Multi-element track initiation method and system based on modified Hough transformation

Abstract

The invention relates to a multi-element track initiation method and system based on modified Hough transformation, and belongs to the technical field of radar information processing. The method comprises the following steps: acquiring all plots after plot condensation, selecting continuous three-beat measurement data on a period, and carrying out one-by-one traversal association to obtain an undetermined track; setting a multi-element constraint condition, screening the to-be-determined track based on the multi-element constraint condition, and reserving the to-be-determined track meeting the screening requirement; removing non-collinear to-be-determined tracks based on Hough transformation to obtain approximately linear to-be-determined tracks in a three-dimensional space; and evaluating the confidence coefficient of the track initiation based on the signal-to-noise ratio of the track, judging the track meeting the signal-to-noise ratio threshold condition as an effective track, and taking the effective track as final output to complete the track initiation. According to the method, on the basis of effectively inhibiting the false track, the rapid track initiation capability of the target is improved, and meanwhile, the problems that the calculation amount of a traditional Hough transform algorithm is too large and the real-time performance is poor are solved.

Description

Technical Field

[0001] The invention belongs to the technical field of radar information processing, and relates to a multi-element track initiation method and system based on modified Hough transform. Background Art

[0002] With the development of modern science and technology, various types of aircraft have been widely used, especially low-altitude, slow-speed, small-sized "low, slow, and small" aircraft (such as light aircraft, drones, etc.), which play an increasingly important role in the civil field. However, with the popularity of these aircraft, illegal flight incidents (i.e., unauthorized flights) are also increasing. Some lawless elements even use drones to carry out illegal activities, posing a serious threat to public safety. Therefore, countries have put forward higher requirements for the detection and tracking technology of "low, slow, and small" targets.

[0003] In the multi-target detection and tracking system, track initiation is the first step in the entire multi-target tracking process, which refers to the process of establishing the target track based on preliminary detection data before the target enters stable tracking. For "low, slow and small" targets, track initiation is particularly challenging, requiring both a fast start and suppressing the generation of false tracks in clutter-dense environments. Existing track initiation algorithms, such as logical methods and heuristic rules, perform well when the false alarm probability is low, but are often difficult to cope with in complex environments (such as dense clutter, interference, etc.), manifested in problems such as many false tracks, large computational complexity, and poor real-time performance.

[0004] Hough Transform is a classic image analysis algorithm, which is widely used in the detection of geometric shapes such as lines and circles in images. Its core idea is to transform the detection of geometric objects from image space to parameter space, and to achieve target detection by finding the accumulation of specific shapes in parameter space. In the field of radar data processing, Hough Transform is often used for the initiation and identification of target tracks, especially for the detection of linear targets, such as the tracks of aircraft, missiles and other targets. However, when facing the initiation of the track of "low, slow and small" targets, the traditional Hough Transform batch processing method can handle targets in some clutter environments, but when the clutter is severe, a large number of false candidate tracks will be generated, which increases the computational complexity and reduces the real-time performance of the system. Summary of the invention

[0005] The technical problems to be solved by the present invention are:

[0006] In dense clutter environments, traditional algorithms (such as logic methods, heuristic rules and Hough transform methods) have insufficient performance, especially when dealing with the track initiation of "low, slow and small" targets, there are a large number of false tracks, large amount of calculation and poor real-time performance. The present invention proposes a multi-element track initiation method and system based on modified Hough transform, which eliminates a large number of false track sequences by comprehensively utilizing multi-dimensional information (including position, speed, heading, Doppler channel number and signal-to-noise ratio, etc.), reduces the load of the subsequent modified Hough transform algorithm, and optimizes the track initiation process.

[0007] In order to solve the above technical problems, the technical solution adopted by the present invention is:

[0008] A multi-element track initiation method based on modified Hough transform, comprising:

[0009] Obtain all the points after the points are condensed, select three consecutive measurement data in a period, perform traversal correlation one by one, and obtain the pending track;

[0010] Set multi-factor constraint conditions, screen the pending tracks based on the multi-factor constraint conditions, and retain the pending tracks that meet the screening requirements;

[0011] Based on Hough transform, the non-collinear pending tracks are eliminated to obtain the pending tracks that are approximately straight lines in three-dimensional space.

