Primary and secondary combined radar point track fusion method and device

Abstract

The invention relates to the technical field of air traffic control, and provides a primary and secondary combined radar point track fusion method and device. The device comprises a data communication module, a software operation management module, a trace point preprocessing module, a trace point fusion module, a track preprocessing module, a track fusion module, a track initiation and track correlation module, a motion model library, a track filtering and predicting module, a special area processing module, a special track processing module and an information output module. According to the invention, data fusion processing of primary and secondary combined air traffic control radars can be effectively realized, air traffic control primary radar data processing, air traffic control secondary radar data processing, primary and secondary combined radar plot fusion processing and primary and secondary combined radar track fusion processing are realized, and the monitoring intelligence fusion capability of an aircraft is improved.

Description

Technical Field

[0001] The present invention relates to the field of air traffic control technology, and in particular to a method and device for fusing primary and secondary combined radar point tracks. Background Art

[0002] Surveillance provides real-time dynamic information of targets (including aircraft in the air and moving targets on the airport surface) to air traffic control operation units and other relevant units and departments. Air traffic control operation units use surveillance information to determine and track the positions of aircraft in the air and moving targets on the airport surface, obtain surveillance target identification information, grasp aircraft flight trajectories and intentions, aircraft intervals, and monitor airport surface operation status, and support related applications such as air-to-air safety warning and flight altitude monitoring, so as to improve the overall air traffic safety assurance capability, air traffic operation efficiency, aviation flight safety level and operation efficiency.

[0003] In order to realize route monitoring, commonly used monitoring means include: ADS-B system, secondary radar, and primary route radar. Among them, ADS-B and secondary radar are cooperative monitoring means, and primary route radar is a non-cooperative monitoring means. Since the current military and civil aviation primary route monitoring radars and secondary radars both rely on turntables to drive the antenna to rotate, in order to facilitate data fusion, intelligence operations and improve the accuracy of monitoring data, they are usually deployed in a one-to-two combined manner. Among the existing civil aviation combined route monitoring radars, most of the primary and secondary combined radars use imported equipment. Under the current background of the localization of civil aviation equipment, it is urgent to promote the localization of primary and secondary combined radars. During the use of some deployed primary and secondary combined radars, the primary and secondary radars use independent monitoring and maintenance terminals to connect to the corresponding data and realize independent data processing. In essence, they are still separate radar systems. In the face of the current needs and difficulties of equipment development, the present invention proposes a one-to-two combined air traffic control radar point track fusion method and device, which has considerable engineering significance under the current background. Summary of the invention

[0004] The present invention aims to provide a method and device for fusing primary and secondary combined radar point tracks to solve the above-mentioned problems.

[0005] The present invention provides a primary and secondary combined radar point track fusion device, comprising a data communication module, a software operation management module, a point track preprocessing module, a point track fusion module, a track preprocessing module, a track fusion module, a track start and track correlation module, a motion model library, a track filtering and prediction module, a special area processing module, a special track processing module and an intelligence output module;

[0006] The data communication module is used to connect the device to a primary and secondary combined radar;

[0007] The point track preprocessing module is used to receive the primary and secondary combined radar point track data from the data communication module, and output the primary and secondary combined radar point track data to the point track fusion module after performing point track preprocessing;

[0008] The track preprocessing module is used to receive the primary and secondary combined radar track data from the data communication module, and output the primary and secondary combined radar track data to the track fusion module after performing track preprocessing;

[0009] The point trace fusion module is used to fuse the point trace information of the primary and secondary radar point trace data;

[0010] The track fusion module is used to fuse track information of primary and secondary radar track data;

[0011] The track start and correlation module is used to perform track correlation processing and track start operation on the input fused point track and fused track to complete the association;

[0012] The motion model library describes the motion model for aerial targets, which is used for calling the track initiation and correlation module and the track tracking and filtering module;

[0013] The track tracking and filtering module is used to filter the tracks that are successfully associated, and predict the tracks that do not meet the extinction logic and fail to associate;

[0014] The special area processing module is used to perform special area processing on the track;

[0015] The special track processing module is used to perform special track processing on the track;

[0016] The information output module is used to complete the reporting of various information processed in the device.

[0017] In some embodiments, the point track preprocessing module includes a point track recording module, a point track time and space calibration module and an outlier elimination module;

[0018] The point trace recording module completes the recording of the primary and secondary combined radar point trace data in the current point trace sector, and provides the recorded primary and secondary combined radar point trace data to the point trace time and space calibration module respectively by sector;

[0019] The point trace time and space calibration module is used to perform system error compensation and time and space calibration on the primary and secondary combined radar point trace data;

[0020] The outlier elimination module is used to eliminate outliers from the primary and secondary combined radar trace data after time-space calibration.

