A method and device for fusion of primary and secondary radar point tracks
By designing a primary and secondary combined radar point track fusion device, the problem of data non-fusion in the civil aviation combined radar system was solved, efficient data processing and surveillance intelligence fusion was achieved, and air traffic safety and operational efficiency were improved.
Patent Information
- Application Number
- CN202411905975.9
- Authority / Receiving Office
- CN · China
- Patent Type
- Patents(China)
- Current Assignee / Owner
- Filing Date
- 2024-12-23
- Publication Date
- 2025-10-28
- Estimated Expiration
- 2044-12-23
AI Technical Summary
In the existing civil aviation integrated radar system, the primary and secondary radars are still separate systems, failing to achieve effective data fusion, resulting in insufficient accuracy of surveillance data and making it difficult to meet localization needs.
A primary and secondary integrated radar point track fusion device was designed, 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 initiation and 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. These modules enable data fusion and processing.
It has enabled the data fusion processing of primary and secondary integrated air traffic control radars in the military and civil aviation fields, improved the aircraft surveillance intelligence fusion capability, and enhanced air traffic safety and operational efficiency.
Smart Images
Figure CN119861373B_ABST
Abstract
Description
Technical Field
[0001] This invention relates to the field of air traffic control technology, and more specifically, to a method and apparatus for fusion of primary and secondary radar point tracks. Background Technology
[0002] Surveillance provides air traffic control units and other relevant units and departments with real-time dynamic information on targets (including aircraft in the air and moving targets on the airport surface). Air traffic control units and others use surveillance information to determine and track the positions of aircraft and moving targets on the airport surface, obtain target identification information, understand aircraft flight trajectories and intentions, aircraft spacing, and monitor the operational status of the airport surface. It also supports related applications such as air-to-air safety early warning and flight altitude monitoring, thereby comprehensively improving air traffic safety capabilities, enhancing air traffic operational efficiency, and raising the level of aviation flight safety and operational efficiency.
[0003] To achieve airway surveillance, commonly used surveillance methods include ADS-B systems, secondary radars, and primary airway radars. Among these, ADS-B and secondary radars are cooperative surveillance methods, while primary airway radars are non-cooperative. Since both primary and secondary airway surveillance radars in military and civil aviation currently rely on turntables to drive antenna rotation, they are typically deployed in a combined primary and secondary configuration to facilitate data fusion, intelligence operations, and improve the accuracy of surveillance data. Currently, most of the combined primary and secondary airway surveillance radars in civil aviation use imported equipment. Given the current trend of domestic production of civil aviation equipment, promoting the localization of combined primary and secondary radar systems is imperative. In the operation of some deployed combined primary and secondary radar systems, the primary and secondary radars use independent monitoring and maintenance terminals to receive corresponding data and achieve independent data processing; essentially, they remain separate radar systems. Addressing the current needs and challenges in equipment development, this invention proposes a method and device for fusion of primary and secondary air traffic control radar points and tracks, which has significant engineering implications in the current context. Summary of the Invention
[0004] The present invention aims to provide a method and apparatus for fusion of primary and secondary 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 initiation 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 point track data of primary and secondary combined radar from the data communication module, and output the point track data of primary and secondary combined radar to the point track fusion module after point track preprocessing.
[0008] The track preprocessing module is used to receive track data of the primary and secondary combined radar from the data communication module, and output the track data of the primary and secondary combined radar to the track fusion module after track preprocessing.
[0009] The point fusion module is used to fuse point information from primary and secondary radar point data.
[0010] The trajectory fusion module is used to fuse primary and secondary radar trajectory data;
[0011] The track initiation and correlation module is used to perform track correlation processing and track initiation operations on the input fused point traces and fused tracks to complete the association;
[0012] The motion model library describes motion models for aerial targets, which are called by the trajectory initiation and correlation module and the trajectory tracking and filtering module.
[0013] The track tracking and filtering module is used to filter successfully associated tracks and predict tracks that do not meet the extinction logic and fail to be associated.
[0014] The special area processing module is used to perform special area processing on the flight track;
[0015] The special trajectory processing module is used to perform special trajectory processing on the trajectory;
[0016] The intelligence output module is used to report the various intelligence information processed in the device.