[0012] The confidence of the track initiation is evaluated based on the signal-to-noise ratio of the track. For the track that meets the signal-to-noise ratio threshold condition, it is determined as a valid track and used as the final output to complete the track initiation.

[0013] A further technical solution of the present invention is as follows: the multi-factor constraint condition includes a speed constraint and a Doppler speed consistency constraint.

[0014] A further technical solution of the present invention: the speed constraint is specifically:

[0015] Assuming that the target moves in a straight line at a uniform speed, set the maximum and minimum speed values ​​according to the characteristics of the moving target; if the speed between every two beats is within the specified range, save it to the pending track sequence, otherwise, delete the track.

[0016] A further technical solution of the present invention: the Doppler velocity consistency constraint is specifically:

[0017] The difference between the filter channel number of the pending track and the known point track filter channel number is judged. If the difference does not meet the 3σ principle in statistics, the track is deleted from the pending track sequence.

[0018] A further technical solution of the present invention is as follows: the calculation method of the filter channel number of the pending track is as follows:

[0019] Calculate the track radial velocity based on the track position and the track velocity;

[0020] Calculate track Doppler velocity based on radial velocity;

[0021] The filter channel number of the pending track is obtained by performing a modulo operation on the product of the track Doppler velocity, the pulse repetition period and the accumulation points and the accumulation points.

[0022] A further technical solution of the present invention: the method of eliminating non-collinear tracks based on Hough transform comprises:

[0023] Project three consecutive measurement data of the undetermined track onto two two-dimensional planes, namely the xz plane and the yz plane. In each plane, convert the projected data into three curves in the parameter space;

[0024] Calculate the difference between each curve and the previous curve to obtain the difference function, which is used to determine the zero crossing point;

[0025] Check whether the following two conditions are met: the absolute value of the angle difference of consecutive zero crossing points does not exceed the preset threshold; the slope signs of consecutive zero crossing points are the same; if any of the above conditions is not met, delete the track from the pending track sequence.

[0026] A further technical solution of the present invention is as follows: the confidence level of the track start is evaluated based on the track signal-to-noise ratio, comprising:

[0027] According to the signal-to-noise ratio of all points, a detection threshold is set to judge the strength of the target echo; for the undetermined track, the signal-to-noise ratio of the echo of three consecutive beats is checked;

[0028] If the signal-to-noise ratio of three consecutive beats exceeds the threshold, the track is considered to be a real target with high confidence, and the track is immediately transferred to the starting track batch to start navigation; if the signal-to-noise ratio of three consecutive beats is unstable or lower than the threshold, navigation is temporarily suspended and subsequent data is awaited for evaluation;

[0029] For pending tracks with lower confidence, continue to monitor the echo signal-to-noise ratio of the 4th and 5th beats; if the signal-to-noise ratio of any 3 beats in the first 5 beats exceeds the threshold, the track is transferred to the starting track batch to confirm the existence of the target; if the signal-to-noise ratio of less than 3 beats exceeds the threshold within 5 beats, the track is deleted and it is considered to be a false target.

[0030] A multi-element track initiation system based on modified Hough transform, comprising:

[0031] The point trace association module is used to obtain all the point traces after the point traces are condensed, select three consecutive measurement data in a period, perform traversal association one by one, and obtain the pending track;

[0032] The track screening module is used to set multi-factor constraint conditions, screen pending tracks based on the multi-factor constraint conditions, and retain pending tracks that meet the screening requirements;

[0033] A Hough transform module is used to eliminate non-collinear pending tracks based on Hough transform to obtain a pending track that is approximately a straight line in three-dimensional space;

[0034] The track initiation processing module is used to evaluate the confidence of the track initiation based on the signal-to-noise ratio of the track. For the track that meets the signal-to-noise ratio threshold condition, it is determined as a valid track and used as the final output to complete the track initiation.

[0035] A computer-readable storage medium, characterized in that it stores computer-executable instructions, which are used to implement the above method when executed.

