Target track detection method and device in complex meteorological environment, storage medium and equipment

Abstract

The invention discloses a target track detection method and device in a complex meteorological environment, a storage medium and equipment, and belongs to the technical field of target track detection, and the method comprises the steps: obtaining radar echo data generated when a radar detects a target; carrying out trace point preprocessing on trace points in the radar echo data; extracting a radar scattering cross section from the preprocessed trace points; determining a compensation coefficient according to the type of the complex meteorological environment, and compensating the radar cross section based on the compensation coefficient; filtering the compensated radar scattering cross section, and screening out the radar scattering cross section conforming to the target type; based on the screened radar cross section, through point track correlation and track initiation, and then through track filtering updating, target track data is obtained; according to the method, RCS calculation errors caused by attenuation can be effectively corrected through compensation of the radar cross section, and the accuracy of filtering clutter plots by the RCS is improved, so that the accuracy of target track detection is improved.

Description

Technical Field

[0001] The invention relates to a method, a device, a storage medium and equipment for detecting a target track in a complex meteorological environment, and belongs to the technical field of target track detection. Background Art

[0002] Millimeter-wave radar is used for regional tracking and monitoring. It is not only low-cost, small in size, and light in weight, but also has extremely superior performance, especially in environmental applicability and acquisition of target information, which is far superior to traditional radar. It is precisely because of these advantages in millimeter-wave radar detection performance that it will become the mainstream of regional tracking and monitoring.

[0003] During the operation of millimeter-wave radar, it will inevitably be affected by ground clutter, sea clutter and weather clutter, causing problems such as target track confusion and false tracks. The method for dealing with such clutter problems is usually to use MTI, MTD and point-track filtering methods to filter out clutter signals in radar echo signals during radar signal processing and data processing. Among them, the RCS filtering method in point-track filtering is the most commonly used and most effective clutter filtering method, which can effectively filter out the remaining clutter points after radar detection processing, thereby assisting millimeter-wave radar to quickly and accurately establish target tracks and reduce radar false tracks.

[0004] When the millimeter-wave radar works in a complex meteorological environment (such as rainy, snowy, foggy, etc.), the electromagnetic wave signal is attenuated to varying degrees due to the attenuation characteristics of the millimeter wave in the atmosphere. At this time, if the conventional RCS calculation and filtering methods are still used, the normal target points will often be filtered out as clutter points, resulting in missed alarms, reducing the accuracy of the millimeter-wave radar filtering clutter points through the RCS filtering method. Summary of the invention

[0005] The purpose of the present invention is to provide a method, device, storage medium and equipment for detecting target tracks in a complex meteorological environment, so as to solve the problem of low target track detection accuracy in the prior art.

[0006] To achieve the above objectives, the present invention is implemented by adopting the following technical solutions: In a first aspect, the present invention provides a method for detecting a target track in a complex meteorological environment, comprising: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; determining a compensation coefficient according to the type of complex meteorological environment, and compensating the radar cross section based on the compensation coefficient; Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

[0007] Furthermore, the point trace preprocessing includes environmental information graph point trace preprocessing, fully connected neural network data preprocessing, edge extraction preprocessing and / or single-channel unmanned aerial vehicle GMTI system point trace processing.

[0008] Furthermore, the extraction of radar cross section from the preprocessed point traces is achieved by the following formula: ; in, σ is the radar cross section, Amp is the target point trace amplitude, Dis is the target point distance value; The target point trace amplitude and the target point trace distance value are obtained by processing the range-Doppler two-dimensional matrix in the radar echo data by using constant false alarm detection.

[0009] Furthermore, the compensation coefficient is determined according to the type of complex meteorological environment, and is achieved by the following method: When the complex meteorological environment is rainfall, if it is light rain, the compensation coefficient is set to 1.9~2.1, if it is moderate rain, the compensation coefficient is set to 4.9~5.1, if it is heavy rain, the compensation coefficient is set to 9.9~10.1, if it is torrential rain or above, the compensation coefficient is set to 15~20; The light rain is a rainfall level of rainfall ≤ 10, the moderate rain is a rainfall level of 10 < rainfall ≤ 25, the heavy rain is a rainfall level of 25 < rainfall ≤ 50, and the torrential rain is a rainfall level of 50 < rainfall ≤ 100. The unit of rainfall is mm / 24hr; When the complex meteorological environment is snowfall, the compensation coefficient is set to 1~1.1; When the complex meteorological environment is foggy, the compensation coefficient is set to 1~2.

