Radar target detection and tracking integrated method, device, medium and equipment

Abstract

The invention discloses a radar target detection and tracking integrated method and device, a medium and equipment. The method comprises the following steps: setting false alarm rates of all target detection areas as PFA, and executing preliminary target detection; respectively carrying out distance dimension and azimuth dimension condensation processing on the plots belonging to the same target; carrying out target tracking processing on the plot based on a condensation processing result; based on a target tracking processing result, a dense clutter region in a radar scanning region is positioned; the false alarm rate in the dense clutter area obtained through positioning is reduced to P 'FA, and a detection threshold value T2 under the false alarm rate in the dense clutter area is obtained; and based on the target tracking processing result of each period, feeding back target detection information of the scanning data of the next period, and adjusting a detection threshold value in the dense clutter region. According to the method, dense clutters are suppressed through a target tracking processing result, so that the target false alarm probability is reduced, and the target detection performance and the tracking precision are improved.

Description

Technical Field

[0001] The present invention relates to the technical field of radar, and in particular, to a method, device, medium and equipment for integrated radar target detection and tracking. Background Art

[0002] As an important device for sea detection, radar can efficiently detect, warn, identify and track sea surface targets. However, compared with general scenarios, the dynamic ocean environment usually has more complex spectral characteristics. Sea clutter is one of the main factors affecting the target detection ability of maritime radar. Sea clutter is usually affected by factors such as wave height, grazing angle, and range resolution. At this time, sea clutter will exhibit characteristics such as spatio-temporal non-Gaussianity and non-uniformity, resulting in a decline in the performance of traditional target detection methods. Existing detection methods generally follow the constant false alarm rate (CFAR) criterion and set the detection threshold to a constant.

[0003] However, the detection threshold obtained according to the existing technology lacks robustness. When the detection threshold is too low, a large number of clutter signals from the dense clutter area in the radar scanning area may pass through the threshold, greatly increasing the false alarm probability and miss detection probability of targets, and further leading to a decline in the performance of the radar target tracking method, resulting in problems such as discontinuous tracking, track initiation delay, and false tracks. Summary of the Invention

[0004] The main purpose of the present invention is to provide a method and device for integrated radar target detection and tracking to solve the technical problems of large false alarm probability and miss detection probability of targets in the existing technology.

[0005] To achieve the above object, the present invention provides an integrated method for radar target detection and tracking, the method comprising the following steps: S10, setting the false alarm rate of all target detection areas to P FA , and performing preliminary target detection; S20, based on the preliminary target detection results, performing clustering processing on the traces belonging to the same target in the range dimension and azimuth dimension respectively; S30, performing target tracking processing on the traces based on the results of the clustering processing; S40, based on the target tracking processing results, locating the dense clutter area in the radar scanning area; S50, reducing the false alarm rate in the located dense clutter area to P' FA , and obtaining the detection threshold T in the dense clutter area at this false alarm rate 2 ; S60, based on the target tracking processing results of each cycle, feeding back the target detection information of the next cycle of scan data to locate the dense clutter area and adjust the detection threshold in the dense clutter area to complete the clustering of subsequent detected traces and target tracking processing.

[0006] Optionally, step S10 includes the following steps: S110, setting the false alarm rate of all target detection regions to P FA ; S120, obtaining a detection threshold T 1 based on the false alarm rate, and using T 1 as the detection threshold for non-dense clutter regions; S130, obtaining radar echo signals and performing preliminary target detection based on the radar echo signals; Optionally, step S20 includes the following steps: S210, using the amplitude of each measurement trace as a weight based on the preliminary target detection result; S220, performing clustering processing on the traces belonging to the same target in the distance dimension and azimuth dimension respectively in a weighted average manner.

[0007] Optionally, step S30 includes the following steps: S310, achieving rapid track initiation through a track initiation algorithm based on M / N logic; S320, using the traces to complete data association between the track and the traces within the tracking gate to determine the measurement traces for track filtering update; S330, updating the target track; S340, maintaining the state and attribute information of the track through track state management, and performing deletion or termination operations on the tracks that do not meet the maintenance criteria.