[0036] A computer program product, characterized by comprising computer executable instructions, wherein the instructions are used to implement the above method when executed.

[0037] The beneficial effects of the present invention are:

[0038] The present invention provides a multi-element track initiation method and system based on modified Hough transform. Based on the modified Hough transform algorithm, the method and system comprehensively utilize the position, speed, heading, Doppler channel number, signal-to-noise ratio and other information of the track points. On the basis of effectively suppressing false tracks, the method improves the target's ability to quickly initiate a track, while avoiding the problems of excessive calculation and poor real-time performance of the traditional Hough transform algorithm. Actual measurement results show that the algorithm significantly improves the confidence of track initiation of "low, slow, small" and other types of targets in complex situation environments. Compared with the prior art, it has the following advantages:

[0039] 1. Reduce the amount of calculation. The present invention uses multi-factor modified Hough transform to make full use of the target's position, speed, point Doppler channel number, signal-to-noise ratio and other prior information, reducing the number of points to be processed and significantly reducing the calculation complexity;

[0040] 2. Effectively suppress false tracks. In complex environments, traditional methods are prone to generate a large number of false tracks and track clusters, and cannot effectively distinguish between real targets and false track points. The present invention introduces Doppler velocity consistency judgment and signal-to-noise ratio weighted processing to effectively eliminate false tracks and improve the accuracy of track initiation;

[0041] 3. Improve the track start speed. In response to the demand for fast track start of "low, slow and small" targets, the present invention reduces the interference of clutter points and tracks by adding multi-factor screening at the track start stage, speeds up the track start speed, and meets the real-time requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The drawings are only for the purpose of illustrating particular embodiments and are not to be considered limiting of the present invention. Like reference symbols denote like components throughout the drawings.

[0043] Figure 1 Flow chart of the multi-factor modified Hough transform track initiation method of the present invention.

[0044] Figure 2 The starting result of the track using only the modified Hough transform.

[0045] Figure 3 Speed ​​limit + modified Hough transform track start effect diagram.

[0046] Figure 4 Speed ​​limit + Doppler constraint + modified Hough transform track starting effect diagram.

[0047] Figure 5 The initial effect diagram of the present invention on the track of a “low, slow and small” target. DETAILED DESCRIPTION

[0048] In order to make the purpose, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present invention and are not intended to limit the present invention. In addition, the technical features involved in the various embodiments of the present invention described below can be combined with each other as long as they do not conflict with each other.

[0049] It should be noted that the terms "first", "second", etc. in the specification and claims of the present invention and the above-mentioned drawings are used to distinguish similar objects, and are not necessarily used to describe a specific order or sequence. It should be understood that the terms used in this way can be interchangeable where appropriate, so that the embodiments of the present invention described herein can be implemented in an order other than those illustrated or described herein. In addition, the terms "including" and "having" and any variations thereof are intended to cover non-exclusive inclusions, for example, a process, method, system, product or device that includes a series of steps or units is not necessarily limited to those steps or units that are clearly listed, but may include other steps or units that are not clearly listed or inherent to these processes, methods, products or devices.

[0050] The present invention proposes a multi-element track initiation method based on modified Hough transform, which comprehensively utilizes information such as position, velocity, point track Doppler channel number and signal-to-noise ratio, and through Doppler velocity consistency judgment, reduces the point track sequence of false track initiation entering the calculation link of Hough transform, reduces the amount of calculation, and improves real-time performance; at the same time, the point track signal-to-noise ratio judgment is used to further improve the track initiation confidence and effectively eliminate false tracks. This method makes full use of auxiliary information such as point track Doppler velocity and signal-to-noise ratio, shows good starting performance in complex situation environments, and can effectively suppress false tracks. By designing specific track screening conditions, the defects of excessive calculation and poor real-time performance caused by exhaustive enumeration of all possible traditional Hough transform algorithms are avoided. The results of measured data processing show that the algorithm can significantly improve the reliability and accuracy of track tracking of "low, slow and small" targets in complex environments.

[0051] The multi-element track initiation method based on modified Hough transform of the present invention is implemented in the following steps. The specific workflow diagram is as follows: Figure 1 shown.