[0010] Furthermore, when the complex meteorological environment is rainfall, if it is light rain, the compensation coefficient is set to 2, if it is moderate rain, the compensation coefficient is set to 5, and if it is heavy rain, the compensation coefficient is set to 10.

[0011] Furthermore, the compensation of the radar cross section based on the compensation coefficient is achieved by the following formula: ; in, σ bc is the compensated radar cross section, Amp is the target point trace amplitude, Dis is the target point distance value, l is the compensation coefficient; The target point trace amplitude and the target point trace distance value are obtained by processing the range-Doppler two-dimensional matrix in the radar echo data by using constant false alarm detection.

[0012] Furthermore, filtering the compensated radar cross section to select radar cross sections that meet the target type includes: Based on the preset filtering threshold value, the radar cross sections within the radar cross section range of the target type are screened out, and the radar cross sections that meet the target type are screened out.

[0013] In a second aspect, the present invention provides a target track detection device in a complex meteorological environment, comprising: The radar echo data acquisition module is configured to: acquire radar echo data generated when the radar detects a target; The point trace preprocessing module is configured to: perform point trace preprocessing on the point traces in the radar echo data; The radar cross section extraction module is configured to: extract the radar cross section from the preprocessed point traces; A radar cross section compensation module is configured to: determine a compensation coefficient according to the type of complex meteorological environment, and compensate the radar cross section based on the compensation coefficient; The radar cross section screening module is configured to: filter the compensated radar cross sections to screen out radar cross sections that meet the target type; The target track detection module is configured to obtain target track data based on the filtered radar scattering cross section, through point track correlation and track initiation, and then through track filtering and updating.

[0014] In a third aspect, the present invention provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the target track detection method in a complex meteorological environment described in any one of the first aspects are implemented.

[0015] In a fourth aspect, the present invention provides a computer device, comprising: Memory, for storing computer programs / instructions; A processor is used to execute the computer program / instructions to implement the steps of the target track detection method in a complex meteorological environment as described in any one of the first aspects.

[0016] Compared with the prior art, the beneficial effects achieved by the present invention are: The present invention provides a method, device, storage medium and equipment for detecting a target track in a complex meteorological environment. By compensating for the radar scattering cross section, the RCS calculation error caused by attenuation can be effectively corrected, and the accuracy of RCS filtering clutter point tracks is improved, thereby improving the accuracy of target track detection, enhancing the environmental adaptability and anti-interference ability of the millimeter-wave radar, and improving the target detection capability of the millimeter-wave radar. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] Figure 1 is a flow chart of a target track detection method in a complex meteorological environment corresponding to Embodiment 1 of the present invention; Figure 2 is a flow chart of a target track detection method in a complex meteorological environment corresponding to Embodiment 2 of the present invention; Figure 3 is a flow chart of target amplitude information extraction provided by Embodiment 2 of the present invention; Figure 4 This is a comparison diagram of the target distance dimension FFT before and after provided by Example 2 of the present invention; Figure 5 This is a comparison diagram of the target Doppler dimension FFT before and after provided by Example 2 of the present invention; Figure 6 This is a one-way attenuation diagram of electromagnetic waves passing through a rainfall area at different frequencies and different rainfall amounts provided by Example 2 of the present invention; Figure 7 This is a one-way attenuation diagram of electromagnetic waves passing through a snowfall area at different frequencies and different snow amounts provided by Example 2 of the present invention; Figure 8 This is a one-way attenuation diagram of electromagnetic waves in fog with different frequencies and different water contents provided by Example 2 of the present invention. DETAILED DESCRIPTION

[0018] The present invention will be further described below in conjunction with the accompanying drawings. The following embodiments are only used to more clearly illustrate the technical solutions of the present invention and are not intended to limit the protection scope of the present invention.