[0021] In some embodiments, the track preprocessing module includes a track recording module and a track time and space calibration module; the track recording module is used to record the primary and secondary combined radar track data within the current track reporting sector by sector, and the track time and space calibration module is used to perform system error compensation and time and space calibration on the primary and secondary combined radar track data and then output it to the track fusion module.

[0022] In some embodiments, the point trace fusion module is specifically used to process the primary and secondary radar point trace data according to sector division, use the KM matching algorithm for pairing, and fuse the point trace information after successful pairing to obtain fused point traces.

[0023] In some embodiments, the track fusion module is specifically used to process the primary and secondary radar track data according to sector division, use the KM matching algorithm to perform pairing, and after successful pairing, perform track information fusion to obtain a fused track.

[0024] In some embodiments, the track start and correlation module performs track correlation processing and track start operation on the input fused point track and fused track to complete the association specifically including:

[0025] a) For the fused point tracks, the remaining fused point tracks after track association are started to generate a track header;

[0026] b) The stable track is associated with the input fusion point track, and the track is updated if the association is successful;

[0027] c) If stable track association fails, track extrapolation is performed, and tracks that reach the deletion threshold are deleted and the track numbers are recycled;

[0028] d) The temporary track is successfully associated with the input fusion point track to update the temporary track, and it is upgraded to a stable track when the upgrade threshold is reached;

[0029] e) If the temporary track fails to be associated with the input fusion point track, the temporary track is extrapolated, and the temporary track that reaches the deletion threshold is deleted;

[0030] f) The track head is successfully associated with the input fusion point track, and the track head is upgraded to a temporary track and the parameters are updated;

[0031] g) If the association between the track head and the input fusion point track fails and reaches the deletion threshold, the track head deletion operation is performed;

[0032] h) If the stable track is successfully associated with the fused track point, the stable track is updated; i) If the stable track is not associated with the fused point track, extrapolation is performed, and the track is deleted when the deletion threshold is reached, and the track number is recovered;

[0033] j) For the fused track input, the remaining fused track after track association is directly started to generate a stable track.

[0034] In some embodiments, the motion model library includes the following motion models: a constant speed model, a constant acceleration model, a constant turn rate and speed model, a constant turn rate and acceleration model, a weak maneuver model, and a strong maneuver model.

[0035] In some embodiments, the filtering processing of the track tracking and filtering module adopts the Kalman filtering algorithm, and the prediction adopts the interactive multi-model algorithm to achieve tracking of stable tracks and temporary tracks, calculate the wave gate of track tracking, and calculate the target motion speed, acceleration and motion model based on the point track association results.

[0036] The present invention also provides a method for fusing a primary and secondary combined radar point track, which is implemented based on the primary and secondary combined radar point track fusion device described above, and comprises:

[0037] Access the primary and secondary combined radar through the data communication module, and read the initialization parameters from the initialization file through the software operation management module to complete the initialization of the software and communication interface;

[0038] The point track preprocessing module receives the primary and secondary combined radar point track data from the data communication module, and outputs the primary and secondary combined radar point track data to the point track fusion module after performing point track preprocessing; the track preprocessing module receives the primary and secondary combined radar track data from the data communication module, and outputs the primary and secondary combined radar track data to the track fusion module after performing track preprocessing;

[0039] The point track fusion module performs point track information fusion on the primary and secondary radar point track data; the track fusion module performs track information fusion on the primary and secondary radar track data;

[0040] The track start and correlation module performs track correlation processing and track start operation on the input fused point track and fused track to complete the association;

[0041] The track tracking and filtering module filters the successfully associated tracks and predicts the tracks that do not meet the extinction logic and fail to associate;

[0042] The special area processing module performs special area processing on the track;

[0043] The special track processing module performs special track processing on the track;

[0044] The intelligence output module completes the reporting of various intelligence information.

[0045] In some embodiments, the track after track filtering and prediction processing determines whether the track is in a special area and whether special area processing is required based on the special area type and special area information configured in the initialization phase. If special area processing is required, the next processing step is entered; otherwise, the next processing step is entered directly.