[0052] (1) Traversal association of all track points. For all track points after agglomeration, select three consecutive measurement data in a period and perform traversal association one by one to preliminarily determine the possible track combinations.

[0053] (2) Multi-factor track screening: According to the set multi-factor constraints, including speed constraints and Doppler speed consistency constraints, the ergodic associated tracks are screened and only the tracks that meet the requirements are retained.

[0054] a) Speed ​​constraint. Assume that the target moves in a straight line at a uniform speed, and set the maximum and minimum speeds according to the characteristics of the moving target. If the speed between each two beats is within the specified range, save it to the pending track sequence, otherwise delete the track.

[0055] b) Doppler velocity consistency constraint. The filter channel number of the pending track is calculated using the radar operating frequency, the number of accumulated points, the pulse repetition period and other parameters. The difference between the two is determined based on the known point track filter channel number. If the difference does not meet the 3σ principle in statistics, the track is deleted from the pending track sequence.

[0056] (3) Modified Hough transform. Project the screened measurement points to the parameter space and then to two planes in the three-dimensional space. Use the modified Hough transform to compare and correlate the two planes, retaining only the tracks with overlapping parts, and obtain a sequence of pending tracks that are approximately straight lines in the three-dimensional space. The specific implementation steps of the modified Hough transform in the two-dimensional plane are as follows:

[0057] a) Project three consecutive measurement data of the undetermined track onto two two-dimensional planes, namely the xz plane and the yz plane. In each plane, convert the projected data into three curves in the parameter space.

[0058] b) Calculate the difference between each curve and the previous curve to obtain a difference function, which is used to determine the zero crossing point.

[0059] c) Check whether the following two conditions are met: the absolute value of the angle difference of consecutive zero crossing points does not exceed the preset threshold; the slope signs of consecutive zero crossing points are the same to avoid forming a "V" shaped track. If any of the above conditions is not met, the track is deleted from the pending track sequence.

[0060] (4) According to the signal-to-noise ratio information of the track, the confidence of the track initiation is evaluated. For the track that meets the signal-to-noise ratio threshold condition, it is determined as a valid track and used as the final output to complete the track initiation. The specific implementation steps are as follows:

[0061] a) According to the signal-to-noise ratio of all points, set a detection threshold value to judge the strength of the target echo. For the undetermined track, check the echo signal-to-noise ratio of three consecutive beats.

[0062] b) If the signal-to-noise ratio of three consecutive beats exceeds the threshold, the track is considered to be a real target with high confidence, and the track is immediately transferred to the starting track batch to start navigation. If the signal-to-noise ratio of three consecutive beats is unstable or below the threshold, navigation is temporarily suspended and subsequent data is evaluated.

[0063] c) For pending tracks with lower confidence, continue to monitor the echo signal-to-noise ratio of the 4th and 5th beats. If the signal-to-noise ratio of any 3 beats exceeds the threshold in the first 5 beats, the track is transferred to the starting track batch to confirm the existence of the target; if the signal-to-noise ratio of less than 3 beats exceeds the threshold within 5 beats, the track is deleted and it is considered to be a false target.

[0064] The present invention also provides a multi-element track initiation system based on modified Hough transform, comprising:

[0065] The point trace association module is used to obtain all the point traces after the point traces are condensed, select three consecutive measurement data in a period, perform traversal association one by one, and obtain the pending track;

[0066] The track screening module is used to set multi-factor constraint conditions, screen pending tracks based on the multi-factor constraint conditions, and retain pending tracks that meet the screening requirements;

[0067] A Hough transform module is used to eliminate non-collinear pending tracks based on Hough transform to obtain a pending track that is approximately a straight line in three-dimensional space;

[0068] The track initiation processing module is used to evaluate the confidence of the track initiation based on the signal-to-noise ratio of the track. For the track that meets the signal-to-noise ratio threshold condition, it is determined as a valid track and used as the final output to complete the track initiation.

[0069] Example 1

[0070] The following takes a certain type of radar data processing system (abbreviated as "DPU") as an example to illustrate the specific implementation method of the multi-element track initiation method based on modified Hough transform of the present invention.