[0008] Optionally, step S40 includes the following steps: S410, constructing an azimuth-distance two-dimensional matrix and initializing all elements in the azimuth-distance two-dimensional matrix to 0; S420, based on the preliminary target detection result, assigning the matrix elements corresponding to the positions of the track targets to 1 and keeping the positions without track targets as 0; S430, performing connected region calculation on the azimuth-distance two-dimensional matrix, and the obtained connected region is the dense clutter region.

[0009] Optionally, step S60 includes the following steps: S610, after performing target tracking processing on the traces, based on the target tracking processing results of each period, feeding back the target detection information of the next period's scan data to locate the dense clutter region; S620, adjusting the detection threshold within the dense clutter region based on the method of obtaining the detection threshold T 2 within the dense clutter region at this false alarm rate; S630, repeatedly executing step S20 and step S30 to complete the clustering and target tracking processing of subsequent detection traces.

[0010] Optionally, step S330 includes the following steps: S3310, filtering and updating the track state with the associated traces as measurement inputs; S3320, performing predictive update on the tracks that are not associated with the measurement traces in the current period but are still in the track update state based on the track history information and the previous period's state.

[0011] In addition, to achieve the above object, an embodiment of the present application further provides a radar target detection and tracking integrated device, which includes: a detection module for setting the false alarm rate of all target detection areas to P FA , and performing preliminary target detection; a clustering processing module for performing clustering processing on the traces belonging to the same target in the distance dimension and the azimuth dimension respectively based on the preliminary target detection result; a tracking processing module for performing target tracking processing on the traces based on the result of the clustering processing; a positioning module for positioning the dense clutter area within the radar scanning area based on the target tracking processing result; a threshold value acquisition module for reducing the false alarm rate within the located dense clutter area to P' FA , and obtaining the detection threshold value T within the dense clutter area at this false alarm rate 2 ; an information feedback module for feeding back the target detection information of the next cycle of scanning data based on the target tracking processing result of each cycle to locate the dense clutter area and adjust the detection threshold value within the dense clutter area to complete the subsequent clustering of detection traces and target tracking processing.

[0012] In addition, to achieve the above object, an embodiment of the present application further provides a computer-readable storage medium, which includes instructions that, when running on a computer, cause the computer to execute the radar target detection and tracking integrated method described in any embodiment of the present application.

[0013] In addition, to achieve the above object, an embodiment of the present application further provides a computing device, which includes: at least one processor, a memory, and an input / output unit; wherein, the memory is used for storing a computer program, and the processor is used for calling the computer program stored in the memory to execute the radar target detection and tracking integrated method described in any embodiment of the present application.

[0014] Compared with the prior art, the beneficial effect of the present invention lies in: The radar target detection and tracking integrated method provided by the embodiment of the present application performs clustering processing on the traces belonging to the same target in the distance dimension and the azimuth dimension respectively through the preliminary target detection result; performs target tracking processing on the traces through the result of the clustering processing; locates the dense clutter area within the radar scanning area through the target tracking processing result, and adjusts the detection threshold value corresponding to the false alarm rate within the located area, thereby effectively suppressing dense clutter. This method significantly improves the target detection performance and tracking accuracy while reducing the target false alarm probability. BRIEF DESCRIPTION OF THE DRAWINGS

[0015] Figure 1 is a flowchart of the radar target detection and tracking integrated method provided by the embodiment of the present application; Figure 2Block diagram of the integrated radar target detection and tracking device provided by the embodiments of the present application; Figure 3 Schematic diagram comparing the target false alarm probabilities of the integrated radar target detection and tracking method provided by the embodiments of the present application and the existing methods; Figure 4 Schematic diagram showing the improvement rate of the target detection probability of the integrated radar target detection and tracking method provided by the embodiments of the present application relative to the existing methods; Figure 5 Schematic diagram comparing the number of tracking track points of the integrated radar target detection and tracking method provided by the embodiments of the present application and the existing methods; Figure 6 Schematic diagram comparing the relative tracking errors of the integrated radar target detection and tracking method provided by the embodiments of the present application and the existing methods; Figure 7 Schematic diagram of the structure of the medium provided by the embodiments of the present application; Figure 8 Schematic diagram of the structure of the computing device provided by the embodiments of the present application.