[0019] Example 1.

[0020] like Figure 1 As shown, the present invention provides a target track detection method in a complex meteorological environment, comprising: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; determining a compensation coefficient according to the type of complex meteorological environment, and compensating the radar cross section based on the compensation coefficient; Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

[0021] The present invention can effectively correct the RCS calculation error caused by attenuation by compensating for the radar scattering cross section, improve the accuracy of RCS filtering clutter point traces, thereby improving the accuracy of target track detection, and improving the working ability of millimeter wave radar in rainy weather environment; improving the working ability of millimeter wave radar in snowy weather environment; improving the working ability of millimeter wave radar in foggy weather environment; enhancing the anti-interference ability of millimeter wave radar in complex weather environment, and improving the target detection ability.

[0022] Example 2.

[0023] The working principle of millimeter wave radar (radar equation) is as follows: ; in, R max is the radar’s range, that is, the maximum range for a given target. R t is the radar transmission power, G is the radar receiver gain, λ is the emission wavelength of the radar antenna, k is the Boltzmann constant, T 0 is the standard room temperature, usually 290K, B is the radar receiver bandwidth, L is the loss of each part of the radar, ( S / N ) omin is the radar recognition coefficient, σ is the radar cross section (RCS), F is the noise factor.

[0024] From the radar equation, we can know that radar cross section (RCS) is a key concept in radar detection technology. It is a physical quantity that characterizes the intensity of the echo generated by the target under the irradiation of radar waves, and reflects the effective reflection area of ​​the target to the radar wave. The energy of radar target and scattering can be expressed as the product of an effective area and the incident power density. This area is usually called the radar cross section. RCS is an imaginary area, which is a quantity that describes the backscattering power capability of the target under a certain incident power. It is theoretically described in units of area. The larger the target RCS area, the stronger the backscattering capability of the radar electromagnetic wave, the greater the echo power generated, and the easier it is to be detected by radar.

[0025] The radar echo data enters the data processing from the signal processing, and then performs target detection, point track preprocessing, RCS extraction, working mode judgment, RCS compensation, point track correlation and track initiation, track filtering and updating, and finally outputs the updated target track data to the display control. The present invention will describe the target track detection method based on the RCS calculation compensation method of the millimeter wave radar under complex meteorological environment, and correct the target RCS calculation error caused by signal attenuation. This method improves the environmental adaptability of the millimeter wave radar, enhances the anti-interference ability of the millimeter wave radar, and improves the detection capability of the millimeter wave radar.

[0026] like Figure 2 As shown, the present invention provides a target track detection method in a complex meteorological environment, comprising: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; If the environment is complex, a compensation coefficient is determined according to the type of complex weather environment, and the radar cross section is compensated based on the compensation coefficient. If the environment is not complex, the filtering stage can be directly entered. Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

[0027] like Figure 2 As shown, the present invention provides a target track detection method in a complex meteorological environment, comprising: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; If the environment is complex, a compensation coefficient is determined according to the type of complex weather environment, and the radar cross section is compensated based on the compensation coefficient. If the environment is not complex, the filtering stage can be directly entered. Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

[0028] The target amplitude information extraction process is as follows: Figure 3 As shown, including: Range-dimensional FFT (Fast Fourier Transform): accumulates the targets in the same range gate and obtains the target information (amplitude, Doppler) within the range gate, such as Figure 4 The figure shows the effect of comparing the target distance dimension FFT before and after.

[0029] MTI (Moving Target Indication) filtering: MTI refers to the technology of using filters to suppress various clutters and improve the signal-to-clutter ratio of radar signals to facilitate the detection of moving targets. In the detection of fixed targets and slow clutter, it is found that their power is concentrated near the zero frequency. MTI uses this feature to filter out stationary objects and slow clutter in the echo.

[0030] Doppler FFT (Fast Fourier Transform): Accumulate the targets at the same distance and speed, not only can the speed of the target be obtained, but also the interference of clutter or other targets at the same distance and different speed can be suppressed, such as Figure 5 The figure shows the effect of the comparison before and after the target Doppler FFT.

