Multi-band radar target measurement relative error correction method based on sequence fitting

Abstract

The invention provides a sequence fitting-based multi-band radar target measurement relative error closed-loop correction method, which is applied to a situation generation system, and comprises the following steps: carrying out band data splitting on a multi-band radar fusion track to obtain a single-band radar target track sequence, carrying out linear fitting on track sequence data to obtain a single-band radar target track sequence; distance fitting deviation, azimuth fitting deviation and elevation fitting deviation are obtained, the linearity of the sequence is calculated, a homologous wave band sequence is further searched for a track with the high linearity, the fitting parameters of the current wave band sequence and the fitting parameters of the homologous wave band sequence are used for calculating the relative error between every two of multiple wave bands at the current moment, and the relative error is calculated. And the multi-band radar target measurement error matrix is iteratively updated. The invention provides a multiband data relative error online correction method for the system, and the method has the performance of target tracking and more stable starting.

Description

Technical Field

[0001] The present invention relates to data processing technology in the field of radar technology, and in particular to an online error correction technology for a multi-source fusion system. Background Art

[0002] Modern fusion systems in the field of target detection are usually based on the fusion of multiple different band data. However, due to the relative errors in different band data, the positions of the same target detected by different bands are deviated, which makes it difficult for the target automatic start algorithm to effectively extract the target, and even often produces false tracks. In addition, the relative errors of different band data will be introduced into the target composite tracking filter, making the target tracking process unstable, causing the target to be lost or mistracked. Therefore, the relative errors in different band data will seriously affect the data fusion effect of the system. In order to solve this problem, the traditional method is usually to use cooperative targets for experiments and perform error statistics afterwards. This method faces the following two main problems: 1) When the relative errors of different bands drift during the operation of the fusion system, the relative errors cannot be corrected in time; 2) The operator cannot observe and correct the relative errors of different band data online. Summary of the invention

[0003] In view of the shortcomings of relative error correction in existing multi-band fusion systems, the present invention provides a multi-band radar target measurement relative error correction method based on sequence fitting, which solves the problem that modern multi-band fusion systems cannot perform online correction of relative errors in non-test stages, provides a more convenient relative error correction method, and makes the initial tracking function of the fusion system more stable.

[0004] In order to achieve the above technical objectives, the present invention proposes a multi-band radar target measurement relative error closed-loop correction method based on sequence fitting, the process includes:

[0005] Step 1: Establish a multi-band radar target measurement error matrix;

[0006] Step 2: Initialize the multi-band radar target measurement error matrix and save the initialized multi-band radar target measurement error matrix;

[0007] Step 3: Use the multi-band fusion track data to update the multi-band radar target measurement error matrix. The specific steps include:

[0008] Step 3.1: Receive multi-band fusion track data and determine whether the currently received track value is a detection value or an extrapolated value. If it is a detection value, proceed to the next step, otherwise do not process;

[0009] Step 3.2: Band data splitting: Calculate the band of the current fused track value from the fused track, and fill the distance value, azimuth value and elevation angle value of the track into the track link table of the corresponding band according to the calculated band identifier as single-band track data;

[0010] Step 3.3: Single-band sequence fitting: Take out the track values ​​of the latest w moments in the corresponding single-band track data to obtain the track sequence, and use the data of the track sequence to perform linear fitting to obtain the distance fitting parameters, azimuth fitting parameters, elevation fitting parameters, as well as the distance fitting deviation, azimuth fitting deviation and elevation fitting deviation;

[0011] Step 3.4: Sequence linearity determination: The linearity of the sequence is calculated using the distance fitting deviation, azimuth fitting deviation and elevation fitting deviation. If the linearity is greater than the threshold, proceed to the next step, otherwise the track list of the current band is updated using the current track value; preferably, the threshold is selected as 0.8;

[0012] Step 3.5: Find homologous band sequences: match the linear fitting parameters of the current band sequence with the fitting parameters of other band sequences, and take the band sequences that meet the matching conditions as homologous band sequences. If there are homologous band sequences, proceed to the next step, otherwise use the current track value to update the current band track list;

