A multi-element track initiation method and system based on a modified hough transform

Abstract

The application relates to a multi-element track initiation method and system based on a modified Hough transform, and belongs to the technical field of radar information processing. The method comprises the following steps: acquiring all point tracks after point track condensation, selecting three continuous measurement data in a period, performing one-by-one traversal correlation to obtain a to-be-determined track; setting a multi-element constraint condition, screening the to-be-determined track based on the multi-element constraint condition, and retaining the to-be-determined track meeting the screening requirement; removing the to-be-determined tracks that are not collinear based on the Hough transform to obtain the to-be-determined tracks of approximate straight lines in a three-dimensional space; evaluating the confidence degree of track initiation based on the signal-to-noise ratio of the track, determining the track meeting the signal-to-noise ratio threshold condition as an effective track, taking the effective track as a final output, and completing track initiation. On the basis of effectively suppressing false tracks, the application improves the rapid track initiation capability of a target, and simultaneously avoids the problems of large calculation amount and poor real-time performance of a traditional Hough transform algorithm.

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 advancement of modern technology, various types of aircraft have been widely used. In particular, low-altitude, slow-speed, and compact "low, slow, and small" aircraft (such as light aircraft and drones) are playing an increasingly important role in the civilian sector. However, with the popularity of these aircraft, illegal flight incidents (i.e., unauthorized flights) are also increasing. Some criminals even use drones to carry out illegal activities, posing a serious threat to public safety. Therefore, countries have placed higher requirements on the detection and tracking technology of "low, slow, and small" targets.

[0003] In multi-target detection and tracking systems, track initiation is the primary step in the entire multi-target tracking process. It refers to the process of establishing the target track based on preliminary detection data before the target enters stable tracking. Track initiation is particularly challenging for "low, slow, and small" targets, requiring both rapid initiation and the suppression 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 often have difficulty coping in complex environments (such as dense clutter, interference, etc.), manifesting as many false tracks, high computational complexity, and poor real-time performance.

[0004] The Hough Transform is a classic image analysis algorithm that is widely used to detect 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 the parameter space. In the field of radar data processing, the Hough Transform is often used for the initiation and identification of target tracks, and is particularly suitable for the detection of linear targets, such as the trajectories of aircraft, missiles and other targets. However, when faced with the initiation of tracks of "low, slow and small" targets, although the traditional Hough Transform batch processing method can handle targets in some clutter environments, 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 processing track initiation for "low, slow, and small" targets. These algorithms suffer from numerous false tracks, high computational complexity, and poor real-time performance. This paper proposes a multi-element track initiation method and system based on a modified Hough transform. By comprehensively utilizing multidimensional information (including position, velocity, heading, Doppler channel number, and signal-to-noise ratio), this method eliminates a large number of false track sequences, 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 traces after the traces 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, filter 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, 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 tracks that meet the signal-to-noise ratio threshold condition, they are determined to be valid tracks 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 is: the speed constraint is specifically:

[0015] Assuming 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 each 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 is as follows: 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 method for calculating the filter channel number of the pending track is as follows:

[0019] Calculate track radial velocity based on track position and 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 is as follows: the Hough transform-based elimination of non-collinear tracks 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 that the confidence level of the track initiation is evaluated based on the track signal-to-noise ratio, including:

[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 and flight establishment begins; if the signal-to-noise ratio of three consecutive beats is unstable or below the threshold, flight establishment is suspended and subsequent data is evaluated;

[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 in 5 beats exceeds the threshold, 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 the pending tracks based on the multi-factor constraint conditions, and retain the pending tracks that meet the screening requirements;

[0033] The Hough transform module is used to eliminate non-collinear pending tracks based on Hough transform and obtain the pending tracks that are approximately straight lines in three-dimensional space;

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

[0035] A computer-readable storage medium is characterized by storing 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 a modified Hough transform. Based on a modified Hough transform algorithm, this method comprehensively utilizes information such as the position, velocity, heading, Doppler channel number, and signal-to-noise ratio of a track point. This method effectively suppresses false tracks and improves the target's ability to quickly initiate a track, while avoiding the problems of the traditional Hough transform algorithm, such as excessive computational effort and poor real-time performance. Field measurements show that this algorithm significantly improves the confidence level of track initiation for targets of the "low, slow, and small" type in complex environments. Compared with existing technologies, it has the following advantages:

[0039] 1. Reduce the amount of calculation. The present invention uses a multi-factor modified Hough transform to fully utilize the target's position, velocity, point Doppler channel number, signal-to-noise ratio and other prior information, thereby reducing the number of points that need to be processed and significantly reducing the computational complexity.