[0071] A radar data processing system is used to complete processing tasks such as point track preprocessing, track establishment, track correlation, track management, track update, clutter removal, friend-or-foe identification, threat judgment, and track reporting to achieve stable tracking of global targets; the data comes from the radar signal processor, and the target processing results are output to the terminal subsystem, and are subject to the working mode and status control of the terminal subsystem.

[0072] The radar data processing system hardware uses mature Feiteng computers, the CPU is Feiteng 1500 / 4-core processor, and the memory is integrated on the blade server; the software operating system is Kylin Linux, the compiler is gcc, and the software language is standard C language; the programming adopts the openMP parallel processing architecture to give full play to the multi-core processing capabilities.

[0073] The processing of the present invention is mainly described below in conjunction with the working implementation of a radar data processing system.

[0074] The present embodiment provides a multi-element track initiation method based on modified Hough transform, comprising the following steps:

[0075] S1, for all the points after the condensation process, select three-shot measurement data that are continuous in time, perform ergodic association, and determine the pending track sequence;

[0076] S2, set a reasonable range of target movement speed. If the pending track does not meet the speed constraint, delete the track; for the pending track that meets the speed constraint, go to step S3;

[0077] S3, calculating the Doppler channel number of the pending track, and comparing it with the known point track Doppler channel number. If the pending track does not meet the Doppler velocity consistency judgment, the track is deleted and the process goes to step S4;

[0078] S4, performing modified Hough transform to obtain a sequence of pending tracks that are approximately straight lines in three-dimensional space;

[0079] S5, based on this experiment, set the detection threshold SNR min=32dB, the pending track exceeding this threshold is identified as the target's true starting track. In the pending track sequence, if the signal-to-noise ratio of three consecutive echoes exceeds the threshold, the track is transferred to the starting track batch; if the signal-to-noise ratio of three consecutive echoes is unstable or low, the navigation is temporarily suspended and the data of the 4th and 5th echoes are waited. If the signal-to-noise ratio of any three echoes in the five echoes exceeds the threshold, the track is transferred to the starting track batch, otherwise the track is deleted.

[0080] Specifically, step S1 includes:

[0081] S1.1, for all data points (Rm i , Am i , Em i , N di , SNR i ), i = 1, 2...5. Rm, Am, Em represent the radial distance, azimuth, and elevation angle after the points are condensed, respectively. N d It represents the Doppler channel number of the trace, and SNR represents the signal-to-noise ratio of the trace;

[0082] S1.2, at the beginning of the track, take the i-th measurement z of the k-th radar shot i (k), the jth measurement z of the k+1th beat j (k+1), and the mth measurement z of the k+2th beat m (k+2), perform ergodic association to generate a sequence of pending tracks;

[0083] Specifically, step S2 includes:

[0084] S2.1, according to the movement characteristics of the "low, slow and small" aircraft, set the maximum speed V max =0.5m / s and minimum speed V min =0.5m / s.

[0085] S2.2, for each track, first perform coordinate transformation:

[0086] x i (k) = R m,i ·cos(A m,i )·cos(E m,i )

[0087] y i (k) = R m,i ·sin(A m,i )·cos(E m,i )

[0088] z i (k) = R m,i ·sin(E m,i )

[0089] S2.3, then use the following formula to calculate the target's moving speed in three-dimensional space:

[0090]

[0091] 2.4, for the calculated speed V ij and V jm Verify if they meet the following conditions:

[0092] V min <V ij <V max And V min <V jm <V max

[0093] It is considered that the three-beat measurement meets the speed constraint condition and is saved in the pending track batch; if not, the track is deleted.