[0031] CFAR (Constant False Alarm Rate) detection: After clutter suppression processing, the target and clutter are distributed to the two-dimensional plane of range-Doppler frequency domain, and the two-dimensional constant false alarm rate (CFAR) processing is adopted in time-frequency domain.

[0032] In two-dimensional CA-CFAR detection, the square value of the amplitude in the range-Doppler two-dimensional matrix can be regarded as a random variable in the random model, and the background noise power Z It can be expressed as: ; in, X i,j Indicates the reference window i Line j The square value of the column signal, m is the number of reference cell rows, n is the number of reference unit columns, b To protect the number of unit rows, c To protect the number of unit columns, i Represents the distance dimension array subscript, j Indicates the Doppler dimension array subscript.

[0033] Detection threshold Th It can be expressed as: Th = αZ ; in, αRepresents the threshold factor, and the detection effect can be improved by adjusting the threshold factor. So far, the CFAR detection threshold has been calculated, and the CFAR detection decision formula can be used to determine whether the unit to be detected contains the target.

[0034] The decision process can be expressed as: ; in, D ( Y ) indicates the result of the judgment, Y Indicates the signal amplitude of the unit to be detected. Y When it is greater than the detection threshold, it means that the unit to be detected contains a target. Otherwise, there is no target in the unit to be detected.

[0035] RCS extraction: According to the amplitude and distance value of the point trace in the millimeter wave radar measured data, the RCS value of the point trace is calculated: ; in, σ is the radar cross section, Amp is the target point trace amplitude, Dis is the target point trace distance value; the target point trace amplitude and the target point trace distance value are obtained by processing the range-Doppler two-dimensional matrix in the radar echo data using constant false alarm detection.

[0036] RCS filtering: According to a large amount of statistical data, the RCS values ​​of different targets are different. At the same time, the RCS value of the real target is much larger than the meteorological clutter. Therefore, by selecting a suitable RCS filtering threshold value, the meteorological clutter traces can be filtered out and the targets can be classified. The RCS ranges of several common targets are shown in Table 1.

[0037] Table 1 - RCS ranges of common targets Target RCS bird 0.00001 to 0.01 people 0.5 to 2 Small aircraft 1 to 10 Large aircraft 10 to 100 car 100 to 300 cargo ship 200 to 1000 RCS calculation compensation: 1. Weather environment on rainy days.

[0038] The rainy weather environment can be divided into five levels: light rain, moderate rain, heavy rain, rainstorm, torrential rain and above. The specific classification standards are shown in Table 2. In the rainy weather environment, the amplitude attenuation of the millimeter-wave radar electromagnetic wave passing through the rainfall area is as follows: Figure 6 shown.

[0039] Table 2-Rainfall classification table Rainfall classification mm / 24hr light rain Rainfall ≤ 10 moderate rain 10<Rainfall≤25 heavy rain 25<Rainfall≤50 rainstorm 50<Rainfall≤100 Heavy rain and above Rainfall>100 Depend on Figure 6 It can be seen that as the amount of rainfall increases, the attenuation of the millimeter-wave radar electromagnetic wave signal also increases.

[0040] In light rain (10mm / 24hr), the one-way attenuation value per kilometer is approximately: 2.35dB; In moderate rain conditions (25mm / 24hr), the one-way attenuation per kilometer is approximately: 5.45dB; In heavy rain (50mm / 24hr), the one-way attenuation per kilometer is approximately: 11.1dB; In a rainstorm environment (100mm / 24hr), the one-way attenuation value per kilometer is approximately: 21.45dB; In heavy rain or above (144mm / 24hr), the one-way attenuation value per kilometer is approximately: 31.91dB.

[0041] 2. Snowy weather environment.

[0042] Snowy weather conditions can be divided into five levels: light snow, moderate snow, heavy snow, blizzard, severe blizzard and above. The specific classification standards are shown in Table 3. In the snowy weather environment, the amplitude attenuation of the millimeter-wave radar electromagnetic wave passing through the snowfall area is as follows: Figure 7 shown.

