining trace screening module is used to sort all the remaining traces from large to small according to the trace confidence value, and obtain the number of valid remaining traces with a trace confidence greater than 0;
[0020] The track processing module is used to determine whether the number of valid remaining track points exceeds the number of remaining tracks that can be started. If the number of valid remaining track points is less than or equal to the number of remaining tracks that can be started, all valid remaining track points are processed for track start to form a new potential track, and the track confidence value is assigned to the new potential track structure information; if the number of valid remaining track points is greater than the number of remaining tracks that can be started, the track is started according to the valid remaining track points from the confidence value from large to small, and the traversal is continued until the number of potential tracks reaches the maximum number of potential tracks.
[0021] In an optional implementation manner of the present application, during the process of associating all potential tracks with point tracks, potential tracks whose association update times are less than a predetermined number are deleted.
[0022] In a preferred embodiment of the present application, the method for calculating the point trace confidence is:
[0023]
[0024] Where Q is the point trace confidence value based on feature weighting, ω i is the weight of the i-th position feature of the remaining trace, Σω i =1,x i is the i-th position feature information of the remaining points, is the mean value of the feature information of the i-th position of the remaining points, is the upper limit of the i-th position feature information of the remaining points, It is the lower bound of the i-th position feature information of the remaining points.
[0025] In an optional implementation of the present application, when the number of valid remaining tracks is greater than the number of remaining startable tracks, all potential tracks are traversed and potential tracks whose quality does not meet the requirements and whose track confidence value is less than the track secondary screening threshold are deleted.
[0026] In the last aspect, the technical solution provided by the present application is: a radar device, the radar comprising a processing device, the processing device executing any of the above-mentioned radar track initiation methods based on point track confidence.
[0027] The present application utilizes the difference in point trace characteristics between the target and clutter and false alarm to suppress clutter and false alarm, ensuring a high starting rate and stable tracking of the real target by the radar in an environment with dense point traces, strong clutter and high false alarm, greatly reducing the impact of false alarms on target tracking, and improving the performance reliability of the radar in complex environments. BRIEF DESCRIPTION OF THE DRAWINGS
[0028] In order to more clearly illustrate the technical solution provided by the present application, the following is a brief introduction to the accompanying drawings. Obviously, the accompanying drawings described below are only some embodiments of the present application.
[0029] Figure 1 This is a schematic diagram of the track initiation method of this application.
[0030] Figure 2 This is a schematic diagram of the track initiation device of this application. DETAILED DESCRIPTION
[0031] In order to make the purpose, technical solutions and advantages of the implementation of this application clearer, the technical solutions in the embodiments of this application will be described in more detail below in conjunction with the drawings in the embodiments of this application.
[0032] In order to improve the high track initiation rate of real targets and reduce the performance of false point track initiation in an environment with dense point tracks, strong clutter and high false alarm, the present application provides a track initiation method and device based on point track confidence.
[0033] like Figure 1 As shown, the track initiation method based on point track confidence provided by the present application includes the following steps:
[0034] Step S10, associate all potential tracks with point tracks, associate the potential tracks with the point tracks to form confirmed tracks, and complete the track initiation.
[0035] First, all the point tracks at time t are associated with the potential tracks established at time t, and the potential tracks of the associated point tracks are updated. The potential tracks with more than the specified number of association updates are upgraded to confirmed tracks, thereby completing the track start.
[0036] For example, in some embodiments of the present application, the above-specified number of times is usually not less than 2 times, and potential tracks that do not meet the above requirements are deleted.
[0037] Step S20, forming a residual point track set from the point tracks that have not been associated with the potential track in the process of associating the point tracks with the potential track, and calculating the point track confidence of the remaining point tracks in the residual point track set.
[0038] All the traces that are not associated with any track are residual traces. Multiple residual traces form a residual trace set. The number of remaining startable tracks is counted, and the trace confidence of the remaining traces in the residual trace set is calculated.
[0039] In this application, the confidence of the point trace is calculated based on the characteristic information of the distance spread, azimuth spread, number of condensed points and amplitude condensed point ratio of the remaining point traces. The calculation method is:
[0040]
[0041] Where Q is the point trace confidence value based on feature weighting, ω i is the weight of the i-th feature information of the remaining trace, Σω i =1,x i is the i-th feature information of the remaining points, is the mean value of the i-th feature information of the remaining points, is the upper bound of the i-th feature information of the remaining points, is the lower bound of the i-th feature information of the remaining points.
[0042] Among them, the distance broadening feature information of the remaining points includes the mean of the distance broadening feature value, the upper limit of the distance broadening feature value, the lower limit of the distance broadening feature value, and the distance broadening feature weight; the azimuth broadening feature information includes the mean of the azimuth broadening feature value, the upper limit of the azimuth broadening feature value, the lower limit of the azimuth broadening feature value, and the azimuth broadening feature weight; the condensed point number feature information includes the mean of the condensed point number feature value, the upper limit of the condensed point number feature value, the lower limit of the condensed point number feature value, and the condensed point number feature weight; the amplitude condensed point number ratio feature information includes the mean of the amplitude condensed point number ratio feature value, the upper limit of the amplitude condensed point number ratio feature value, the lower limit of the amplitude condensed point number ratio feature value, and the amplitude condensed point number ratio feature weight.
