Flight path fusion method for low-altitude anti-unmanned aerial vehicle system

Abstract

The invention belongs to the technical field of multi-sensor data fusion, and discloses a flight path fusion method for a low-altitude anti-unmanned aerial vehicle system. The anti-unmanned aerial vehicle system comprises a radar detection module, a photoelectric detection module and a fusion processing module, and the fusion processing module receives sensor track data of a target within a period of time and performs data calibration, data correlation, state estimation and other operations on the sensor track data of the target. Radar track data and photoelectric track data of a target can be obtained at the same time, and the method has the advantages of long detection distance, early discovery, accurate angle measurement, few false alarms and the like; and the fusion processing module receives the radar track data and the photoelectric track data, then carries out coordinate conversion and matching, and finally carries out fusion processing on the radar track data and the photoelectric track data of the target, so that target fusion track information with more comprehensive information is obtained, and subsequent target identification is facilitated.

Description

Technical Field

[0001] The present invention mainly relates to the technical field of multi-sensor data fusion, and in particular to a track fusion method for a low-altitude anti-UAV system. Background Art

[0002] With the opening of low-altitude areas, the maturity of unmanned aerial vehicle technology and the popularization of its application, both the military and civilian fields will face increasingly serious threats from drones. In the civilian field, the development of unmanned aerial vehicles has promoted the development of the low-altitude economy, but it has also brought new problems. In the military field, drone / anti-drone operations have not only become the main combat style of the warring parties and have been used on a regular basis, but their results have also directly affected the progress and outcome of the war. The detection, discovery and identification of drones has become an increasingly urgent need.

[0003] An anti-UAV system refers to an organic whole that uses technical means to monitor, interfere, deceive, control, and destroy UAVs. From the perspective of product capabilities and industry maturity, there is an obvious shortage and lag in the development of anti-UAV system equipment. Conventional sensors for detecting UAVs include radar and optoelectronic equipment. For low-altitude UAVs, radar equipment has a long detection distance and early detection, but the disadvantage is that the radar beam is low and the close-range echo is strong, resulting in many false points and false tracks. The target track of the UAV is easily interfered with, resulting in track interruption and mixing. Optoelectronic equipment has accurate angle measurement and few false alarms, but the disadvantage is that the target detection distance is short and there is a lack of distance information. Therefore, for low-altitude anti-UAV systems, it is a reasonable solution to equip radar equipment and optoelectronic equipment at the same time, taking into account the advantages of radar and optoelectronics. Summary of the invention

[0004] The purpose of the present invention is to provide a track fusion method for a low-altitude anti-UAV system, which is equipped with a radar detection module and an optoelectronic detection module, and can simultaneously obtain the radar detection track and the optoelectronic device detection track of the target. The anti-UAV system fuses the radar detection track and the optoelectronic device detection track of the target to obtain more comprehensive target fusion track information, which is beneficial to subsequent target identification.

[0005] To achieve the above object, the present invention provides a track fusion method for a low-altitude anti-UAV system, comprising the following steps: Step 1: The anti-UAV system includes a radar detection module, an optoelectronic detection module and a fusion processing module. The fusion processing module receives sensor track data of the target within a period of time. The sensor track data includes radar track data generated by the radar detection module and optoelectronic track data generated by the optoelectronic detection module. Step 2: Calibrate the radar track data and optoelectronic track data of the target and convert the radar track data and optoelectronic track data into a common coordinate system; Step 3: Correlate the radar track data and the optoelectronic track data of the target; The anti-UAV system uses the sensor track data received first as the reference fusion track, and matches the point track data with the sensor track data received subsequently. If the match is successful, the reference fusion track is updated; if the match is not successful, the reference fusion track is not updated. Step 4: Perform state estimation on the fused track data of the target; The sensor track data that fails to match the reference fusion track is defined as a newly appeared target, and the fusion processing module defines it as a new fusion track; For the sensor track data that can successfully match the reference fusion track, filtering is performed, and the state of the target in the next scanning cycle is predicted by extrapolation to complete the maintenance of the fusion track, and the quality of the fusion track is evaluated and output; Step 5: The low-altitude anti-UAV system will output and report the fused track information after completing the above fusion processing flow.

