Information fusion method and device and computer equipment

Abstract

The invention relates to an information fusion method and device and computer equipment. The method comprises the following steps: determining fusion priorities of radio target information of a to-be-detected target acquired by a plurality of different radio systems in ground equipment in an information fusion system according to information of an actual scene where the to-be-detected target is located, and obtaining the fusion priority of the radio target information of the to-be-detected target according to the fusion priorities of the radio target information, and carrying out fusion processing on at least one of radar target information collected by radar equipment in the ground equipment and the information of each radio target to obtain an information fusion result of the target to be measured, the actual scene information including at least one of the distance between the target to be measured and the ground equipment and environment information of the information fusion system. The method is not limited to an actual scene where the to-be-detected target is located, the success rate of information fusion can be improved, and the accuracy of an information fusion result is improved.

Description

Technical Field

[0001] The present application relates to the technical field of target detection, and particularly to an information fusion method, apparatus, and computer device. Background Art

[0002] With the development of computer vision technology, target detection technology has also gradually developed. Taking air targets as an example, in order to improve the accuracy and reliability of target detection, it becomes particularly important to perform fusion processing on radar information and target information (ADS-B information, broadcast operational identification information, or network operational identification information) of air equipment collected by ground equipment in an information fusion system.

[0003] In related technologies, mainly the fusion technology of radar information and Automatic Dependent Surveillance-Broadcast (ADS-B) information is adopted to perform fusion processing on the ADS-B information collected by ground equipment to obtain the fusion result of air targets.

[0004] However, in the process of implementing information fusion in related technologies, there is a problem of relatively low success rate of information fusion. Summary of the Invention

[0005] Based on this, it is necessary to provide an information fusion method, apparatus, and computer device that can improve the accuracy of information fusion for the above technical problems.

[0006] In a first aspect, the present application provides an information fusion method, including:

[0007] Determine the fusion priority of radio target information of a to-be-detected target collected by multiple different radio systems in a ground device in an information fusion system according to the actual scenario information of the to-be-detected target; the actual scenario information includes at least one of the distance between the to-be-detected target and the ground device and the environmental information of the information fusion system;

[0008] Perform fusion processing on the radar target information collected by a radar device in the ground device and at least one of the radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the to-be-detected target.

[0009] In one embodiment, the environmental information of the information fusion system includes network quality; determining the fusion priority of radio target information of a to-be-detected target collected by multiple different radio systems in a ground device in an information fusion system according to the actual scenario information of the to-be-detected target includes:

[0010] When the separation distance is greater than a preset distance threshold and the network quality is less than a preset quality threshold, determine the fusion priority of the Automatic Dependent Surveillance - Broadcast (ADS - B) information in each radio target information as the first priority, and determine the fusion priority of the Broadcast Operational Identification (BOI) information in each radio target information as the second priority, and determine the fusion priority of the Network Operational Identification (NOI) information in each radio target information as the third priority; the second priority is lower than the first priority and higher than the third priority.

[0011] When the separation distance is less than a preset distance threshold and the network quality is less than a preset quality threshold, determine the fusion priority of the Broadcast Operational Identification (BOI) information as the first priority, and determine the fusion priority of the Automatic Dependent Surveillance - Broadcast (ADS - B) information as the second priority, and determine the fusion priority of the Network Operational Identification (NOI) information as the third priority.

[0012] In one embodiment, the environmental information of the information fusion system includes the radio interference intensity; according to the actual scenario information of the target to be measured, determine the fusion priorities of the radio target information collected by multiple different radio systems in the ground equipment, including:

[0013] When the separation distance is greater than a preset distance threshold and the radio interference intensity is greater than a preset intensity threshold, determine the fusion priority of the Network Operational Identification (NOI) information in each radio target information as the first priority, and determine the fusion priority of the Automatic Dependent Surveillance - Broadcast (ADS - B) information in each radio target information as the second priority, and determine the fusion priority of the Broadcast Operational Identification (BOI) information in each radio target information as the third priority;

[0014] When the separation distance is less than a preset distance threshold and the radio interference intensity is greater than a preset intensity threshold, determine the fusion priority of the Network Operational Identification (NOI) information as the first priority, and determine the fusion priority of the Broadcast Operational Identification (BOI) information as the second priority, and determine the fusion priority of the Automatic Dependent Surveillance - Broadcast (ADS - B) information as the third priority.