[0017] In some embodiments, the point track preprocessing module includes a point track acquisition module, a point track spatiotemporal calibration module, and an outlier removal module;
[0018] The point recording module completes the recording of primary and secondary combined radar point data within the current point sector, and provides the recorded primary and secondary combined radar point data to the point spatiotemporal calibration module according to sector.
[0019] The spatiotemporal calibration module is used to perform system error compensation and spatiotemporal calibration on the spot data of the primary and secondary combined radar.
[0020] The outlier removal module is used to remove outliers from the primary and secondary combined radar spot data after spatiotemporal calibration.
[0021] In some embodiments, the track preprocessing module includes a track acquisition module and a track spatiotemporal calibration module; the track acquisition module is used to acquire primary and secondary combined radar track data in the current track reporting sector by sector, and the track spatiotemporal calibration module is used to perform system error compensation and spatiotemporal calibration on the primary and secondary combined radar track data and then output it to the track fusion module.
[0022] In some embodiments, the spot fusion module is specifically used to process primary and secondary radar spot data according to sector division, use the KM matching algorithm for pairing, and perform spot information fusion after successful pairing to obtain fused spot data.
[0023] In some embodiments, the track fusion module is specifically used to process primary and secondary radar track data according to sector division, pair them using the KM matching algorithm, and fuse track information after successful pairing to obtain fused tracks.
[0024] In some embodiments, the track initiation and correlation module performs track correlation processing and track initiation operations on the input fused point traces and fused tracks to complete the association, specifically including:
[0025] a) For the merged point traces, the remaining merged point traces after track association are used to start the track and generate a track header;
[0026] b) Associate the stable track with the input fusion point track; if the association is successful, update the track.
[0027] c) If stable track association fails, track extrapolation is performed, tracks that have reached the deletion threshold are deleted, and track numbers are reclaimed;
[0028] d) If the temporary track is successfully associated with the input fusion point track, the temporary track is updated. If the upgrade threshold is reached, it is upgraded to a stable track.
[0029] e) If the association between the temporary track and the input fusion point track fails, the temporary track is extrapolated, and the temporary track that reaches the deletion threshold is deleted.
[0030] f) If the track header is successfully associated with the input fusion point track, the track header is upgraded to a temporary track, and the parameters are updated;
[0031] g) If the correlation between the track header and the input fusion point fails and the deletion threshold is reached, a track header deletion operation will be performed;
[0032] h) If the stable track is successfully associated with the merged track point, the stable track is updated; i) If the stable track fails to be associated with the merged track point, extrapolation is performed, and the track is deleted and the track number is reclaimed when the deletion threshold is reached.
[0033] j) For the fused track input, the remaining fused tracks after track association are directly used to generate stable tracks from track initiation.
[0034] In some embodiments, the motion model library includes the following motion models: constant velocity model, constant acceleration model, constant rotation rate and velocity model, constant rotation rate and acceleration model, weak maneuvering model, and strong maneuvering model.
[0035] In some embodiments, the filtering process of the track tracking and filtering module adopts the Kalman filtering algorithm, and the prediction adopts the interactive multi-model algorithm to track stable tracks and temporary tracks, calculate the gate for track tracking, and calculate the target's motion speed, acceleration and motion model based on the point track association results.
[0036] The present invention also provides a method for fusion of primary and secondary combined radar point tracks, implemented based on the above-mentioned primary and secondary combined radar point track fusion device, comprising:
[0037] The primary and secondary integrated radar is 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.
[0038] The point track preprocessing module receives point track data from the primary and secondary combined radar from the data communication module, performs point track preprocessing on the primary and secondary combined radar point track data, and outputs it to the point track fusion module; the track preprocessing module receives track data from the primary and secondary combined radar from the data communication module, performs track preprocessing on the primary and secondary combined radar track data, and outputs it to the track fusion module.
[0039] The point fusion module fuses point information from primary and secondary radar point data; the track fusion module fuses track information from primary and secondary radar track data.
[0040] The track initiation and correlation module performs track-related processing and track initiation operations on the input fused point traces and fused tracks to complete the association;
[0041] The track tracking and filtering module filters successfully associated tracks and predicts tracks that do not meet the elimination logic and fail to be associated.