[0016] The implementation, functional features and advantages of the present application will be further described with reference to the embodiments and the accompanying drawings. Detailed implementation manners

[0017] It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application. On the contrary, these embodiments are provided to make the present disclosure more thorough and complete, and to fully convey the scope of the present disclosure to those skilled in the art.

[0018] To solve the above technical problems, the embodiments of the present application provide an integrated radar target detection and tracking method. As Figure 1 shown, the method may include the following steps: S10, Set the false alarm rate of all target detection regions to P FA , and perform preliminary target detection.

[0019] In an exemplary embodiment, step S10 may specifically include the following steps: S110, Set the false alarm rate of all target detection regions to P FA ; S120, Based on the false alarm rate, obtain the detection threshold T 1 , and use T 1 as the detection threshold for non-dense clutter regions; S130, Obtain the radar echo signal, and perform preliminary target detection based on the radar echo signal.

[0020] Specifically, the detection threshold T 1 is calculated based on the false alarm rate P FA and the clutter characteristics in the echo signal received by the radar, where the clutter exhibits non-Gaussian and non-uniform characteristics.

[0021] The integrated radar target detection and tracking method provided in this embodiment performs clustering processing on the traces belonging to the same target in the range dimension and azimuth dimension respectively through the preliminary target detection results; performs target tracking processing on the traces through the results of the clustering processing; and locates the dense clutter area within the radar scanning area through the results of the target tracking processing, and adjusts the detection threshold corresponding to the false alarm rate within the located area, thereby effectively suppressing the dense clutter. This method significantly improves the target detection performance and tracking accuracy while reducing the target false alarm probability.

[0022] S20. Based on the preliminary target detection results, perform clustering processing on the traces belonging to the same target in the range dimension and azimuth dimension respectively.

[0023] In an exemplary embodiment, step S20 may specifically include the following steps: S210. Based on the preliminary target detection results, use the amplitude of the radar echo signal of each measurement trace as the weight; S220. Adopt a weighted average method to perform clustering processing on the traces belonging to the same target in the range dimension and azimuth dimension respectively.

[0024] S30. Perform target tracking processing on the traces based on the results of the clustering processing.

[0025] In an exemplary embodiment, step S30 may specifically include the following steps: S310. Achieve fast track initiation through a track initiation algorithm based on M / N logic; S320. Use the traces to complete data association between the track and the traces within the tracking gate to determine the measurement traces for track filtering update; S330. Update the target track; S340. Maintain the state and attribute information of the track through track state management, and perform deletion or termination operations on the tracks that do not meet the maintenance criteria.

[0026] Among them, M represents the condition that the target is detected at least M times in N detections, and the values of M and N can be adjusted according to the tracking scenario under different clutter backgrounds.

[0027] In an exemplary embodiment, step S330 may specifically include the following steps: S3310. Filter and update the track state with the associated traces as the measurement input; S3320: Based on the track historical information and the state in the previous cycle, perform predictive updates on the tracks that are not associated with the measurement points in the current cycle but are still in the track update state.

[0028] S40: Based on the target tracking processing result, locate the dense clutter area within the radar scanning region. In an exemplary embodiment, step S40 may specifically include the following steps: S410: Construct a two-dimensional azimuth-range matrix and initialize all elements in the azimuth-range two-dimensional matrix to 0; S420: Based on the preliminary target detection result, assign the matrix elements corresponding to the positions with track targets to 1 and keep the positions without track targets as 0; S430: Perform connected region calculation on the azimuth-range two-dimensional matrix, and the obtained connected region is the dense clutter area.

[0029] Specifically, the connected region calculation method is based on the connectivity judgment of the matrix, and uses the Depth First Search (DFS) or Breadth First Search (BFS) algorithm to calculate and locate the dense clutter area.

[0030] S50: Reduce the false alarm rate within the located dense clutter area to P', FA and obtain the detection threshold value T within the dense clutter area at this false alarm rate. 2 .

[0031] Among them, the detection threshold value T 2 is calculated based on the false alarm rate P' FA and the clutter distribution characteristics of the dense clutter area, and the false alarm rate is dynamically adjusted during the processing to adapt to different dense clutter environments.

[0032] S60: Based on the target tracking processing result of each cycle, feedback the target detection information of the next cycle's scan data to locate the dense clutter area and adjust the detection threshold value within the dense clutter area to complete the subsequent condensation of detection points and target tracking processing.