[0043] Table 3- Snowfall classification table Snow classification mm / 24hr Light Snow 0.1≤Snowfall≤2.5 Moderate Snow 2.5<Snowfall≤5.0 heavy snow 5.0<Snowfall≤10.0 Blizzard 10.0<Snowfall≤20.0 Heavy snow and above Snowfall>20 Depend on Figure 7 It can be seen that snowfall has almost no attenuation amplitude on the electromagnetic wave signal of millimeter-wave radar.

[0044] 3. Foggy weather environment.

[0045] The foggy weather environment can be divided into five levels: light fog, heavy fog, dense fog, extremely dense fog, and extremely dense fog. The specific classification standards are shown in Table 4. In the foggy weather environment, the amplitude attenuation of the millimeter-wave radar electromagnetic wave passing through the fog area is as follows: Figure 8 shown.

[0046] Table 4- Fog classification table Fog level classification Visibility km Light mist 1<Visibility≤10 Heavy fog 0.5<Visibility≤1 Thick fog 0.2<Visibility≤0.5 Heavy fog 0.05<Visibility≤0.2 Very strong fog Visibility ≤ 0.05 The water content in different foggy weather environments is different, as shown in Table 5. The attenuation of the electromagnetic waves of millimeter-wave radar is mainly caused by the absorption of electromagnetic waves by water droplets in the fog, so the water content in the fog plays a decisive role in the attenuation.

[0047] Table 5-Water content in different grades of fog Fog level classification <![CDATA[Water content g / m 3 > Light mist Water content ≤ 0.005 Heavy fog 0.005<Water content≤0.02 Thick fog 0.02<Water content≤0.19 Heavy fog 0.19<Water content≤0.37 Very strong fog Water content ≥0.37 Depend on Figure 8 It can be seen that the greater the water content in the fog, the greater the attenuation of the millimeter-wave radar electromagnetic wave signal.

[0048] In light fog and heavy fog environment (0.02g / m 3 )The one-way attenuation value per kilometer is approximately: <0.13dB; In dense fog (0.15g / m3 )The one-way attenuation value per kilometer is approximately: 0.77dB; In strong fog environment (0.35g / m 3 )The one-way attenuation value per kilometer is approximately: 1.81dB; In extremely dense fog (0.41g / m 3 ) The one-way attenuation value per kilometer is approximately: 2.31dB.

[0049] Implementation method of RCS compensation: Under complex meteorological conditions, this method switches to "complex meteorological environment mode" through the radar display and control main interface. After point trace preprocessing, calculation and extraction of RCS, the calculated point trace RCS is compensated and the compensation coefficient is adjusted according to different rainfall.

[0050] The RCS calculation formula after compensation is as follows: ; in, σ bc is the compensated radar cross section, Amp is the target point trace amplitude, Dis is the target point distance value, l is the compensation coefficient; The target point trace amplitude and the target point trace distance value are obtained by processing the range-Doppler two-dimensional matrix in the radar echo data by using constant false alarm detection.

[0051] In a rainfall meteorological environment, the RCS compensation coefficient is set to 2.0 in a light rain meteorological environment, the RCS compensation coefficient is set to 5.0 in a moderate rain meteorological environment, and the RCS compensation coefficient is set to 10.0 in a heavy rain meteorological environment. In a rainfall meteorological environment above torrential rain, the millimeter-wave radar signal attenuates severely, and the compensation coefficient is set between 15.0-20.0, and is set to 17.5 in this embodiment.

[0052] In a snowy weather environment, since there is almost no attenuation of electromagnetic waves caused by snowfall, the RCS compensation coefficient in the snowy weather environment is set to between 1.0 and 1.1, and is set to 1.05 in this embodiment.

[0053] In foggy weather, the amount of water in the fog affects the attenuation of electromagnetic waves. Figure 5 , Figure 7 It can be seen that the attenuation of extremely dense fog is similar to the attenuation value of light rain, so the RCS compensation coefficient of the foggy weather environment is set to between 1.0 and 2.0, and is set to 1.5 in this embodiment.

[0054] After the point track is associated and the track is started, updated and reported, the radar display and control interface will track the target in real time and generate the target point track information.