[0015] In one embodiment, according to the fusion priorities of each radio target information, perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and each radio target information to obtain the information fusion result of the target to be measured, including:

[0016] According to the fusion priorities of each radio target information, perform spatio - temporal synchronization processing on the radar target information and at least one of each radio target information to obtain the synchronized radar target information and the synchronized radio target information;

[0017] Perform sliding processing on the synchronized radar target information and the synchronized radio target information respectively according to the preset sliding window length and sliding step size to obtain multiple groups of target information;

[0018] Perform fusion processing on each group of target information respectively to obtain the information fusion result.

[0019] In one embodiment, perform spatio-temporal synchronization processing on at least one of the radar target information and each radio target information according to the fusion priority of each radio target information to obtain the synchronized radar target information and the synchronized radio target information, including:

[0020] According to the descending order of the fusion priorities, obtain the corresponding target information to be fused in each radio target information in turn according to the fusion priority of each radio target information; the target information to be fused is the automatic dependent surveillance - broadcast information, the broadcast operational identification information or the network operational identification information in each radio target information;

[0021] Perform spatio - temporal synchronization processing on the radar target information and the corresponding target information to be fused in turn to obtain the synchronized radar target information and the synchronized target information to be fused.

[0022] In one embodiment, according to the descending order of the fusion priorities, obtain the corresponding target information to be fused in each radio target information in turn according to the fusion priority of each radio target information, including:

[0023] If the fusion priority of the automatic dependent surveillance - broadcast information is the first priority and the fusion priority of the broadcast operational identification information is the second priority, determine that the target information to be fused is the automatic dependent surveillance - broadcast information, the broadcast operational identification information and the network operational identification information in turn.

[0024] In one embodiment, the target information includes the synchronized radar target information and the synchronized target information to be fused, and the synchronized target information to be fused is the synchronized automatic dependent surveillance - broadcast information, the synchronized broadcast operational identification information or the synchronized network operational identification information; perform fusion processing on each group of target information respectively to obtain the information fusion result, including:

[0025] Perform fusion processing on the synchronized radar target information and the synchronized automatic dependent surveillance - broadcast information in each group of target information. If the fusion processing is successful, determine the current fusion result as the information fusion result;

[0026] In the case of failed fusion processing, perform fusion processing on the synchronized radar target information and the synchronized broadcast operational identification information in each group of target information. If the fusion processing is successful, determine the current fusion result as the information fusion result;

[0027] In the case of failed fusion processing, the synchronized radar target information and the synchronized networked operation recognition information in each group of target information are subjected to fusion processing. In the case of successful fusion processing, the current fusion result is determined as the information fusion result.

[0028] In one embodiment, the above method further includes:

[0029] Estimation processing is performed based on the information fusion result and the previous state of the target to be measured to obtain the current state of the target to be measured; the current state is a uniform speed state, an acceleration state, or a deceleration state.

[0030] In a second aspect, the present application further provides an information fusion device, including:

[0031] A determination module, configured to determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system;

[0032] An information fusion module, configured to perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and the radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured.

[0033] In a third aspect, the present application further provides a computer device, including a memory and a processor. The memory stores a computer program, and when the processor executes the computer program, the following steps are implemented:

[0034] Determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system;

[0035] Perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and the radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured.

[0036] In a fourth aspect, the present application further provides a computer-readable storage medium, on which a computer program is stored. When the computer program is executed by a processor, the following steps are implemented:

[0037] Determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system.

[0038] According to the fusion priority of each radio target information, perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and each radio target information to obtain the information fusion result of the target to be measured.

[0039] In a fifth aspect, the present application also provides a computer program product, including a computer program, which when executed by a processor implements the following steps:

[0040] Determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system.

[0041] According to the fusion priority of each radio target information, perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and each radio target information to obtain the information fusion result of the target to be measured.