[0042] The special area processing module performs special area processing on the flight 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 is determined based on the special area type and special area information configured in the initialization phase to determine whether the track is in a special area and whether special area processing is required. If special area processing is required, the next processing step is performed; otherwise, the next processing step is performed directly.
[0046] In summary, due to the adoption of the above technical solution, the beneficial effects of the present invention are:
[0047] 1. This invention can effectively realize the data fusion processing of primary and secondary air traffic control radars in the military and civil aviation fields, and realize the data processing of primary air traffic control radar, secondary air traffic control radar, the fusion processing of primary and secondary radar point traces, and the fusion processing of primary and secondary radar tracks, thereby improving the aircraft surveillance intelligence fusion capability.
[0048] 2. This invention is applicable to all radar systems that require data fusion processing and has high practical engineering significance. Attached Figure Description
[0049] Figure 1 This is a diagram illustrating the composition of the primary and secondary combined radar point track fusion device in an embodiment of the present invention.
[0050] Figure 2 This 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 This is a flowchart of the primary and secondary combined radar point track fusion method in an embodiment of the present invention.
[0052] Figure 4 This is a flowchart of track correlation and track initiation in an embodiment of the present invention. Detailed Implementation
[0053] To make the objectives, technical solutions, and advantages of the embodiments of the present invention clearer, the technical solutions of the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments. The components of the embodiments of the present invention described and shown in the accompanying drawings can generally be arranged and designed in various different configurations.
[0054] Therefore, the following detailed description of the embodiments of the invention provided in the accompanying drawings is not intended to limit the scope of the claimed invention, but merely to illustrate selected embodiments of the invention. All other embodiments obtained by those skilled in the art based on the embodiments of the invention without inventive effort are within the scope of protection of the 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 on a high-performance radar data processing computer.
[0057] like Figure 2 As shown, the primary and secondary 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 initiation 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 enables access to primary and secondary radar point, track information, and sector reports. The point track preprocessing module, track fusion module, track preprocessing module, track fusion module, track initiation and track correlation module, motion model library, track filtering and prediction module, special area processing module, and special track processing module complete point track and track processing. Finally, the intelligence output module completes the reporting of intelligence after point track and track processing. The software operation management module manages the operation of other modules. 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 receives 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 outputs it to the point track fusion module. In some embodiments, the point track preprocessing module includes a point track acquisition module, a point track spatiotemporal calibration module, and an outlier removal module. The point track acquisition module acquires primary and secondary combined radar point track data (including PSR and SSR points) within the current point track sector and provides the acquired primary and secondary combined radar point track data to the point track spatiotemporal calibration module by sector. The module performs spatiotemporal calibration on the primary and secondary combined radar point track data to solve the problem of time asynchrony between PSR and SSR points. The outlier removal module removes outliers from the primary and secondary combined radar point track data after spatiotemporal calibration. Specifically, the point track acquisition 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 radar point spatiotemporal calibration module performs system error compensation and spatiotemporal calibration on the received primary and secondary radar point data. The outlier removal module performs the following: a) receiving primary radar point data and removing outliers from the primary radar point data; b) receiving secondary radar point data and removing outliers from the secondary radar point data.
[0060] The track preprocessing module is used to receive 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 acquisition module and a track spatiotemporal calibration module. The track acquisition module is used to acquire primary and secondary combined radar track data within the current track reporting sector by sector, and the track spatiotemporal calibration module is used to perform spatiotemporal calibration on the primary and secondary combined radar track data before outputting it to the track fusion module. Specifically, the track acquisition 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 spatiotemporal calibration module implements: receiving primary and secondary radar track data from the data communication module, and performing system error compensation and spatiotemporal calibration.
[0061] The point fusion module is used to fuse point information from primary and secondary radar point data. Specifically, the primary and secondary radar point data are processed according to sector division, and the KM matching algorithm is used for pairing. After successful pairing, the point information is fused to obtain the fused point data.
[0062] The track fusion module is used to fuse 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 successful pairing, the track information is fused to obtain the fused track.