[0094] Specifically, step S3 includes:

[0095] S3.1, using the measurement information of three consecutive beats in the pending track, calculate the track Doppler channel number, the implementation steps are as follows:

[0096] S3.1.1, Calculate track radial velocity

[0097]

[0098] Among them, x s ,y s 、z s is the track position, x v ,y v 、z v is the track speed;

[0099] S3.1.2, Calculate the track Doppler velocity F d

[0100]

[0101] Where C is the speed of light, and f is the radar operating frequency;

[0102] S3.1.3, calculate the Doppler channel number N corresponding to the track t

[0103] N t =mod(F d PRI n,n)

[0104] Where PRI is the pulse repetition period, n is the number of accumulated points, and mod() is the modulo operation;

[0105] S3.2, after the above operations, the track Doppler channel number N corresponding to the k-th measurement is obtained respectively t1 , the track Doppler channel number N corresponding to the k+1th shot measurement t2 , the track Doppler channel number N corresponding to the k+2th measurement t3 ;

[0106] S3.3, it is known that the Doppler channel number of the k-th beat trace is N d1 , the Doppler channel number of the k+1th beat is N d2 , the Doppler channel number of the k+2th beat is N d3 Then calculate the channel number difference ΔN n+1 =N tn -N dn (n=1,2,3), ΔN 2 , ΔN 3 The mean value, σ n ΔN 2 , ΔN 3 Standard deviation. If the following conditions are met:

[0107]

[0108] If the Doppler velocity consistency judgment condition is met, the screened track is updated to the pending track batch. If it is not met, the track is deleted.

[0109] Specifically, step S4 includes:

[0110] S4.1, project the three consecutive measurement data of the undetermined track into two planes, in the present invention, the xz plane and the yz plane are selected, and in the two-dimensional plane, these three sets of data are converted into three sets of curves ρ in the parameter space k , ρ k+1 , ρ k+2 , where the curve ρ k The value of can be determined by a set of quantized θ n The calculation method is as follows:

[0111] ρ k (n) = x k (i) · cosθ n +y k (i) ·sinθ n

[0112]

[0113] S4.2, according to the difference function: Δρ k =ρ k -ρ k-1 , we can get the zero crossing point Δρ k (0).

[0114] If the following two conditions are met:

[0115] (1)θ 0 (k)-θ 0 (k+1)≤δ 0 ;

[0116] (2) Zero crossing point θ 0 (k), θ 0 The slope signs of (k+1) must be the same to avoid forming a V-track.

[0117] The filtered track will be updated to the pending track batch. If it does not meet the requirements, the track will be deleted.

[0118] The effects of this application are described in detail below in conjunction with simulation.

[0119] like Figure 2 The figure shows the track start effect diagram using only the modified Hough transform. The point tracks within the track start period are ergodicly associated to form a track, and then the modified Hough transform is used to generate the projection diagram of the track on the XY two-dimensional plane.

[0120] like Figure 3 The figure shows the effect of the speed limit + modified Hough transform on the track start. The points in the track start period are ergodicly associated, and then the maximum and minimum speed limits are applied to form the track. Finally, the modified Hough transform is performed to generate the projection of the track on the XY two-dimensional plane.

[0121] like Figure 4 As shown in the figure, it is the track starting effect diagram of speed limit + Doppler constraint + modified Hough transform. First, the point tracks within the track starting period are ergodicly associated, then the maximum and minimum speed limits are applied to form the track, the Doppler consistency constraint is used to filter out false tracks, and finally the projection diagram of the track generated after the modified Hough transform is generated on the XY two-dimensional plane.

[0122] like Figure 5 As shown, it is the initial effect diagram of the track of a "low, slow and small" target of the present invention, including the projection diagram of the track generated by the method of the present invention in the XY two-dimensional plane and the partial enlarged diagram of the track.

[0123] The above description is only a specific implementation mode of the present invention, but the protection scope of the present invention is not limited thereto. Any technician familiar with the technical field can easily think of various equivalent modifications or substitutions within the technical scope disclosed in the present invention, and these modifications or substitutions should be included in the protection scope of the present invention.

Claims

1. A multi-element track initiation method based on modified Hough transform, characterized in that: include: Obtain all the points after the points are condensed, select three consecutive measurement data in a period, perform traversal correlation one by one, and obtain the pending track; Set multi-factor constraint conditions, screen the pending tracks based on the multi-factor constraint conditions, and retain the pending tracks that meet the screening requirements; Based on Hough transform, the non-collinear pending tracks are eliminated to obtain the pending tracks that are approximately straight lines in three-dimensional space. The confidence of the track initiation is evaluated based on the signal-to-noise ratio of the track. For the track that meets the signal-to-noise ratio threshold condition, it is determined as a valid track and used as the final output to complete the track initiation.