[0042] The above information fusion method, device and computer device include: determining the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured, and performing fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and each radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured, where the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system. By using the above method, the fusion priority of the radio target information of the target to be measured collected by each radio system can be determined according to the actual scenario information of the target to be measured, and at least one of the radar target information and each radio target information can be selectively fused, so that the process is not limited to the actual scenario where the target to be measured is located, improving the wide applicability of the information fusion method, and also being able to improve the success rate of information fusion and the accuracy of the information fusion result; at the same time, the above method does not require manual participation, can reduce the errors generated in the information fusion process, thereby improving the correctness of information fusion, and accelerating the speed and efficiency of information fusion. Description of the Drawings

[0043] To more clearly illustrate the technical solutions in the embodiments of the present application or related technologies, the following will briefly introduce the accompanying drawings required for the description of the embodiments of the present application or related technologies. Obviously, the accompanying drawings in the following description are only some embodiments of the present application. For those of ordinary skill in the art, without creative efforts, other related drawings can also be obtained based on these drawings.

[0044] Figure 1 It is an application environment diagram of the information fusion method in an embodiment;

[0045] Figure 2 It is a schematic flowchart of the information fusion method in an embodiment;

[0046] Figure 3 It is a schematic flowchart of the information fusion method in another embodiment;

[0047] Figure 4 It is a schematic flowchart of the information fusion method in another embodiment;

[0048] Figure 5 It is a schematic flowchart of the information fusion method in another embodiment;

[0049] Figure 6 It is a structural block diagram of the information fusion device in an embodiment;

[0050] Figure 7 It is an internal structure diagram of a computer device in an embodiment. Detailed implementation manners

[0051] In order to make the purpose, technical solutions and advantages of the present application clearer, the following further details the present application in conjunction with the accompanying drawings and embodiments. It should be understood that the specific embodiments described herein are only used to explain the present application and are not used to limit the present application.

[0052] The information fusion method provided by the embodiments of the present application can be applied to, for example Figure 1In the application environment shown, the information fusion system includes a computer device, ground equipment, and airborne targets; the ground equipment includes radar equipment and a radio system; the above radio system may include an ADS-B receiver, a broadcast operational identification information receiving station, a networked operational identification information receiving station, etc. Among them, the ADS-B receiver is used to collect or detect the ADS-B information emitted by the ADS-B transmitter installed on the airborne equipment, the broadcast operational identification information receiving station receives the identification information emitted by the broadcast operational identification information transmitter, and the networked operational identification information receiving station obtains the networked operational identification information. Optionally, the airborne targets may be targets such as unmanned aerial vehicles, manned aircraft, hot air balloons, airships, aerial bombs, rockets, etc., and the manned aircraft may be fighter jets, bombers, transport aircraft, airborne early warning aircraft, helicopters, etc.; the above radar equipment may be microwave radar equipment, pulsed radar equipment, millimeter wave radar equipment, lidar equipment, or phased array radar equipment, etc.

[0053] Among them, the computer device in the information fusion system communicates with the radar equipment and the radio system in the ground equipment through a network. Among them, the computer device can be, but is not limited to, various personal computers, laptop computers, smart phones, tablet computers, Internet of Things devices, and portable wearable devices. The Internet of Things devices can be smart speakers, smart TVs, smart air conditioners, smart in-vehicle devices, projection devices, etc., and the portable wearable devices can be smart watches, smart bracelets, head-mounted devices, etc. The head-mounted devices can be virtual reality (VR) devices, augmented reality (AR) devices, smart glasses, etc. Among them, Figure 1 Taking the computer device being a personal computer and the airborne target being an aircraft as an example for illustration.

[0054] In an exemplary embodiment, as Figure 2 shown, a method for information fusion is provided. Taking this method applied to the Figure 1 computer device as an example for description, it includes the following steps:

[0055] S100. According to the actual scene information of the target to be measured, determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment of the information fusion system. Among them, the actual scene information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system.

[0056] Among them, the target to be measured can be an airborne target in an information fusion system; the actual scene information where the target to be measured is located can be the distance between the target to be measured and ground equipment, or the environmental information of the environment where the information fusion system is located. Optionally, the fusion priority of the above-mentioned radio target information can be understood as the priority order of selectively performing fusion processing on radar target information and each radio target information on the basis of improving the success rate of information fusion.

[0057] In one embodiment, the computer device can pre-train an algorithm model, and then input the actual scene information where the target to be measured is located into the algorithm model, and the algorithm model outputs the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system.

[0058] In another embodiment, the computer device can look up the actual scene information where the target to be measured is located in the mapping relationship table, and then determine the fusion priority of each radio target information corresponding to the scene information matching the actual scene information in the mapping relationship table as the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system. Optionally, the above mapping relationship table includes the corresponding relationship between different scene information and the fusion priority of different radio target information.