[0063] The track initiation and correlation module is used to perform track correlation processing and track initiation operations on the input fused point traces and fused tracks to complete the association. For example... Figure 4 As shown, specifically: a) For fused track points, after associating tracks (stable track, temporary track, and track header), the remaining fused track points are used to generate track headers; b) Stable tracks are associated with input fused track points; if association is successful, track updates are performed; c) If stable track association fails, track extrapolation is performed, and tracks reaching the deletion threshold are deleted, and track numbers are reclaimed; d) If temporary tracks are successfully associated with input fused track points, temporary track updates are performed; if the upgrade threshold is reached, they are upgraded to stable tracks; e) If temporary tracks fail to associate with input fused track points, temporary track extrapolation is performed. For temporary tracks that reach the deletion threshold, perform track deletion; f) If the track header is successfully associated with the input fused track point, upgrade the track header to a temporary track and update the parameters; g) If the track header fails to associate with the input fused track point and reaches the deletion threshold, perform track header deletion; h) If the stable track is successfully associated with the fused track point, update the stable track; i) If the stable track fails to associate with the fused track point, extrapolate, and if the deletion threshold is reached, delete the track and reclaim the track number; j) For the fused track input, directly generate a stable track from the remaining fused track after track association.
[0064] The motion model library describes motion models for aerial targets, used by the trajectory initiation and correlation module and the trajectory tracking and filtering module to modify the target's motion state. These motion models cover basic motion processes such as takeoff, climb, maneuvering, turning, descent, and taxiing. The library includes commonly used motion models: Constant Velocity (CV), Constant Acceleration (CA), Constant Turn Rate and Velocity (CTRV), and Constant Turn Rate and Acceleration (CTRA). In addition, to accommodate the tracking of high-speed, highly maneuverable targets in special airspaces, it also includes a weak maneuvering model (Singer model) and a strong maneuvering model (Jerk model).
[0065] The track tracking and filtering module is used to filter successfully associated tracks and predict tracks that do not meet the extinction logic and fail to associate. The filtering process can employ the Kalman filter algorithm. Prediction can use an interactive multi-model algorithm to track stable and temporary tracks, calculate the track tracking gate, and calculate the target's velocity, 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 flight tracks. Specifically, the special areas include prohibited starting areas, first point starting areas, prohibited track areas, airport areas, apron areas, secondary reflection areas, and other special areas. Flight tracks within these special areas are filtered according to specified flight track filtering criteria.
[0067] The special track processing module is used to perform special track processing on the track. Specifically, it distinguishes the relevant parameters, judgment criteria, and processing criteria of specific target tracks based on track radial velocity, motion window, amplitude, speed, heading, track number, etc., and detects and processes slow-moving or maneuvering targets.
[0068] The intelligence output module is used to report the various intelligence information processed in the device.
[0069] The software operation management module is used to manage the operation of other functional modules in the device, as well as to perform time resource management, BIT monitoring, and dual-machine backup functions.
[0070] Based on the aforementioned primary and secondary combined radar point track fusion device, such as 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 integrated radars are connected via a data communication module, and the initialization parameters are read from the initialization file by the software operation management module to complete the initialization of the software and communication interface. The initialization parameters include radar data preprocessing parameters, radar data processing parameters, integrated radar system parameters, special areas and their parameters.
[0073] Step 2: Point Preprocessing / Track Preprocessing
[0074] The point track preprocessing module receives point track data from the primary and secondary combined radar from the data communication module, performs point track preprocessing on the primary and secondary combined radar point track data, and outputs it to the point track fusion module.
[0075] The track preprocessing module receives track data from the primary and secondary combined radar from the data communication module, performs track preprocessing on the primary and secondary combined radar track data, and outputs it to the track fusion module.
[0076] Driven by the combined radar service report, the point preprocessing module receives point messages and sector messages sent through the data communication module, records points according to the adaptively adjusted recording range, performs system error calibration, spatiotemporal calibration and outlier removal on the received points, and sends the preprocessed results to the point fusion module.