[0055] In this embodiment, actual measurements were conducted, and the playback results of the measured data of the RCS compensation effect are as follows (target type: human, RCS nominal value 1.0 m 2 ): Table 6-Measured data table Weather conditions RCS before compensation Compensation coefficient RCS after compensation light rain 0.76 2 1.13 moderate rain 0.43 5 0.94 heavy rain 0.28 10 1.02 Light to moderate snow 0.91 1.02 0.93 heavy snow 0.87 1.05 0.91 Light mist and heavy fog 0.84 1.1 0.97 The RCS calculation compensation method can effectively correct the RCS calculation error caused by attenuation and improve the accuracy of RCS filtering clutter points.

[0056] Example 3.

[0057] The present invention provides a target track detection device in a complex meteorological environment, comprising: The radar echo data acquisition module is configured to: acquire radar echo data generated when the radar detects a target; The point trace preprocessing module is configured to: perform point trace preprocessing on the point traces in the radar echo data; The radar cross section extraction module is configured to: extract the radar cross section from the preprocessed point traces; A radar cross section compensation module is configured to: determine a compensation coefficient according to the type of complex meteorological environment, and compensate the radar cross section based on the compensation coefficient; The radar cross section screening module is configured to: filter the compensated radar cross sections to screen out radar cross sections that meet the target type; The target track detection module is configured to obtain target track data based on the filtered radar scattering cross section, through point track correlation and track initiation, and then through track filtering and updating.

[0058] Example 4.

[0059] The present invention provides a computer-readable storage medium having a computer program / instruction stored thereon. When the computer program / instruction is executed by a processor, the steps of the target track detection method under a complex meteorological environment provided in Example 1 are implemented: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; determining a compensation coefficient according to the type of complex meteorological environment, and compensating the radar cross section based on the compensation coefficient; Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

[0060] Example 5.

[0061] The present invention provides a computer device, comprising: Memory, for storing computer programs / instructions; The processor is used to execute the computer program / instructions to implement the steps of the target track detection method under a complex meteorological environment provided in Example 1: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; determining a compensation coefficient according to the type of complex meteorological environment, and compensating the radar cross section based on the compensation coefficient; Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

[0062] Those skilled in the art will appreciate that the embodiments of the present application may be provided as methods, systems, or computer program products. Therefore, the present application may adopt the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware. Moreover, the present application may adopt the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program codes.

[0063] The present application is described with reference to the flowcharts and / or block diagrams of the methods, devices (systems), and computer program products according to the embodiments of the present application. It should be understood that each process and / or box in the flowchart and / or block diagram, as well as the combination of the processes and / or boxes in the flowchart and / or block diagram, can be implemented by computer program instructions. These computer program instructions can be provided to a processor of a general-purpose computer, a special-purpose computer, an embedded processor, or other programmable data processing device to generate a machine, so that the instructions executed by the processor of the computer or other programmable data processing device generate instructions for implementing the processes in the flowchart and / or block diagram. Figure 1 A process or multiple processes and / or boxes Figure 1 A device that provides the functions specified in a block or multiple blocks.

[0064] These computer program instructions may also be stored in a computer readable memory capable of directing a computer or other programmable data processing device to operate in a specific manner, so that the instructions stored in the computer readable memory produce an article of manufacture including an instruction device, which implements the process Figure 1 A process or multiple processes and / or boxes Figure 1 A function specified in one or more boxes.

[0065] These computer program instructions can also be loaded onto a computer or other programmable data processing device so that a series of operating steps are executed on the computer or other programmable device to produce a computer-implemented process, thereby providing instructions for implementing the process in the computer or other programmable device. Figure 1 A process or multiple processes and / or boxes Figure 1 The steps for the functions specified in one or more boxes.

[0066] The above is only a preferred embodiment of the present invention. It should be pointed out that for ordinary technicians in this technical field, several improvements and modifications can be made without departing from the technical principles of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A target track detection method in a complex meteorological environment, characterized in that: include: Acquire radar echo data generated when radar detects a target; Performing point trace preprocessing on the point traces in the radar echo data; Extract radar cross section from preprocessed point traces; determining a compensation coefficient according to the type of complex meteorological environment, and compensating the radar cross section based on the compensation coefficient; Filter the compensated radar cross section to select the radar cross section that meets the target type; Based on the screened radar scattering cross section, the target track data is obtained through point track correlation and track initiation, and then through track filtering and updating.