[0033] In an exemplary embodiment, step S60 may specifically include the following steps: S610: After performing target tracking processing on the measurement points, based on the target tracking processing result of each cycle, feedback the target detection information of the next cycle's scan data to locate the dense clutter area; S620: Based on the method of obtaining the detection threshold value T 2 within the dense clutter area in step S50, adjust the detection threshold value within the dense clutter area; In S630, steps S20 and S30 are repeatedly executed to complete the condensation of subsequent detected traces and target tracking processing.

[0034] Furthermore, in step S610, the execution period of the target detection information feedback is dynamically adjusted according to the radar scanning period to ensure that the detection threshold value and the dense area positioning information are updated in real time to improve the target detection performance and tracking accuracy.

[0035] The effects of the present invention will be further described below in conjunction with simulation experiments.

[0036] 1. Simulation parameters MATLAB software is used to simulate radar scanning echo data. The sea clutter is modeled using the Compound-Gaussian Distribution with Inverse Gaussian Texture (CG-IG) model, where the scale parameter is set to 1 and the shape parameter is set to 1. In this process, pure sea clutter data is first generated, and at the same time, clutter data in the dense clutter area is added to the sea clutter data. Then, echo data of eight trial targets is added to the generated sea clutter data. The motion states of the trial targets include: uniform motion, uniformly accelerated motion, circular motion, "elliptical" motion, "8-shaped" motion, etc. Finally, integrated detection and tracking processing is performed on the tracking echo data.

[0037] 2. Contents of the simulation experiment In the simulation experiment, the detection method and tracking method adopted by the present invention are the same as those adopted by the prior art. The difference is that the present invention utilizes the information feedback of the dense area in the integrated detection and tracking processing.

[0038] Figure 3 It is a schematic diagram comparing the target false alarm probabilities of the integrated radar target detection and tracking method provided in the embodiment of the present application with the prior method. The horizontal axis represents the radar scanning period, and the vertical axis represents the target false alarm probability of the detection method. Figure 4 It is a schematic diagram of the improvement rate of the target detection probability of the integrated radar target detection and tracking method provided in the embodiment of the present application relative to the prior method. The horizontal axis represents the radar scanning period, and the vertical axis represents the improvement rate of the target detection probability of the detection method.

[0039] From Figure 3 it can be seen that under the same clutter background, compared with the prior method, the method of the present invention has a lower target false alarm probability, and the method of the present invention has good detection performance. From Figure 4 it can be seen that the target detection probability of the method of the present invention is better than that of the prior method.

[0040] Figure 5The figure below is a schematic diagram comparing the number of tracking track points of the radar target detection and tracking integration method provided in the embodiments of this application with that of the existing methods. The horizontal axis represents the test target number, and the vertical axis represents the number of tracking track points. Figure 6 The figure below is a schematic diagram comparing the relative tracking error of the radar target detection and tracking integration method provided in the embodiments of this application with that of the existing methods. The horizontal axis represents the test target number, and the vertical axis represents the relative error of the tracking position of the test target.

[0041] From Figure 5 and Figure 6 it can be seen that under the same clutter background conditions, compared with the existing methods that do not utilize the information feedback of the dense area, the method proposed in the present invention has fewer lost track points and lower tracking errors, and has good tracking performance.

[0042] Based on the above embodiments, referring to Figure 2 another embodiment of this application further provides a radar target detection and tracking integration device. The radar target detection and tracking integration device 200 may include the following modules: A detection module 210, configured to set the false alarm rate of all target detection areas to P FA , and perform preliminary target detection; A condensation processing module 220, configured to perform condensation processing on the traces belonging to the same target in the distance dimension and azimuth dimension respectively based on the preliminary target detection result; A tracking processing module 230, configured to perform target tracking processing on the traces based on the result of the condensation processing; A positioning module 240, configured to locate the dense clutter area within the radar scanning area based on the target tracking processing result; A threshold value acquisition module 250, configured to reduce the false alarm rate within the located dense clutter area to P' FA , and acquire the detection threshold value T within the dense clutter area at this false alarm rate 2 ; An information feedback module 260, configured to feedback the target detection information of the next cycle of scanning data based on the target tracking processing result of each cycle, to locate the dense clutter area, and adjust the detection threshold value within the dense clutter area, so as to complete the condensation of subsequent detected traces and target tracking processing.