[0040] 2. Effectively suppress false tracks. In complex environments, traditional methods easily generate a large number of false tracks and track clusters, and cannot effectively distinguish between real targets and false tracks. This 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 track initiation speed. To meet the demand for fast track initiation for "low, slow, and small" targets, this invention reduces the interference of clutter points and speeds up track initiation by adding multi-factor screening at the track initiation stage, meeting the real-time requirements. BRIEF DESCRIPTION OF THE DRAWINGS

[0042] The accompanying 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 parts throughout the drawings.

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

[0044] Figure 2 The track start effect using only the modified Hough transform.

[0045] Figure 3 Speed ​​limit + modified Hough transform track starting 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 objectives, technical solutions and advantages of the present invention more clearly understood, the present invention is further described in detail below with reference to the accompanying drawings and examples. It should be understood that the specific embodiments described herein are only intended to illustrate 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 may 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 description 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 are 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 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. It comprehensively utilizes information such as position, velocity, track Doppler channel number and signal-to-noise ratio. Through Doppler velocity consistency judgment, it reduces the number of track sequences starting from false tracks entering the calculation link of Hough transform, reduces the amount of calculation and improves real-time performance. At the same time, it uses the track signal-to-noise ratio judgment to further improve the track initiation confidence and effectively eliminate false tracks. This method makes full use of auxiliary information such as track Doppler velocity and signal-to-noise ratio, shows good initiation 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 traces. For all traces 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 ​​Constraints. Assuming the target is moving in a straight line at a constant speed, set the maximum and minimum speeds based on the target's characteristics. If the speed between each beat is within the specified range, save the track to the pending track sequence; otherwise, delete the track.

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

[0056] (3) Modified Hough transform. Project the filtered measurement points onto the parameter space and then onto two planes in 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 undetermined tracks that are approximately straight lines in three-dimensional space. The specific implementation steps of the modified Hough transform in a 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 between consecutive zero crossing points does not exceed the preset threshold; and the slope signs of consecutive zero crossing points are the same to avoid forming a "V" shaped track. If either of the above conditions is not met, the track is deleted from the pending track sequence.

[0060] (4) Evaluate the confidence level of the track initiation based on the signal-to-noise ratio information of the track. For tracks that meet the signal-to-noise ratio threshold conditions, they are determined to be valid tracks and used as the final output to complete the track initiation. The specific implementation steps are as follows:

[0061] a) Based on the signal-to-noise ratio of all track points, set a detection threshold to determine 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 SNR for three consecutive beats exceeds the threshold, the track is considered to be a true target with high confidence and is immediately transferred to the starting track batch and flight establishment begins. If the SNR for three consecutive beats is unstable or below the threshold, flight establishment is suspended pending subsequent data evaluation.

[0063] c) For pending tracks with low confidence, continue monitoring the echo signal-to-noise ratio of the fourth and fifth beats. If the signal-to-noise ratio of any three beats within the first five beats exceeds the threshold, the track is transferred to the starting track batch to confirm the presence of the target. If the signal-to-noise ratio exceeds the threshold for less than three beats within the first five beats, the track is deleted and considered a possible 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 the pending tracks based on the multi-factor constraint conditions, and retain the pending tracks that meet the screening requirements;

[0067] The Hough transform module is used to eliminate non-collinear pending tracks based on Hough transform and obtain the pending tracks that are approximately straight lines in three-dimensional space;

[0068] The track initiation processing module is used to evaluate the confidence of track initiation based on the signal-to-noise ratio of the track. For tracks that meet the signal-to-noise ratio threshold condition, they are determined to be valid tracks 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 targets in the entire area; 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 described below mainly in conjunction with the working implementation of the radar data processing system.