[0013] Preferably, the matching conditions include: the fused tracks corresponding to the sequence data are the same, and the sequence data are within the same time window, and the time window size is set to 10 seconds;

[0014] Step 3.6: Current error calculation: Use the fitting parameters of the current band sequence and the fitting parameters of the homologous band sequence to calculate the relative errors between the multiple bands at the current moment;

[0015] Step 3.7: Update the error matrix: Use the relative errors between the multi-bands to iteratively update the multi-band radar target measurement error matrix, save the updated error matrix, and use the current track value to update the current band track list;

[0016] Step 3.8: Save the multi-band radar target measurement error matrix. When there is new fusion track data, repeat steps 3.1 to 3.8;

[0017] Step 4: Extract the relative error between bands from the updated multi-band radar target measurement error matrix;

[0018] Step 5: After receiving the multi-band data, the fusion system uses the extracted multi-band relative error to correct the data, and uses the corrected data to start multi-band fusion and perform multi-band composite tracking. After forming a multi-band fusion track, proceed to step 3.

[0019] The present invention provides an online correction method for the relative error of multi-band data by calculating the relative error between multi-bands using multi-band data fusion track information, making the target tracking and initiation of the fusion system more stable for users. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] Figure 1 It is a preferred flowchart of the present invention.

[0021] Figure 2 It is a schematic diagram of the relative error matrix of multi-band data. DETAILED DESCRIPTION OF THE INVENTION

[0022] Figure 1 It is a preferred implementation process of the present invention, and the process includes:

[0023] Step 1: Establish a multi-band radar target measurement error matrix. Assuming there are n bands in total, construct a relative error matrix of n bands as a lower triangular matrix. The error element between the j-th band and the i-th band is represented as Δ ji , as Figure 2 shown, where j > i. When j < i, the obtained difference is filled in the corresponding position after being reflected by the reflecting surface in the figure, and the corresponding value sign is reversed.

[0024] Step 2: Initialize the elements of the multi-band radar target measurement error matrix to 0, and save the initialized multi-band radar target measurement error matrix.

[0025] Step 3: Use the multi-band fusion track data to update the multi-band radar target measurement error matrix. The preferred process includes:

[0026] Step 3.1: Receive the multi-band fusion track data. The fusion track received at time t is represented as X(t). Determine whether the currently received track value is a detection value or an extrapolated value. If it is a detection value, proceed to the next step; otherwise, do not process.

[0027] Step 3.2: Band data splitting: Resolve the band of the current fusion track value from the fusion track, and fill the distance value, azimuth value, and elevation value of the track into the track linked list of the corresponding band according to the resolved band identifier as single-band track data. The single-band track data of the j-th band is represented as X j (1:k);

[0028] Step 3.3: Single-band sequence fitting: Take out the track values of the nearest w moments in the single-band track data to obtain a track sequence X j (k - w:k), where w is usually taken as 10. Use the data of this track sequence for linear fitting to obtain the distance fitting parameter azimuth fitting parameter elevation fitting parameter And the distance fitting deviation Azimuth fitting deviation and elevation fitting deviation Where a represents the fitting linear term parameter, and b represents the intercept;

[0029] Step 3.4: Sequence linearity determination: The linearity of the sequence is calculated using the distance fitting deviation, azimuth fitting deviation, and elevation fitting deviation. The sequence linearity of the jth band is

[0030]

[0031] in, Indicates the distance measurement error of this band, Indicates the azimuth measurement error of this band, Indicates the elevation angle measurement error of this band;

[0032] The preferred threshold is 0.8. If the linearity is greater than the threshold, proceed to the next step, otherwise the track list of the current band is updated using the current track value;

[0033] Step 3.5: Find homologous band sequences: match the linear fitting parameters of the current band sequence with the fitting parameters of other band sequences, and take the band sequences that meet the matching conditions as homologous band sequences. If there are homologous band sequences, proceed to the next step, otherwise use the current track value to update the current band track list;

[0034] Preferably, the matching condition includes: the fused tracks corresponding to the sequence data are the same, and the sequence data are within the same time window, and the time window size is set to 10 seconds.