[0006] Furthermore, in step 1, the radar track data includes distance information, elevation information and azimuth information of the target point, and the optoelectronic track data includes elevation information and azimuth information of the target point.

[0007] Furthermore, in step 2, calibrating the radar track data and the optoelectronic track data of the target includes the following steps: S1: First, by coordinate transformation, the state estimation of the sensor track data in the rectangular coordinate system is converted into the state estimation of the sensor track data in the polar coordinate system; S2: Preliminary association of the pitch angle information and azimuth angle information in the radar track data with the pitch angle information and azimuth angle information in the optoelectronic track data; S3: After the initial association, the distance information in the radar track data is assigned to the optoelectronic track data; S4: Convert the optoelectronic track data to the rectangular coordinate system through coordinate conversion, and then start the precise association.

[0008] Beneficial effects: The present invention provides a track fusion method for a low-altitude anti-UAV system, comprising a radar detection module, a photoelectric detection module and a fusion processing module, which can simultaneously obtain radar track data and photoelectric track data of the target, and has the advantages of long detection distance, early detection, accurate angle measurement, and few false alarms; the fusion processing module receives the radar track and photoelectric track data, and then performs coordinate conversion and matching, and finally fuses the radar track data and photoelectric track data of the target, thereby obtaining more comprehensive target fusion track information, which is beneficial to subsequent target identification. BRIEF DESCRIPTION OF THE DRAWINGS

[0010] Figure 1 is a diagram of a track fusion processing process involved in an embodiment of the present invention; Figure 2 It is a flow chart of the track fusion method involved in an embodiment of the present invention. DETAILED DESCRIPTION

[0011] The preferred mechanism and implementation method of the present invention are further described below in conjunction with the accompanying drawings and specific implementation methods.

[0012] like Figure 1 to Figure 2 As shown, the embodiment of the present invention discloses a technical solution of a track fusion method for a low-altitude anti-UAV system. In this solution, a fusion processing module in a low-altitude anti-UAV system completes the fusion processing of the radar track data and the optoelectronic track of the target. The fusion processing module receives the radar track data and the optoelectronic track data, then performs coordinate conversion and matching, and finally completes the track fusion. Example

[0013] The present invention provides a track fusion method for a low-altitude anti-UAV system. The track fusion processing flow is as follows: Figure 1 As shown in Figure 2 As shown, the following steps are included: Step 1: The anti-UAV system includes a radar detection module, an optoelectronic detection module and a fusion processing module. The fusion processing module receives sensor track data of the target within a period of time. The sensor track data includes radar track data generated by the radar detection module and optoelectronic track data generated by the optoelectronic detection module. Step 2: Calibrate the radar track data and optoelectronic track data of the target and convert the radar track data and optoelectronic track data into a common coordinate system; Radar track data contains the distance, pitch angle and azimuth of the target, while the photoelectric detection module (such as the photoelectric infrared sensor) lacks the distance information of the target because it cannot measure the distance alone. Therefore, the position estimation information obtained after filtering is divergent, and direct use for association will produce large errors.