[0043] In the present application, after calculating the point track confidence of the remaining point track, the flag of whether to allow the starting track of the remaining point track with a point track confidence value less than 0 can be set to -1, that is, the point track is not allowed to start a potential track, and the remaining point track information is updated.
[0044] Step S30, sorting all remaining traces from large to small according to the trace confidence values, and obtaining the number of valid remaining traces with trace confidence greater than 0.
[0045] Step S40, judging whether the number of valid remaining tracks exceeds the number of remaining tracks that can be started, and performing adaptive track start processing according to the judgment result. The track start processing includes two methods:
[0046] 1) If the number of valid remaining track points is less than or equal to the number of remaining tracks that can be started, all valid track points are processed by normal track start to form new potential tracks, and the track confidence value is assigned to the new potential track structure information;
[0047] 2) If the number of valid remaining tracks is greater than the number of remaining tracks that can be started, the tracks are started for the valid remaining tracks according to the track confidence values from large to small, and the traversal is continued until the number of potential tracks reaches the maximum number of potential tracks.
[0048] In the process of traversing all potential tracks, potential tracks with poor quality and track confidence values less than the track secondary screening threshold are deleted.
[0049] The present application utilizes the difference in point trace characteristics between the target and clutter and false alarm to suppress clutter and false alarm, ensuring a high starting rate and stable tracking of the real target by the radar in an environment with dense point traces, strong clutter and high false alarm, greatly reducing the impact of false alarms on target tracking, and improving the performance reliability of the radar in complex environments.
[0050] Based on the above method, the present application also provides a track initiation device based on point track confidence, the device 10 comprises:
[0051] The track initiation module 11 is used to associate all potential tracks with point tracks, associate the potential tracks with the point tracks to form a confirmed track, and complete the track initiation;
[0052] The confidence calculation module 12 is used to form a residual point track set with the point tracks that have not been associated with the potential track in the process of associating the point tracks with the potential track, and calculate the point track confidence of the remaining point tracks in the residual point track set;
[0053] The remaining trace screening module 13 is used to sort all the remaining traces from large to small according to the trace confidence value, and obtain the number of valid remaining traces with a trace confidence greater than 0;
[0054] The track processing module 14 is used to determine whether the number of valid remaining track points exceeds the number of remaining tracks that can be started. If the number of valid remaining track points is less than or equal to the number of remaining tracks that can be started, all valid remaining track points are processed for track start to form a new potential track, and the track confidence value is assigned to the new potential track structure information; if the number of valid remaining track points is greater than the number of remaining tracks that can be started, the track is started from the confidence value of the valid remaining track points from large to small, and the traversal is continued until the number of potential tracks reaches the maximum number of potential tracks.
[0055] In one embodiment of the present application, during the process of associating all potential tracks with point tracks, potential tracks whose association update times are less than a predetermined number are deleted.
[0056] In one embodiment of the present application, the method for calculating the point trace confidence is:
[0057]
[0058] Where Q is the point trace confidence value based on feature weighting, ω i is the weight of the i-th position feature of the remaining trace, Σω i =1,x i is the i-th position feature information of the remaining points, is the mean value of the feature information of the i-th position of the remaining points, is the upper limit of the i-th position feature information of the remaining points, It is the lower bound of the i-th position feature information of the remaining points.
[0059] In one embodiment of the present application, when the number of valid remaining tracks is greater than the number of remaining startable tracks, all potential tracks are traversed and potential tracks whose quality does not meet the requirements and whose track confidence values are less than the track secondary screening threshold are deleted.
[0060] Finally, the present application also provides a radar device, which includes a data processing device, and the data processing device executes the above-mentioned radar track initiation method based on point track confidence.
[0061] The processing device may include one or more processing units, for example, the processing device may include an application processor (AP), a modem processor, a graphics processor (GPU), an image signal processor (ISP), a controller, a memory, a video codec, a digital signal processor (DSP), a baseband processor, and / or a neural-network processing unit (NPU), etc. Among them, different processing units may be independent devices or integrated into one or more processors. Among them, the controller may generate an operation control signal according to the instruction opcode and the timing signal to complete the control of fetching and executing instructions.
[0062] A memory may also be provided in the processing device for storing instructions and data. In some embodiments, the memory in the processing device is a cache memory. The memory may store instructions or data that have just been used or are cyclically used by the processing device. If the processing device needs to use the instruction or data again, it may be directly called from the memory, thereby avoiding repeated access, reducing the waiting time of the processing device, and thus improving the efficiency of the system.