[0059] In addition, the distance between the target to be measured and the ground equipment can be obtained by averaging the distances between the target to be measured and each equipment (including radar equipment and radio equipment) in the ground equipment, or can be obtained by weighted summing the distances between the target to be measured and each equipment in the ground equipment. The embodiments of the present application do not make any limitations in this regard.

[0060] S200. According to the fusion priority of each radio target information, perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and each radio target information to obtain the information fusion result of the target to be measured.

[0061] Specifically, the computer device can perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and each radio target information according to the fusion priority of each radio target information by using an information fusion algorithm to obtain the information fusion result of the target to be measured.

[0062] Optionally, the above information fusion algorithm can be 、 or etc., and the embodiments of the present application do not make any limitations in this regard. Among them, the information fusion result of the above-mentioned target to be measured can be the result obtained after performing fusion processing on any one of the radar target information and each radio target information.

[0063] It should be noted here that the types of transmitters installed on different airborne targets can be different. In order for the information fusion method to be applicable to any airborne target and improve the accuracy of the information fusion result and the success rate of information fusion, the radar target information of the airborne target and at least one of the radio target information can be selectively fused according to the fusion priority of the radio target information of the target to be measured collected by different radio systems.

[0064] In addition, the computer device can also pre-train an information fusion model, and then input the fusion priority of each radio target information, the radar target information, and each radio target information into the information fusion model. The information fusion model fuses at least one of the radar target information and each radio target information according to the fusion priority of each radio target information, and then outputs the information fusion result of the target to be measured.

[0065] Optionally, the above radar target information may include information such as the azimuth angle, spatial position, traveling acceleration, distance, flight altitude, speed, and heading of the target to be measured.

[0066] In the technical solution of the embodiment of the present application, the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground device in the information fusion system is determined according to the actual scenario information of the target to be measured, and at least one of the radar target information collected by the radar device in the ground device and each radio target information is fused according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured. Among them, the actual scenario information includes at least one of the distance between the target to be measured and the ground device and the environmental information of the information fusion system; the above method can determine the fusion priority of the radio target information of the target to be measured collected by each radio system according to the actual scenario information of the target to be measured, and selectively fuse at least one of the radar target information and each radio target information, so that this process is not limited to the actual scenario where the target to be measured is located, improving the wide applicability of the information fusion method, and also being able to improve the success rate of information fusion and the accuracy of the information fusion result; at the same time, the above method does not require manual participation, can reduce the errors generated in the information fusion process, thereby being able to improve the correctness of information fusion, speed up the speed and efficiency of information fusion; in addition, the above method can quickly fuse the radar target information and each radio target information according to the fusion priority of each radio target information, reduce the computing resources required in the information fusion process, improve the speed and efficiency of information fusion, and on this basis, be able to quickly identify the target to be measured; furthermore, the above method can fuse at least one of the radar target information and each radio target information collected in real time, thereby being able to improve the timeliness of information fusion.

[0067] The process of determining the fusion priority of the radio target information of a target to be measured collected by multiple different radio systems in a ground device in the information fusion system according to the actual scenario information of the target to be measured will be described below. In one embodiment, the environmental information of the information fusion system includes network quality; the steps in S100 above can be implemented in the following manner:

[0068] In the case where the separation distance is greater than a preset distance threshold and the network quality is less than a preset quality threshold, the fusion priority of the automatic dependent surveillance - broadcast (ADS - B) information in each radio target information is determined as the first priority, and the fusion priority of the broadcast operational identification (BOI) information in each radio target information is determined as the second priority, and the fusion priority of the network - based operational identification (NOI) information in each radio target information is determined as the third priority; in the case where the separation distance is less than the preset distance threshold and the network quality is less than the preset quality threshold, the fusion priority of the broadcast operational identification information is determined as the first priority, and the fusion priority of the automatic dependent surveillance - broadcast information is determined as the second priority, and the fusion priority of the network - based operational identification information is determined as the third priority. Among them, the second priority is lower than the first priority and higher than the third priority.

[0069] Among them, the computer device can determine whether the separation distance between the target to be measured and the ground device is greater than the preset distance threshold. In the case where it is determined that the separation distance is greater than the preset distance threshold, the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information is determined as the first priority, and the fusion priority of the network - based operational identification information in each radio target information is determined as the second priority, and the fusion priority of the broadcast operational identification information in each radio target information is determined as the third priority.