[0077] Similarly, when the device switches to the track fusion working mode, driven by the combined radar service report, the track preprocessing module receives the track messages and sector messages sent through the data communication module, records the track according to the adaptively adjusted recording range, performs system error calibration and spatiotemporal calibration on the received track, and sends the preprocessed result to the track fusion module.
[0078] Step 3: Point Track Fusion
[0079] Driven by the combined radar service report, enter the point fusion mode or track fusion mode, and in the corresponding mode:
[0080] The point fusion module fuses point information from primary and secondary radar point data. Specifically, it processes the primary and secondary radar point data according to sector division, uses the KM matching algorithm for pairing, and fuses the point information after successful pairing to obtain fused point data.
[0081] The track fusion module fuses primary and secondary radar track data. Specifically, it processes the primary and secondary radar track data according to sector division, uses the KM matching algorithm for pairing, and fuses the track information after successful pairing to obtain the fused track.
[0082] Step 4: Track Correlation and Track Initiation
[0083] Driven by the radar integrated service package, the track initiation and correlation module performs track correlation processing and track initiation operations on the input fused point tracks and fused tracks to complete the association. Specifically, the track correlation range between point tracks and confirmed tracks is determined by the predicted tracking gate. The selected point track association method can be a commonly used method such as NNDA, JPDA, MHT, and KM algorithm. After traversing all fixed tracks, confirmed tracks, and temporary tracks, any point tracks that have not yet been associated are upgraded to track headers. Temporary tracks that meet the track initiation logic are upgraded to confirmed tracks. Tracks that have not achieved track correlation are subject to track quality management, and the module checks whether they have entered the termination logic. A related workflow diagram is shown below. Figure 4 As shown.
[0084] Step 5: Track Filtering and Prediction
[0085] The track tracking and filtering module filters successfully associated tracks and predicts tracks that do not meet the extinction logic and fail to associate.
[0086] Step Six: Special Area Handling
[0087] The special area processing module performs special area processing on flight tracks. After track filtering and prediction, the track is assessed based on the special area type and information configured during the initialization phase to determine if it falls within a special area and requires special area processing. If processing is needed, the track proceeds to the next step; otherwise, it proceeds directly. Common special area processing includes: prohibited origination zone, first point origination zone, prohibited track zone, airport area, apron area, and secondary reflection zone.
[0088] Step 7: Special Track Processing
[0089] The special trajectory processing module performs special trajectory processing on air targets. This special trajectory processing is primarily designed for aerial targets with specific maneuvers. It distinguishes specific target trajectories based on parameters such as radial velocity, motion window, amplitude, airspeed, heading, and number of tracks, as well as judgment and processing criteria, to detect and process slow-moving or maneuvering targets.
[0090] Step Seven: Intelligence Output
[0091] The intelligence output module completes the reporting of various intelligence information processed in the device.
[0092] The above steps constitute one processing cycle triggered by the combined radar service report. When a new combined radar service report is received, a new processing cycle begins.
[0093] The foregoing description is merely a preferred embodiment of the present invention and is not intended to limit the present invention. Those skilled in the art will readily appreciate that various modifications and variations of the present invention are possible. Any modifications, equivalent substitutions, or improvements made within the spirit and principles of the present invention are intended to be within the scope of protection of the present invention.