[0043] Based on the above embodiments, an embodiment of this application further provides a computer-readable storage medium. Referring to Figure 7 , the shown computer-readable storage medium is an optical disc 50, on which a computer program (i.e., a program product) is stored. When the computer program is run by a processor, it will implement the steps recorded in the above method embodiments. For example, S10, setting the false alarm rate of all target detection areas to P FA, and perform preliminary target detection; S20, based on the preliminary target detection results, perform clustering processing on the traces belonging to the same target in the distance dimension and azimuth dimension respectively; S30, perform target tracking processing on the traces based on the results of the clustering processing; S40, based on the target tracking processing results, locate the dense clutter area within the radar scanning area; S50, reduce the false alarm rate within the located dense clutter area to P' FA , and obtain the detection threshold T at this false alarm rate within the dense clutter area 2 ; S60, based on the target tracking processing results of each cycle, feedback the target detection information of the next cycle's scan data to locate the dense clutter area and adjust the detection threshold within the dense clutter area to complete the clustering and target tracking processing of the subsequent detection traces. The specific implementation methods of each step will not be repeated here.

[0044] It should be noted that examples of the computer-readable storage medium may also include, but are not limited to, phase change memory (PRAM), static random access memory (SRAM), dynamic random access memory (DRAM), other types of random access memory (RAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), flash memory, or other optical and magnetic storage media, which will not be elaborated one by one here.

[0045] In addition, based on the above embodiments, the embodiments of the present application also provide a computing device Figure 8 shows a block diagram of an exemplary computing device 60 suitable for implementing the embodiments of the present application. The computing device 60 may be a computer system or a server. Figure 8 The shown computing device 60 is only an example and should not impose any limitation on the functions and usage scope of the embodiments of the present application.

[0046] As Figure 8 shown, the components of the computing device 60 may include, but are not limited to: one or more processors or processing units 601, a system memory 602, and a bus 603 connecting different system components (including the system memory 602 and the processing unit 601).

[0047] The computing device 60 typically includes a variety of computer system-readable media. These media can be any available media accessible by the computing device 60, including volatile and non-volatile media, removable and non-removable media.

[0048] System memory 602 may include computer system readable media in the form of volatile memory, such as random access memory (RAM) 6021 and / or cache memory 6022. Computing device 60 may further include other removable / non-removable, volatile / non-volatile computer system storage media. By way of example only, ROM 6023 may be used to read and write to non-removable, non-volatile magnetic media ( Figure 8 not shown in the figure, commonly referred to as a "hard disk drive"). Although not shown in Figure 8 the figure, a disk drive for reading and writing to removable non-volatile disks (such as "floppy disks") and an optical disk drive for reading and writing to removable non-volatile optical disks (such as CD-ROM, DVD-ROM or other optical media) may be provided. In these cases, each drive may be connected to bus 603 that couples different system components via one or more data media interfaces. System memory 602 may include at least one program product having a set (e.g., at least one) of program modules that are configured to perform the functions of the embodiments of the present application.

[0049] A program / utilities 6025 having a set (at least one) of program modules 6024 may be stored, for example, in system memory 602, and such program modules 6024 include, but are not limited to: an operating system, one or more application programs, other program modules, and program data, each of these examples or some combination thereof may include an implementation of a network environment. Program modules 6024 generally perform the functions and / or methods in the embodiments described in the present application.

[0050] Computing device 60 may also communicate with one or more external devices 604 (such as a keyboard, pointing device, display, etc.). Such communication may be through an input / output (I / O) interface 605. Also, computing device 60 may communicate with one or more networks (such as a local area network (LAN), a wide area network (WAN), and / or a public network, such as the Internet) via network adapter 606. As Figure 8 shown, network adapter 606 communicates with other modules of computing device 60 (such as processing unit 601, etc.) via bus 603 that couples different system components. It should be understood that although Figure 8 not shown in the figure, other hardware and / or software modules may be used in conjunction with computing device 60.