[0063] In some embodiments, the processing device may include one or more interfaces. For example, the interface may include an inter-integrated circuit (I2C) interface, an inter-integrated circuit sound (I2S) interface, a pulse code modulation (PCM) interface, a universal asynchronous receiver / transmitter (UART) interface, a mobile industry processor interface (MIPI), a general-purpose input / output (GPIO) interface, a subscriber identity module (SIM) interface, and / or a universal serial bus (USB) interface.
[0064] The above is only a specific implementation of the present application, but the protection scope of the present application is not limited thereto. Any changes or substitutions that can be easily thought of by a person skilled in the art within the technical scope disclosed in the present application should be included in the protection scope of the present application. Therefore, the protection scope of the present application shall be based on the protection scope of the claims.
Claims
1. A radar track initiation method based on point track confidence, characterized in that: include: All potential tracks are associated with point tracks, and the potential tracks associated with the point tracks are formed into confirmed tracks, thus completing the track start; The points that are not associated with the potential track in the process of associating the track with the potential track constitute the remaining track, the remaining track forms a remaining track set, and the track confidence of the remaining track in the remaining track set is calculated; Sort all remaining traces from large to small according to the trace confidence value, and obtain the number of valid remaining traces with a trace confidence greater than 0; Determine whether the number of valid remaining track points exceeds the number of remaining tracks that can be started. If the number of valid remaining track points is less than or equal to the number of remaining tracks that can be started, all valid remaining track points are processed for track start to form new potential tracks, and the track confidence value is assigned to the new potential track structure information. If the number of valid remaining track points is greater than the number of remaining tracks that can be started, track start is performed according to the valid remaining track points from the confidence value from large to small, and the traversal is continued until the number of potential tracks reaches the maximum number of potential tracks.
2. The radar track initiation method based on point track confidence as claimed in claim 1, characterized in that: During the process of associating all potential tracks with point tracks, the potential tracks whose association update times are less than the predetermined times are deleted.
3. The radar track initiation method based on point track confidence as claimed in claim 1, characterized in that: The calculation method of the point trace confidence is: Where Q is the point trace confidence value based on feature weighting, ω i is the weight of the i-th position feature of the remaining trace, Σω i =1,x i is the i-th position feature information of the remaining points, is the mean value of the feature information of the i-th position of the remaining points, is the upper limit of the i-th position feature information of the remaining points, It is the lower bound of the i-th position feature information of the remaining points.
4. The radar track initiation method based on point track confidence as claimed in claim 1, characterized in that: When the number of valid remaining tracks is greater than the number of remaining startable tracks, all potential tracks are traversed and the potential tracks whose quality does not meet the requirements and whose track confidence value is less than the track secondary screening threshold are deleted.
5. A radar track initiation device based on point track confidence, characterized in that: include: The track initiation module is used to associate all potential tracks with point tracks, associate the potential tracks with the point tracks to form confirmed tracks, and complete the track initiation; A confidence calculation module, used for making the points that are not associated with the potential track in the process of associating the points with the potential track form the remaining points, the remaining points form the remaining point set, and calculating the point confidence of the remaining points in the remaining point set; The remaining trace screening module is used to sort all the remaining traces from large to small according to the trace confidence value, and obtain the number of valid remaining traces with a trace confidence greater than 0; The track processing module is used to determine whether the number of valid remaining track points exceeds the number of remaining tracks that can be started. If the number of valid remaining track points is less than or equal to the number of remaining tracks that can be started, all valid remaining track points are processed for track start to form a new potential track, and the track confidence value is assigned to the new potential track structure information; if the number of valid remaining track points is greater than the number of remaining tracks that can be started, the track is started according to the valid remaining track points from the confidence value from large to small, and the traversal is continued until the number of potential tracks reaches the maximum number of potential tracks.
6. The radar track initiation device based on point track confidence as claimed in claim 5, characterized in that: During the process of associating all potential tracks with point tracks, the potential tracks whose association update times are less than the predetermined times are deleted.
7. The radar track initiation device based on point track confidence as claimed in claim 5, characterized in that: The calculation method of the point trace confidence is: Where Q is the point trace confidence value based on feature weighting, ω i is the weight of the i-th position feature of the remaining trace, ∑ω i =1,x i is the i-th position feature information of the remaining points, is the mean value of the feature information of the i-th position of the remaining points, is the upper limit of the i-th position feature information of the remaining points, It is the lower bound of the i-th position feature information of the remaining points.
8. The radar track initiation device based on point track confidence as claimed in claim 1, characterized in that: When the number of valid remaining tracks is greater than the number of remaining startable tracks, all potential tracks are traversed and the potential tracks whose quality does not meet the requirements and whose track confidence value is less than the track secondary screening threshold are deleted.
9. A radar device, characterized in that: The radar comprises a processing device, wherein the processing device executes the radar track initiation method based on point track confidence as claimed in any one of claims 1 to 4.