Claims
1. A primary and secondary integrated radar point track fusion device, characterized in that, It includes a data communication module, a software operation management module, a point preprocessing module, a 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 prediction module, a special area processing module, a special track processing module, and an 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 point track data of primary and secondary combined radar from the data communication module, and output the point track data of primary and secondary combined radar to the point track fusion module after point track preprocessing. The track preprocessing module is used to receive track data of the primary and secondary combined radar from the data communication module, and output the track data of the primary and secondary combined radar to the track fusion module after track preprocessing. The point fusion module is used to fuse point information from primary and secondary radar point data. The trajectory fusion module is used to fuse primary and secondary radar trajectory data; The track initiation and correlation module is used to perform track correlation processing and track initiation operations on the input fused point traces and fused tracks to complete the association; The motion model library describes motion models for aerial targets, which are called by the trajectory initiation and correlation module and the trajectory tracking and filtering module. The track tracking and filtering module is used to filter successfully associated tracks and predict tracks that do not meet the extinction logic and fail to be associated. The special area processing module is used to perform special area processing on the flight track; The special trajectory processing module is used to perform special trajectory processing on the trajectory; The intelligence output module is used to report the various intelligence 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 acquisition module, a point track spatiotemporal calibration module, and an outlier removal module; The point recording module completes the recording of primary and secondary combined radar point data within the current point sector, and provides the recorded primary and secondary combined radar point data to the point spatiotemporal calibration module according to sector. The spatiotemporal calibration module is used to perform system error compensation and spatiotemporal calibration on the spot data of the primary and secondary combined radar. The outlier removal module is used to remove outliers from the primary and secondary combined radar spot data after spatiotemporal 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 acquisition module and a track spatiotemporal calibration module. The track acquisition module is used to acquire primary and secondary combined radar track data in the current track reporting sector by sector. The track spatiotemporal calibration module is used to perform system error compensation and spatiotemporal 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 fusion module is specifically used to process primary and secondary radar point data according to sector division, use the KM matching algorithm for pairing, and perform point information fusion after successful pairing to obtain fused point data.
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 primary and secondary radar track data according to sector division, use the KM matching algorithm for pairing, and perform track information fusion after successful pairing to obtain fused track.
6. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that, The track initiation and correlation module performs track correlation processing and track initiation operations on the input fused point traces and fused tracks to complete the association, specifically including: a) For the merged point traces, the remaining merged point traces after track association are used to start the track and generate a track header; b) Associate the stable track with the input fusion point track; if the association is successful, update the track. c) If stable track association fails, track extrapolation is performed, tracks that have reached the deletion threshold are deleted, and track numbers are reclaimed; d) If the temporary track is successfully associated with the input fusion point track, the temporary track is updated. If the upgrade threshold is reached, it is upgraded to a stable track. e) If the association between the temporary track and the input fusion point track fails, the temporary track is extrapolated, and the temporary track that reaches the deletion threshold is deleted. f) If the track header is successfully associated with the input fusion point track, the track header is upgraded to a temporary track, and the parameters are updated; g) If the correlation between the track header and the input fusion point fails and the deletion threshold is reached, a track header deletion operation will be performed; h) If the stable track is successfully associated with the merged track point, the stable track is updated; i) If the stable track fails to be associated with the merged track point, extrapolation is performed, and the track is deleted and the track number is reclaimed when the deletion threshold is reached. j) For the fused track input, the remaining fused tracks after track association are directly used to generate stable tracks from track initiation.
7. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that, The motion model library includes the following motion models: constant velocity model, constant acceleration model, constant rotation rate and velocity model, constant rotation rate and acceleration model, weak maneuvering model, and strong maneuvering model.
8. The primary and secondary combined radar point track fusion device according to claim 1, characterized in that, The trajectory tracking and filtering module uses the Kalman filter algorithm for filtering and the interactive multi-model algorithm for prediction to track stable and temporary trajectories. It calculates the gate for trajectory tracking and calculates the target's velocity, acceleration, and motion model based on the point trajectory association results.
9. A method for fusing the point tracks of a primary and secondary combined radar system, characterized in that, Based on the primary and secondary combined radar point track fusion device according to any one of claims 1-8, it includes: The primary and secondary integrated radar is 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. The point track preprocessing module receives point track data from the primary and secondary combined radar from the data communication module, performs point track preprocessing on the primary and secondary combined radar point track data, and outputs it to the point track fusion module; the track preprocessing module receives track data from the primary and secondary combined radar from the data communication module, performs track preprocessing on the primary and secondary combined radar track data, and outputs it to the track fusion module. The point fusion module fuses point information from primary and secondary radar point data; the track fusion module fuses track information from primary and secondary radar track data. The track initiation and correlation module performs track-related processing and track initiation operations on the input fused point traces and fused tracks to complete the association; The track tracking and filtering module filters successfully associated tracks and predicts tracks that do not meet the elimination logic and fail to be associated. The special area processing module performs special area processing on the flight 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 primary and secondary combined radar point track fusion method according to claim 9, characterized in that, After track filtering and prediction, the track determines 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, it proceeds to the next processing step; otherwise, it proceeds directly to the next processing step.