2. The target track detection method under complex meteorological environment according to claim 1 is characterized in that: The point trace preprocessing includes environmental information graph point trace preprocessing, fully connected neural network data preprocessing, edge extraction preprocessing and / or single-channel unmanned aerial vehicle GMTI system point trace processing.

3. The target track detection method under complex meteorological environment according to claim 1 is characterized in that: The radar cross section is extracted from the preprocessed point traces by the following formula: ; in, σ is the radar cross section, Amp is the target point trace amplitude, Dis is the target point distance value; The target point trace amplitude and the target point trace distance value are obtained by processing the range-Doppler two-dimensional matrix in the radar echo data by using constant false alarm detection.

4. The target track detection method under complex meteorological environment according to claim 1 is characterized in that: Determining the compensation coefficient according to the type of complex meteorological environment is achieved by the following method: When the complex meteorological environment is rainfall, if it is light rain, the compensation coefficient is set to 1.9~2.1, if it is moderate rain, the compensation coefficient is set to 4.9~5.1, if it is heavy rain, the compensation coefficient is set to 9.9~10.1, if it is torrential rain or above, the compensation coefficient is set to 15~20; The light rain is a rainfall level of rainfall ≤ 10, the moderate rain is a rainfall level of 10 < rainfall ≤ 25, the heavy rain is a rainfall level of 25 < rainfall ≤ 50, and the torrential rain is a rainfall level of 50 < rainfall ≤ 100. The unit of rainfall is mm / 24hr; When the complex meteorological environment is snowfall, the compensation coefficient is set to 1~1.1; When the complex meteorological environment is foggy, the compensation coefficient is set to 1~2.

5. The target track detection method under complex meteorological environment according to claim 4 is characterized in that: When the complex meteorological environment is rainfall, if it is light rain, the compensation coefficient is set to 2, if it is moderate rain, the compensation coefficient is set to 5, and if it is heavy rain, the compensation coefficient is set to 10.

6. The target track detection method under complex meteorological environment according to claim 1 is characterized in that: The compensation of the radar cross section based on the compensation coefficient is achieved by the following formula: ; in, σ bc is the compensated radar cross section, Amp is the target point trace amplitude, Dis is the target point distance value, l is the compensation coefficient; The target point trace amplitude and the target point trace distance value are obtained by processing the range-Doppler two-dimensional matrix in the radar echo data by using constant false alarm detection.

7. The target track detection method under complex meteorological environment according to claim 1 is characterized in that: The filtering of the compensated radar cross section to select radar cross sections that meet the target type includes: Based on the preset filtering threshold value, the radar cross sections within the radar cross section range of the target type are screened out, and the radar cross sections that meet the target type are screened out.

8. A target track detection device in a complex meteorological environment, characterized in that: include: The radar echo data acquisition module is configured to: acquire radar echo data generated when the radar detects a target; The point trace preprocessing module is configured to: perform point trace preprocessing on the point traces in the radar echo data; The radar cross section extraction module is configured to: extract the radar cross section from the preprocessed point traces; A radar cross section compensation module is configured to: determine a compensation coefficient according to the type of complex meteorological environment, and compensate the radar cross section based on the compensation coefficient; The radar cross section screening module is configured to: filter the compensated radar cross sections to screen out radar cross sections that meet the target type; The target track detection module is configured to obtain target track data based on the filtered radar scattering cross section, through point track correlation and track initiation, and then through track filtering and updating.

9. A computer-readable storage medium having a computer program / instruction stored thereon, characterized in that: When the computer program / instruction is executed by a processor, the steps of the target track detection method in a complex meteorological environment described in any one of claims 1 to 7 are implemented.

10. A computer device, characterized in that: include: Memory, for storing computer programs / instructions; A processor, used to execute the computer program / instructions to implement the steps of the target track detection method in a complex meteorological environment as described in any one of claims 1 to 7.

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