[0046] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:

[0047] 1. The present invention can effectively realize the data fusion processing of primary and secondary combined air traffic control radars in the military and civil aviation fields, realize the data processing of primary air traffic control radar, the data processing of secondary air traffic control radar, the point fusion processing of primary and secondary combined radars, and the track fusion processing of primary and secondary combined radars, thereby improving the aircraft surveillance intelligence fusion capability.

[0048] 2. The present invention is applicable to all radar systems that require data fusion processing and has high practical engineering significance. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 It is a composition diagram of a primary and secondary combined radar point track fusion device in an embodiment of the present invention.

[0050] Figure 2 It is a schematic diagram of the structure and information interaction relationship of the primary and secondary combined radar point track fusion device in an embodiment of the present invention.

[0051] Figure 3 The figure is a flow chart of the method for fusion of primary and secondary combined radar point tracks in an embodiment of the present invention.

[0052] Figure 4 Flow chart of track correlation and track initiation in an embodiment of the present invention. DETAILED DESCRIPTION

[0053] In order to make the purpose, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are part of the embodiments of the present invention, not all of the embodiments. Generally, the components of the embodiments of the present invention described and shown in the drawings here can be arranged and designed in various different configurations.

[0054] Therefore, the following detailed description of the embodiments of the present invention provided in the accompanying drawings is not intended to limit the scope of the invention claimed for protection, but merely represents selected embodiments of the present invention. Based on the embodiments of the present invention, all other embodiments obtained by ordinary technicians in this field without creative work are within the scope of protection of the present invention.

[0055] Example

[0056] like Figure 1 As shown, this embodiment proposes a primary and secondary combined radar point track fusion device, which can be implemented as software and run in a high-performance radar data processing computer.

[0057] like Figure 2 As shown, the primary and secondary combined radar point track fusion device includes a data communication module, a software operation management module, a point track preprocessing module, a point track fusion module, a track preprocessing module, a track fusion module, a track start and track correlation module, a motion model library, a track filtering and prediction module, a special area processing module, a special track processing module and an intelligence output module; the data communication module is used to access the primary and secondary radar points, track information and sector reports, and the point track and track processing are completed through the point track preprocessing module, the point track fusion module, the track preprocessing module, the track fusion module, the track start and track correlation module, the motion model library, the track filtering and prediction module, the special area processing module and the special track processing module, and finally the point track processing and the intelligence reporting after the track processing are completed through the intelligence output module; the other modules are operated and managed through the software operation management module. The details are as follows:

[0058] The data communication module is used to connect the device to a primary and secondary combined radar;

[0059] The point track preprocessing module is used to receive the primary and secondary combined radar point track data from the data communication module, and output the primary and secondary combined radar point track data to the point track fusion module after point track preprocessing; in some embodiments, the point track preprocessing module includes a point track admission module, a point track time-space calibration module and an outlier elimination module; the point track admission module completes the admission of the primary and secondary combined radar point track data (including PSR point track and SSR point track) in the current point track sector, and provides the admitted primary and secondary combined radar point track data to the point track time-space calibration module respectively by sector; the module is used to perform time-space calibration on the primary and secondary combined radar point track data to solve the problem of time asynchrony between the PSR point track and the SSR point track; the outlier elimination module is used to complete outlier elimination of the primary and secondary combined radar point track data after completing the time-space calibration. Specifically, the point track admission module implements: a) receiving primary radar point track data from the data communication module; b) receiving secondary radar point track data from the data communication module. The point trace time and space calibration module realizes the system error compensation and time and space calibration of the received primary radar point trace data and secondary radar point trace data. The outlier removal module realizes: a) receiving the primary radar point trace data and completing the outlier removal of the primary radar point trace data; b) receiving the secondary radar point trace data and completing the outlier removal of the secondary radar point trace data.

[0060] The track preprocessing module is used to receive the primary and secondary combined radar track data from the data communication module, and output the primary and secondary combined radar track data to the track fusion module after track preprocessing; in some embodiments, the track preprocessing module includes a track recording module and a track time-space calibration module; the track recording module is used to record the primary and secondary combined radar track data within the current track reporting sector by sector, and the track time-space calibration module is used to perform time-space calibration on the primary and secondary combined radar track data and output it to the track fusion module. Specifically, the track recording module implements: a) receiving primary radar track data from the data communication module; b) receiving secondary radar track data from the data communication module. The track time-space calibration module implements: receiving primary radar track data and secondary radar track data from the data communication module, and completing system error compensation and time-space calibration.

[0061] The point trace fusion module is used to fuse the point trace information of the primary and secondary radar point trace data. Specifically, the primary and secondary radar point trace data are processed according to the sector division, and the KM matching algorithm is used for pairing. After the pairing is successful, the point trace information is fused to obtain a fused point trace.