[0051] Processing unit 601 executes various functional applications and data processing by running programs stored in system memory 602. For example, in S10, the false alarm rate of all target detection regions is set to P FA, and perform preliminary target detection; S20, based on the preliminary target detection results, perform clustering processing on the traces belonging to the same target in the distance dimension and the azimuth dimension respectively; S30, perform target tracking processing on the traces based on the results of the clustering processing; S40, based on the target tracking processing results, locate the dense clutter area within the radar scanning area; S50, reduce the false alarm rate within the located dense clutter area to P'. FA , and obtain the detection threshold value T within the dense clutter area at this false alarm rate. 2 ; S60, based on the target tracking processing results of each cycle, feedback the target detection information of the next cycle's scan data to locate the dense clutter area and adjust the detection threshold value within the dense clutter area to complete the clustering and target tracking processing of the subsequent detection traces. The specific implementation methods of each step will not be repeated here. It should be noted that although several units / modules or sub-units / sub-modules of the integrated radar target detection and tracking device are mentioned in the above detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present application, the features and functions of the two or more units / modules described above can be embodied in one unit / module. Conversely, the features and functions of one unit / module described above can be further divided and embodied by multiple units / modules.

[0052] In the description of the present application, it should be noted that the terms "first", "second", and "third" are only used for descriptive purposes and cannot be understood as indicating or implying relative importance.

[0053] Those skilled in the art can clearly understand that for the convenience and simplicity of description, the specific working processes of the above-described systems, devices, and units can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated here.

[0054] In several embodiments provided by the present application, it should be understood that the disclosed systems, devices, and methods can be implemented in other ways. The device embodiments described above are merely illustrative. For example, the division of the units is only a logical function division, and there can be other division methods in actual implementation. For another example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed. Another point is that the displayed or discussed couplings or direct couplings or communication connections to each other can be through some communication interfaces, and the indirect couplings or communication connections of the devices or units can be in electrical, mechanical, or other forms.

[0055] The unit described as a separation component may or may not be physically separated. The component shown as a unit may or may not be a physical unit, that is, it may be located in one place or distributed to multiple network units. Some or all of the units can be selected according to actual needs to achieve the purpose of the solution of this embodiment.

[0056] In addition, in each embodiment of the present application, each functional unit can be integrated in a processing unit, or each unit can exist physically alone, or two or more units can be integrated in one unit.

[0057] If the described function is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a non-volatile computer-readable storage medium executable by a processor. Based on such understanding, the technical solution of the present application, in essence, or the part that contributes to the prior art, or a part of this technical solution, can be embodied in the form of a software product. This computer software product is stored in a storage medium and includes several instructions to enable a computer device (which can be a personal computer, a server, or a network device, etc.) to execute all or part of the steps of the methods described in each embodiment of the present application. The foregoing storage medium includes: various media such as USB flash drives, mobile hard disks, read-only memories (ROM, Read-Only Memory), random access memories (RAM, Random Access Memory), magnetic disks, or optical discs that can store program codes.

[0058] Finally, it should be noted that: the above-described embodiments are only specific implementation manners of the present application, used to illustrate the technical solutions of the present application, rather than limiting it. The protection scope of the present application is not limited thereto. Although the present application has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that: any person skilled in the art within the technical scope disclosed by the present application can still modify the technical solutions recorded in the foregoing embodiments, or can easily think of changes, or perform equivalent replacements on some of the technical features; and these modifications, changes, or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present application, and should all be covered by the protection scope of the present application. Therefore, the protection scope of the present application should be subject to the protection scope of the claims.

[0059] In addition, although the operations of the method of the present application are described in a specific order in the drawings, this does not require or imply that these operations must be performed in this specific order, or that all the shown operations must be performed to achieve the desired result. Additionally or alternatively, some steps can be omitted, multiple steps can be combined into one step for execution, and / or one step can be decomposed into multiple steps for execution.

Claims

1. A radar target detection and tracking integrated method, characterized in that: The radar target detection and tracking integrated method comprises the following steps: S10, set the false alarm rate of all target detection areas to P FA , and perform preliminary target detection; S20, based on the preliminary target detection result, performing agglomeration processing on the points belonging to the same target in the distance dimension and the orientation dimension respectively; S30, performing target tracking processing on the point traces based on the result of the agglomeration processing; S40, based on the target tracking processing result, locating the dense clutter area in the radar scanning area; S50, reduce the false alarm rate in the dense clutter area obtained by positioning to P' FA , and obtain the detection threshold value T2 at this false alarm rate in the dense clutter area; S60, based on the target tracking processing result of each cycle, the target detection information of the scanning data of the next cycle is fed back to locate the dense clutter area, and the detection threshold value in the dense clutter area is adjusted to complete the subsequent detection point condensation and target tracking processing.