[0035] Step 3.6: Current error calculation: Use the fitting parameters of the current band sequence and the fitting parameters of the homologous band sequence to calculate the relative error between the two bands at the current moment:

[0036]

[0037] in represents the distance error between the i-th band and the j-th band at time k, represents the azimuth error between the i-th band and the j-th band at time k, It represents the elevation angle error between the i-th band and the j-th band at time k;

[0038] Step 3.7: Update the error matrix: Use the relative error between the two bands to iteratively update the multi-band radar target measurement error matrix:

[0039]

[0040] Among them, β represents the update rate, which is 0.9 here. After updating, the error matrix is ​​saved, and the current band track list is updated with the current track value;

[0041] Step 3.8: Save the multi-band radar target measurement error matrix. When there is new fusion track data, repeat steps 3.1 to 3.8;

[0042] Step 4: Extract the relative error between bands from the updated multi-band radar target measurement error matrix;

[0043] Step 5: After receiving the multi-band data, the fusion system uses the extracted multi-band relative error to correct the data, and uses the corrected data to start multi-band fusion and perform multi-band composite tracking. After forming a multi-band fusion track, proceed to step 3.

[0044] The above is only a preferred embodiment of the present invention. It should be pointed out that ordinary technicians in this technical field can make several improvements and modifications without departing from the principle of the present invention. These improvements and modifications should also be regarded as the scope of protection of the present invention.

Claims

1. A relative error correction method for multi-band radar target measurement based on sequence fitting, characterized in that: Step 1: Establish a multi-band radar target measurement error matrix; Step 2: Initialize and save the multi-band radar target measurement error matrix; Step 3: Use the multi-band radar target fusion track data to update the multi-band radar target measurement error matrix, including: Step 3.1: Receive multi-band radar mother fusion track data, determine whether the currently received track value is a detection value or an extrapolated value, if it is a detection value, proceed to the next step, otherwise do not process; Step 3.2: Band data splitting: Calculate the band of the current fused track value from the fused track, and fill the distance value, azimuth value and elevation angle value of the track into the track link table of the corresponding band according to the calculated band identifier as single-band track data; Step 3.3: Single-band sequence fitting: Take out the track values ​​of the latest w moments in the corresponding single-band track data to obtain the track sequence, and use the data of the track sequence to perform linear fitting to obtain the distance fitting parameters, azimuth fitting parameters, elevation fitting parameters, as well as the distance fitting deviation, azimuth fitting deviation and elevation fitting deviation; Step 3.4: Sequence linearity determination: Use the distance fitting deviation, azimuth fitting deviation and elevation fitting deviation to calculate the sequence linearity. If the linearity is greater than the threshold, proceed to the next step. Otherwise, use the current track value to update the track list of the current band. Step 3.5: Find homologous band sequences: match the linear fitting parameters of the current band sequence with the fitting parameters of other band sequences in the same time window, and take the band sequence that meets the matching conditions as the homologous band sequence. If there is a homologous band sequence, proceed to the next step, otherwise use the current track value to update the current band track list; Step 3.6: Current error calculation: Use the fitting parameters of the current band sequence and the fitting parameters of the homologous band sequence to calculate the relative errors between the multiple bands at the current moment; Step 3.7: Update the error matrix: Use the relative errors between the multi-bands to iteratively update the multi-band radar target measurement error matrix, save the updated error matrix, and use the current track value to update the current band track list; Step 3.8: Save the multi-band radar target measurement error matrix. When there is new fusion track data, repeat steps 3.1 to 3.8; Step 4: Extract the relative error between bands from the updated multi-band radar target measurement error matrix; Step 5: After receiving the multi-band data, the fusion system uses the extracted multi-band relative error to correct the data, and uses the corrected data to start multi-band fusion and perform multi-band composite tracking. After forming a multi-band fusion track, proceed to step 3.

2. The multi-band radar target measurement relative error correction method based on sequence fitting according to claim 1 is characterized in that: The threshold in step 3.4 is 0.

8.

3. The multi-band radar target measurement relative error correction method based on sequence fitting according to claim 1 is characterized in that: The matching conditions in step 3.5 include: the fused tracks corresponding to the sequence data are the same, and the sequence data are within the same time window, and the time window size is set to 10 seconds.

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