[0062] The track fusion module is used to fuse the track information of the primary and secondary radar track data. Specifically, the primary and secondary radar track data are processed according to the sector division, and the KM matching algorithm is used for pairing. After the pairing is successful, the track information is fused to obtain a fused track.

[0063] The track start and correlation module is used to perform track correlation processing and track start operation on the input fused point track and fused track to complete the association. Figure 4 As shown, specifically: a) for the fused point track, after the track (stable track, temporary track and track head) is associated, the remaining fused point track starts the track and generates the track head; b) the stable track is associated with the input fused point track, and the track is updated if the association is successful; c) if the stable track association fails, the track is extrapolated, and the track that reaches the deletion threshold is deleted, and the track number is recycled; d) if the temporary track is successfully associated with the input fused point track, the temporary track is updated, and if the upgrade threshold is reached, it is upgraded to a stable track; e) if the temporary track is not associated with the input fused point track, the temporary track is extrapolated, Perform track deletion operation on temporary tracks that reach the deletion threshold; f) If the track head is successfully associated with the input fused point track, the track head is upgraded to a temporary track and the parameters are updated; g) If the track head fails to be associated with the input fused point track and reaches the deletion threshold, the track head is deleted; h) If the stable track is successfully associated with the fused track point, the stable track is updated; i) If the stable track fails to be associated with the fused point track, extrapolation is performed, and the track is deleted when the deletion threshold is reached, and the track number is recovered; j) For the fused track input, the remaining fused track after the track association is directly generated by the track start.

[0064] The motion model library describes the motion model for aerial targets, which is used for calling the track initiation and related modules and the track tracking and filtering modules to modify the motion state of the target. The motion model covers the motion models of basic motion processes such as aircraft takeoff, climbing, maneuvering, turning, descent and gliding. The motion model library contains commonly used motion models: constant velocity model (Constant Velocity, CV), constant acceleration model (Constant Acceleration, CA), constant turn rate and velocity model (Constant Turn Rate and Velocity, CTRV), constant turn rate and acceleration model (Constant Turn Rate and Acceleration, CTRA). In addition, in order to take into account the tracking of high-speed and high-maneuverability targets in special airspace, it also includes a weak maneuverability model (Singer model) and a strong maneuverability model (Jerk model).

[0065] The track tracking and filtering module is used to filter the successfully associated tracks and predict the tracks that do not meet the extinction logic and fail to associate. The filtering process can use the Kalman filter algorithm. The prediction can use the interactive multi-model algorithm to track stable tracks and temporary tracks, calculate the wave gate of track tracking, and calculate the target motion speed, acceleration and motion model based on the point track association results.

[0066] The special area processing module is used to perform special area processing on the track. Specifically, the special area includes a prohibited starting area, a first point starting area, a track prohibited area, an airport area, an apron area, a secondary reflection area and other special areas, and track filtering is performed in the special area according to the specified track filtering criteria.

[0067] The special track processing module is used to perform special track processing on the track. Specifically, it detects and processes slow targets or maneuvering targets according to the relevant parameters, judgment criteria and processing criteria of distinguishing specific target tracks such as track radial velocity, motion window, amplitude, speed, heading, track number, etc.

[0068] The information output module is used to complete the reporting of various information processed in the device.

[0069] The software operation management module is used to manage the operation of other functional modules in the device, and to complete time resource management, BIT monitoring and dual-machine backup functions.

[0070] Based on the above-mentioned primary and secondary combined radar point track fusion device, Figure 3 As shown, this embodiment also provides a method for fusion of primary and secondary combined radar point tracks, including the following steps:

[0071] Step 1: Initialization

[0072] During the initialization phase, the primary and secondary combined radars are connected through the data communication module, and the initialization parameters are read from the initialization file through the software operation management module to complete the initialization of the software and communication interface; among which, the initialization parameters include radar data preprocessing parameters, radar data processing parameters, combined radar system parameters, special areas and their parameters.

[0073] Step 2: Point Preprocessing / Track Preprocessing

[0074] The point track preprocessing module receives the primary and secondary combined radar point track data from the data communication module, performs point track preprocessing on the primary and secondary combined radar point track data, and then outputs the point track fusion module;

[0075] The track preprocessing module receives the primary and secondary combined radar track data from the data communication module, and performs track preprocessing on the primary and secondary combined radar track data and then outputs it to the track fusion module;

[0076] Driven by the combined radar service report, the point trace preprocessing module receives the point trace message and sector message sent by the data communication module, admits the point trace according to the admission range after adaptive adjustment, performs system error calibration and time-space calibration and outlier elimination on the received point trace, and the preprocessed results are sent to the point trace fusion module.