2. According to claim 1, a multi-element track initiation method based on modified Hough transform is characterized in that: The multi-factor constraint condition includes a speed constraint and a Doppler speed consistency constraint.

3. According to claim 2, a multi-element track initiation method based on modified Hough transform is characterized in that: The speed constraints are specifically: Assuming that the target moves in a straight line at a uniform speed, set the maximum and minimum speed values ​​according to the characteristics of the moving target; if the speed between every two beats is within the specified range, save it to the pending track sequence, otherwise, delete the track.

4. According to claim 2, a multi-element track initiation method based on modified Hough transform is characterized in that: The Doppler velocity consistency constraint is specifically: The difference between the filter channel number of the pending track and the known point track filter channel number is judged. If the difference does not meet the 3σ principle in statistics, the track is deleted from the pending track sequence.

5. The multi-element track initiation method based on modified Hough transform according to claim 4, characterized in that: The calculation method of the filter channel number of the pending track is as follows: Calculate the track radial velocity based on the track position and the track velocity; Calculate track Doppler velocity based on radial velocity; The filter channel number of the pending track is obtained by performing a modulo operation on the product of the track Doppler velocity, the pulse repetition period and the accumulation points and the accumulation points.

6. The multi-element track initiation method based on modified Hough transform according to claim 1, characterized in that: The method of eliminating non-collinear tracks based on Hough transform includes: Project three consecutive measurement data of the undetermined track onto two two-dimensional planes, namely the xz plane and the yz plane. In each plane, convert the projected data into three curves in the parameter space; Calculate the difference between each curve and the previous curve to obtain the difference function, which is used to determine the zero crossing point; Check whether the following two conditions are met: the absolute value of the angle difference of consecutive zero crossing points does not exceed the preset threshold; the slope signs of consecutive zero crossing points are the same; if any of the above conditions is not met, delete the track from the pending track sequence.

7. The multi-element track initiation method based on modified Hough transform according to claim 1, characterized in that: The confidence level of the start of the track is evaluated based on the signal-to-noise ratio of the track, including: According to the signal-to-noise ratio of all points, a detection threshold is set to judge the strength of the target echo; for the undetermined track, the signal-to-noise ratio of the echo of three consecutive beats is checked; If the signal-to-noise ratio of three consecutive beats exceeds the threshold, the track is considered to be a real target with high confidence, and the track is immediately transferred to the starting track batch to start navigation; if the signal-to-noise ratio of three consecutive beats is unstable or lower than the threshold, navigation is temporarily suspended and subsequent data is awaited for evaluation; For pending tracks with lower confidence, continue to monitor the echo signal-to-noise ratio of the 4th and 5th beats; if the signal-to-noise ratio of any 3 beats in the first 5 beats exceeds the threshold, the track is transferred to the starting track batch to confirm the existence of the target; if the signal-to-noise ratio of less than 3 beats exceeds the threshold within 5 beats, the track is deleted and it is considered to be a false target.

8. A multi-element track initiation system based on modified Hough transform, characterized in that: include: The point trace association module is used to obtain all the point traces after the point traces are condensed, select three consecutive measurement data in a period, perform traversal association one by one, and obtain the pending track; The track screening module is used to set multi-factor constraint conditions, screen pending tracks based on the multi-factor constraint conditions, and retain pending tracks that meet the screening requirements; A Hough transform module is used to eliminate non-collinear pending tracks based on Hough transform to obtain a pending track that is approximately a straight line in three-dimensional space; The track initiation processing module is used to evaluate the confidence of the track initiation based on the signal-to-noise ratio of the track. For the track that meets the signal-to-noise ratio threshold condition, it is determined as a valid track and used as the final output to complete the track initiation.

9. A computer-readable storage medium, characterized in that Computer executable instructions are stored, and when the instructions are executed, they are used to implement the method of claim 1.

10. A computer program product, characterized in that The invention comprises computer executable instructions, which are used to implement the method of claim 1 when being executed.

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