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

[0075] S1, for all the points after the agglomeration process, select three consecutive measurement data 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 Doppler channel number of the known point track. 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 undetermined tracks that are approximately straight lines in three-dimensional space;

[0079] S5, based on this experiment, set the detection threshold SNR min=32dB. Any pending track exceeding this threshold is considered the target's true starting track. Within a pending track sequence, if the SNR of three consecutive echoes exceeds the threshold, the track is transferred to the starting track batch. If the SNR of three consecutive echoes is unstable or low, flight establishment is suspended until data from the fourth and fifth echoes is received. If the SNR of any three echoes within 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 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 undetermined 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, calculate the track Doppler channel number N corresponding to the k-th measurement 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 shot measurement t3 ;

[0106] S3.3, the Doppler channel number of the k-th beat trace is known to be N d1 , the Doppler channel number of the k+1th beat trace is N d2 , the Doppler channel number of the k+2th beat trace is N d3 Then calculate the channel number difference ΔN n+1 =N tn -N dn (n=1,2,3), is the mean of ΔN2 and ΔN3, σ n is the standard deviation of ΔN2 and ΔN3. 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 not, the track is deleted.

[0109] Specifically, step S4 includes:

[0110] S4.1, project the measurement data of three consecutive beats of the undetermined track into two planes. In this invention, the xz plane and the yz plane are selected. 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)θ0(k)-θ0(k+1)≤δ0;

[0116] (2) The slope signs of the zero crossing points θ0(k) and θ0(k+1) must be the same to avoid forming a V-shaped 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 below shows the track start effect when only the modified Hough transform is used. The points within the track start period are ergodicly associated to form a track, which is then projected onto the XY two-dimensional plane after the modified Hough transform is performed.

[0120] like Figure 3 The figure below shows the initial trajectory of the speed limit and modified Hough transform. The points within the initial trajectory period are ergodicly associated, and then the maximum and minimum speed limits are applied to form the trajectory. Finally, the modified Hough transform is performed to generate the projection of the generated trajectory onto the XY two-dimensional plane.

[0121] like Figure 4 The figure below shows the track initiation effect of speed restriction, Doppler constraint, and modified Hough transform. First, the points within the track initiation period are ergodicly associated. Then, the maximum and minimum speed constraints are applied to form the track. Doppler consistency constraints are used to filter out false tracks. Finally, the modified Hough transform is applied to generate the projection of the track onto the XY two-dimensional plane.

[0122] like Figure 5 The figure shows the initial effect of the track of a "low, slow and small" target generated by the present invention, including the projection diagram of the track generated by the method of the present invention on the XY two-dimensional plane and the enlarged diagram of the track part.

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

Claims

1. A multi-element track initiation method based on modified Hough transform, characterized in that: include: Obtain all the traces after the traces 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, filter the pending tracks based on the multi-factor constraint conditions, and retain the pending tracks that meet the screening requirements; Based on Hough transform, non-collinear pending tracks are eliminated to obtain the pending tracks that are approximately straight lines in three-dimensional space. The Hough transform-based elimination of non-collinear tracks 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; The confidence level of the track initiation is evaluated based on the signal-to-noise ratio of the track. For a track that meets the signal-to-noise ratio threshold condition, it is determined to be a valid track and used as the final output to complete the track initiation. The confidence level of the track initiation 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 and flight establishment begins; if the signal-to-noise ratio of three consecutive beats is unstable or below the threshold, flight establishment is suspended and subsequent data is evaluated; 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 in 5 beats exceeds the threshold, the track is deleted and it is considered to be a false target.

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

3. The multi-element track initiation method based on modified Hough transform according to claim 2, characterized in that: The speed constraints are specifically: Assuming 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 each two beats is within the specified range, save it to the pending track sequence; otherwise, delete the track.

4. The multi-element track initiation method based on modified Hough transform according to claim 2, 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 1, characterized in that: The confidence level of the track initiation 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 and flight establishment begins; if the signal-to-noise ratio of three consecutive beats is unstable or below the threshold, flight establishment is suspended and subsequent data is evaluated; 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 in 5 beats exceeds the threshold, the track is deleted and it is considered to be a false target.

6. A multi-element track initiation system based on modified Hough transform for use in the method of claim 1, 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 the pending tracks based on the multi-factor constraint conditions, and retain the pending tracks that meet the screening requirements; The Hough transform module is used to eliminate non-collinear pending tracks based on Hough transform and obtain the pending tracks that are approximately straight lines in three-dimensional space; The track initiation processing module is used to evaluate the confidence of track initiation based on the signal-to-noise ratio of the track. For tracks that meet the signal-to-noise ratio threshold condition, they are determined to be valid tracks and used as the final output to complete the track initiation.

7. 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.

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

Images