[0077] Similarly, the device switches to the track fusion working mode. Driven by the combined radar service report, the track preprocessing module receives the track message and sector message sent through the data communication module, admits the track according to the adaptively adjusted admission range, performs system error calibration and time-space calibration on the received track, and the preprocessed result is sent to the track fusion module.

[0078] Step 3: Point track fusion

[0079] Driven by the combined radar service report, enter the point-track fusion mode or track fusion mode. In the corresponding mode:

[0080] The point trace fusion module performs point trace information fusion on the primary and secondary radar point trace data. Specifically, the primary and secondary radar point trace data are processed according to sector division, and the KM matching algorithm is used for pairing. After the pairing is successful, the point trace information is fused to obtain a fused point trace.

[0081] The track fusion module performs track information fusion on the primary and secondary radar track data. Specifically, the primary and secondary radar track data are processed according to sector division, and the KM matching algorithm is used for pairing. After the pairing is successful, the track information is fused to obtain a fused track.

[0082] Step 4: Track correlation and track start

[0083] Driven by the radar combined service package, the track start and correlation module performs track correlation processing and track start operation on the input fused point track and fused track to complete the association. Among them, the track correlation range of the point track and the confirmed track is determined by the predicted tracking gate. The selected point track association method can be a commonly used point track association method such as NNDA, JPDA, MHT and KM algorithm. After traversing all fixed tracks, confirmed tracks, and temporary tracks, the point tracks that have not been associated are upgraded to track heads, and temporary tracks that meet the track start logic are upgraded to confirmed tracks. Track quality management is implemented for tracks that have not achieved track correlation, and it is checked whether to enter the extinction logic. The relevant workflow diagram is as follows. Figure 4 shown.

[0084] Step 5: Track filtering and prediction

[0085] The track tracking and filtering module filters the successfully associated tracks and predicts the tracks that do not meet the extinction logic and fail to associate.

[0086] Step 6: Special area processing

[0087] The special area processing module performs special area processing on the track. Among them, the track after track filtering and prediction processing determines whether the track is in a special area and whether special area processing is required based on the special area type and special area information configured in the initialization phase. If special area processing is required, it will enter the next processing flow, otherwise it will directly enter the next processing flow. Conventional special area processing includes: prohibited starting area, first point starting area, track prohibited area, airport area, apron area, secondary reflection area and other special areas.

[0088] Step 7: Special track processing

[0089] The special track processing module performs special track processing on the track. Among them, the special track processing is mainly for air targets with specific maneuvering conditions. It distinguishes the relevant parameters, judgment criteria and processing criteria of the specific target track according to the track radial velocity, motion window, amplitude, speed, heading, track number, etc., and detects and processes slow targets or maneuvering targets.

[0090] Step 7: Intelligence Output

[0091] The intelligence output module completes the reporting of various intelligence information processed in the device.

[0092] The above steps are a processing cycle triggered by the driver of the combined radar service report. When a new driver of the combined radar service report is received, a new processing cycle begins.

[0093] The above description is only a preferred embodiment of the present invention and is not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A primary and secondary combined radar point track fusion device, characterized in that: It includes data communication module, software operation management module, point track preprocessing module, point track fusion module, track preprocessing module, track fusion module, track start and track related module, motion model library, track filtering and prediction module, special area processing module, special track processing module and intelligence output module; The data communication module is used to connect the device to a primary and secondary combined radar; The point track preprocessing module is used to receive the primary and secondary combined radar point track data from the data communication module, and output the primary and secondary combined radar point track data to the point track fusion module after performing point track preprocessing; The track preprocessing module is used to receive the primary and secondary combined radar track data from the data communication module, and output the primary and secondary combined radar track data to the track fusion module after performing track preprocessing; The point trace fusion module is used to fuse the point trace information of the primary and secondary radar point trace data; The track fusion module is used to fuse track information of primary and secondary radar track data; The track start and correlation module is used to perform track correlation processing and track start operation on the input fused point track and fused track to complete the association; The motion model library describes the motion model for aerial targets, which is used for calling the track initiation and correlation module and the track tracking and filtering module; The track tracking and filtering module is used to filter the tracks that are successfully associated, and predict the tracks that do not meet the extinction logic and fail to associate; The special area processing module is used to perform special area processing on the track; The special track processing module is used to perform special track processing on the track; The information output module is used to complete the reporting of various information processed in the device.

2. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The point track preprocessing module includes a point track recording module, a point track time and space calibration module and an outlier elimination module; The point trace recording module completes the recording of the primary and secondary combined radar point trace data in the current point trace sector, and provides the recorded primary and secondary combined radar point trace data to the point trace space-time calibration module respectively by sector; The point trace time and space calibration module is used to perform system error compensation and time and space calibration on the primary and secondary combined radar point trace data; The outlier elimination module is used to eliminate outliers from the primary and secondary combined radar trace data after time-space calibration.

3. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The track preprocessing module includes a track recording module and a track time and space calibration module; the track recording module is used to record the primary and secondary combined radar track data within the current track reporting sector according to the sector, and the track time and space calibration module is used to perform system error compensation and time and space calibration on the primary and secondary combined radar track data and then output it to the track fusion module.

4. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The point trace fusion module is specifically used to process the primary and secondary radar point trace data according to sector division, use the KM matching algorithm for pairing, and fuse the point trace information after successful pairing to obtain fused point traces.

5. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The track fusion module is specifically used to process the primary and secondary radar track data according to sector division, use the KM matching algorithm to perform pairing, and after successful pairing, perform track information fusion to obtain a fused track.

6. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The track start and correlation module performs track correlation processing and track start operation on the input fused point track and fused track to complete the association, specifically including: a) For the fused point tracks, the remaining fused point tracks after track association are started to generate a track header; b) The stable track is associated with the input fusion point track, and the track is updated if the association is successful; c) If stable track association fails, track extrapolation is performed, tracks that reach the deletion threshold are deleted, and track numbers are recycled; d) The temporary track is successfully associated with the input fusion point track to update the temporary track, and it is upgraded to a stable track when the upgrade threshold is reached; e) If the temporary track fails to be associated with the input fusion point track, the temporary track is extrapolated, and the temporary track that reaches the deletion threshold is deleted; f) The track head is successfully associated with the input fusion point track, and the track head is upgraded to a temporary track and the parameters are updated; g) If the association between the track head and the input fusion point track fails and reaches the deletion threshold, the track head deletion operation is performed; h) If the stable track is successfully associated with the fused track point, the stable track is updated; i) If the stable track is not associated with the fused point track, extrapolation is performed, and the track is deleted when the deletion threshold is reached, and the track number is recovered; j) For the fused track input, the remaining fused track after track association is directly started to generate a stable track.

7. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The motion models included in the motion model library include: a constant speed model, a constant acceleration model, a constant rotation rate and speed model, a constant rotation rate and acceleration model, a weak maneuvering model and a strong maneuvering model.

8. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that: The track tracking and filtering module adopts the Kalman filtering algorithm for filtering processing, and adopts the interactive multi-model algorithm for prediction to track stable tracks and temporary tracks, calculate the wave gate of track tracking, and calculate the target motion speed, acceleration and motion model based on the point track association results.

9. A method for fusion of primary and secondary radar point tracks, characterized in that: The one-two combined radar point track fusion device according to any one of claims 1 to 8 is implemented, comprising: Access the primary and secondary combined radar through the data communication module, and read the initialization parameters from the initialization file through the software operation management module to complete the initialization of the software and communication interface; The point track preprocessing module receives the primary and secondary combined radar point track data from the data communication module, and outputs the primary and secondary combined radar point track data to the point track fusion module after performing point track preprocessing; the track preprocessing module receives the primary and secondary combined radar track data from the data communication module, and outputs the primary and secondary combined radar track data to the track fusion module after performing track preprocessing; The point track fusion module performs point track information fusion on the primary and secondary radar point track data; the track fusion module performs track information fusion on the primary and secondary radar track data; The track start and correlation module performs track correlation processing and track start operation on the input fused point track and fused track to complete the association; The track tracking and filtering module filters the successfully associated tracks and predicts the tracks that do not meet the extinction logic and fail to associate; The special area processing module performs special area processing on the track; The special track processing module performs special track processing on the track; The intelligence output module completes the reporting of various intelligence information.

10. The method for fusion of primary and secondary radar points and tracks according to claim 9 is characterized in that: After track filtering and prediction processing, the track is judged whether it is in a special area and whether special area processing is required based on the special area type and special area information configured in the initialization phase. If special area processing is required, the next processing flow is entered, otherwise it directly enters the next processing flow.

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