2. The radar target detection and tracking integrated method according to claim 1, characterized in that: The step S10 comprises the following steps: S110, set the false alarm rate of all target detection areas to P FA ; S120, based on the false alarm rate, obtaining a detection threshold value T1, and using T1 as a detection threshold value for a non-dense clutter area; S130, acquiring a radar echo signal, and performing preliminary target detection based on the radar echo signal.

3. The radar target detection and tracking integrated method according to claim 1, characterized in that: The step S20 comprises the following steps: S210, based on the preliminary target detection result, taking the amplitude of each measurement point trace as a weight; S220, using a weighted average method, condensing the points belonging to the same target in the distance dimension and the orientation dimension respectively.

4. The radar target detection and tracking integrated method according to claim 1, characterized in that: The step S30 comprises the following steps: S310, realizing rapid track initiation through a track initiation algorithm based on M / N logic; S320, completing data association between tracks and track points using the track points in the tracking gate to determine the measurement track points used for track filtering update; S330, updating the target track; S340, maintaining the status and attribute information of the track through track status management, and deleting or terminating the track that does not meet the maintenance standard.

5. The radar target detection and tracking integrated method according to claim 1, characterized in that: The step S40 comprises the following steps: S410, constructing a azimuth-distance two-dimensional matrix, and initializing all elements of the azimuth-distance two-dimensional matrix to 0; S420, based on the preliminary target detection result, assigning a value of 1 to a matrix element corresponding to a position where a target with a track exists, and keeping a position where a target without a track exists as 0; S430, calculating the connected area of ​​the azimuth-distance two-dimensional matrix, and the obtained connected area is the dense clutter area.

6. The radar target detection and tracking integrated method according to claim 1, characterized in that: The step S60 comprises the following steps: S610, after performing target tracking processing on the point traces, based on the target tracking processing result of each cycle, the target detection information of the scanning data of the next cycle is fed back to locate the dense clutter area; S620, adjusting the detection threshold value in the dense clutter area based on the method of obtaining the detection threshold value T2 in the dense clutter area at the false alarm rate in step S50; S630, repeating step S20 and step S30 to complete the subsequent detection point aggregation and target tracking processing.

7. The radar target detection and tracking integrated method according to claim 4, characterized in that: The step S330 includes the following steps: S3310, filtering and updating the track state using the associated point track as a measurement input; S3320, based on the track history information and the status of the previous cycle, predictively update the track of the measurement point track that is not associated with the current cycle but is still in the track update state.

8. A radar target detection and tracking integrated device, characterized in that: include: The detection module is used to set the false alarm rate of all target detection areas to P FA , and perform preliminary target detection; A condensation processing module is used to perform condensation processing on the distance dimension and the azimuth dimension of the points belonging to the same target based on the preliminary target detection results; A tracking processing module, used for performing target tracking processing on the point traces based on the result of the agglomeration processing; A positioning module is used to locate dense clutter areas within the radar scanning area based on the target tracking processing results; The threshold value acquisition module is used to reduce the false alarm rate in the dense clutter area obtained by positioning to P' FA , and obtain the detection threshold value T2 at this false alarm rate in the dense clutter area; The information feedback module is used to feedback the target detection information of the next cycle scanning data based on the target tracking processing results of each cycle, so as to locate the dense clutter area and adjust the detection threshold value in the dense clutter area to complete the subsequent detection point condensation and target tracking processing.

9. A computer-readable storage medium, characterized in that: The invention comprises instructions, which, when executed on a computer, enable the computer to execute the radar target detection and tracking integration method as described in any one of claims 1 to 7.

10. A computing device, characterized in that The computing device comprises: at least one processor, memory, and input-output unit; The memory is used to store a computer program, and the processor is used to call the computer program stored in the memory to execute the radar target detection and tracking integrated method according to any one of claims 1 to 7.

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