[0014] The data calibration of the target's radar track data and optoelectronic track data includes the following steps: S1: First, by coordinate transformation, the state estimation of the sensor track data in the rectangular coordinate system is converted into the state estimation of the sensor track data in the polar coordinate system; S2: Preliminary association of the pitch angle information and azimuth angle information in the radar track data with the pitch angle information and azimuth angle information in the optoelectronic track data; S3: After the initial association, the distance information in the radar track data is assigned to the optoelectronic track data; S4: Convert the photoelectric track data to the rectangular coordinate system through coordinate conversion, and then start the precise association; Step 3: Correlate the radar track data and the optoelectronic track data of the target; The anti-UAV system uses the sensor track data received first as the reference fusion track, and matches the point track data with the sensor track data received subsequently. If the match is successful, the reference fusion track is updated; if the match is not successful, the reference fusion track is not updated. Step 4: Perform state estimation on the fused track data of the target; The sensor track data that fails to match the reference fusion track is defined as a newly appeared target, and the fusion processing module defines it as a new fusion track; For the sensor track data that can successfully match the reference fusion track, filtering is performed, and the state of the target in the next scanning cycle is predicted by extrapolation to complete the maintenance of the fusion track, and the quality of the fusion track is evaluated and output; Step 5: The low-altitude anti-UAV system will output and report the fused track information after completing the above fusion processing flow.

[0015] The present invention provides a track fusion method for a low-altitude anti-UAV system, comprising a radar detection module, a photoelectric detection module and a fusion processing module, which can simultaneously obtain the radar detection track and the photoelectric device detection track of a target, and has the advantages of long detection distance, early detection, accurate angle measurement, few false alarms, etc. The fusion processing module receives the radar track and the photoelectric track information, then performs coordinate conversion and matching, and finally fuses the radar detection track and the photoelectric device detection track of the target, thereby obtaining more comprehensive target fusion track information, which is beneficial to subsequent target recognition.

[0016] Finally, it should be noted that the above are only preferred embodiments of the present invention and are not intended to limit the present invention. Although the present invention has been described in detail with reference to the embodiments, those skilled in the art can still modify the technical solutions described in the aforementioned embodiments or make equivalent substitutions for some of the technical features therein. However, any modifications, equivalent substitutions, improvements, etc. made within the spirit and principles of the present invention should be included in the protection scope of the present invention.

Claims

1. A track fusion method for a low-altitude anti-UAV system, characterized in that: The following steps are involved: Step 1: The anti-UAV system includes a radar detection module, an optoelectronic detection module and a fusion processing module. The fusion processing module receives sensor track data of the target within a period of time. The sensor track data includes radar track data generated by the radar detection module and optoelectronic track data generated by the optoelectronic detection module. Step 2: Calibrate the radar track data and optoelectronic track data of the target and convert the radar track data and optoelectronic track data into a common coordinate system; Step 3: Correlate the radar track data and the optoelectronic track data of the target; The anti-UAV system uses the sensor track data received first as the reference fusion track, and matches the point track data with the sensor track data received subsequently. If the match is successful, the reference fusion track is updated; If the match is not successful, the reference fusion track will not be updated; Step 4: Perform state estimation on the fused track data of the target; The sensor track data that fails to match the reference fusion track is defined as a newly appeared target, and the fusion processing module defines it as a new fusion track; For the sensor track data that can successfully match the reference fusion track, filtering is performed, and the state of the target in the next scanning cycle is predicted by extrapolation to complete the maintenance of the fusion track, and the quality of the fusion track is evaluated and output; Step 5: The low-altitude anti-UAV system will output and report the fused track information after completing the above fusion processing flow.

2. The track fusion method for low-altitude anti-UAV system according to claim 1 is characterized in that: In step 1, the radar track data includes the distance information, elevation information and azimuth information of the target point, and the optoelectronic track data includes the elevation information and azimuth information of the target point.

3. The track fusion method for low-altitude anti-UAV system according to claim 2 is characterized in that: In step 2, data calibration of the target's radar track data and optoelectronic track data includes the following steps: S1: First, by coordinate transformation, the state estimation of the sensor track data in the rectangular coordinate system is converted into the state estimation of the sensor track data in the polar coordinate system; S2: Preliminary association of the pitch angle information and azimuth angle information in the radar track data with the pitch angle information and azimuth angle information in the optoelectronic track data; S3: After the initial association, the distance information in the radar track data is assigned to the optoelectronic track data; S4: Convert the optoelectronic track data to the rectangular coordinate system through coordinate conversion, and then start the precise association.

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