[0070] In addition, the computer device can determine whether the network quality of the environment where the information fusion system is located is less than the preset quality threshold. In the case where it is determined that the network quality is less than the preset quality threshold, the fusion priority of the broadcast operational identification information in each radio target information is determined as the first priority, and the fusion priorities of the automatic dependent surveillance - broadcast information and the network - based operational identification information in each radio target information are determined as the second priority and the third priority respectively.

[0071] Optionally, both the above - mentioned preset distance threshold and preset quality threshold can be determined according to historical experience values or can be custom - determined. The embodiments of the present application do not make any limitations in this regard.

[0072] In practical applications, the computer device can determine whether the distance between the target to be measured and the ground device is greater than a preset distance threshold and whether the environmental information of the environment where the information fusion system is located is less than a preset quality threshold. When it is determined that the separation distance is greater than the preset distance threshold and the network quality is less than the preset quality threshold, the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information is determined as the first priority, and the fusion priority of the broadcast operational identification information in each radio target information is determined as the second priority, and the fusion priority of the network - based operational identification information in each radio target information is determined as the third priority. Among them, the priority levels of the first priority, the second priority, and the third priority decrease in sequence.

[0073] Among them, when the computer device determines that the distance between the target to be measured and the ground device is less than the preset distance threshold, the fusion priority of the network - based operational identification information in each radio target information is determined as the first priority, and the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information is determined as the second priority, and the fusion priority of the broadcast operational identification information in each radio target information is determined as the third priority.

[0074] Specifically, when the computer device determines that the separation distance is less than the preset distance threshold and the network quality is less than the preset quality threshold, the fusion priority of the broadcast operational identification information is determined as the first priority, and the fusion priority of the automatic dependent surveillance - broadcast information is determined as the second priority, and the fusion priority of the network - based operational identification information is determined as the third priority.

[0075] In one embodiment, the environmental information of the above - mentioned information fusion system includes the radio interference intensity; the step of determining the fusion priorities of the corresponding radio target information collected by multiple different radio systems in the ground device according to the actual scenario information of the target to be measured in S100 may include:

[0076] When the separation distance is greater than the preset distance threshold and the radio interference intensity is greater than the preset intensity threshold, the fusion priority of the network - based operational identification information in each radio target information is determined as the first priority, and the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information is determined as the second priority, and the fusion priority of the broadcast operational identification information in each radio target information is determined as the third priority; when the separation distance is less than the preset distance threshold and the radio interference intensity is greater than the preset intensity threshold, the fusion priority of the network - based operational identification information is determined as the first priority, and the fusion priority of the broadcast operational identification information is determined as the second priority, and the fusion priority of the automatic dependent surveillance - broadcast information is determined as the third priority.

[0077] Among them, the computer device can determine whether the radio interference intensity of the environment where the information fusion system is located is greater than a preset intensity threshold. When it is determined that the radio interference intensity is greater than the preset intensity threshold, the fusion priority of the network operation identification information in each radio target information is determined as the first priority, and the fusion priorities of the automatic dependent surveillance - broadcast information and the broadcast operation identification information in each radio target information are determined as the second priority and the third priority respectively.

[0078] In the embodiment of the present application, when the computer device determines that the separation distance is greater than a preset distance threshold and the radio interference intensity is greater than the preset intensity threshold, the fusion priority of the network operation identification information in each radio target information can be determined as the first priority, the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information can be determined as the second priority, and the fusion priority of the broadcast operation identification information in each radio target information can be determined as the third priority.

[0079] In practical applications, when the computer device determines that the separation distance is less than the preset distance threshold and the radio interference intensity is greater than the preset intensity threshold, the fusion priority of the network operation identification information can be determined as the first priority, the fusion priority of the broadcast operation identification information can be determined as the second priority, and the fusion priority of the automatic dependent surveillance - broadcast information can be determined as the third priority.

[0080] The technical solution in the embodiment of the present application can accurately determine the fusion priorities of the radio target information collected by different radio systems according to the interval distance between the target to be measured and the ground device and the environmental information of the environment where the information fusion system is located, so as to provide reference information for further improving the success rate of information fusion.

[0081] The following describes the process of fusing at least one of the radar target information collected by the radar device in the ground device and each radio target information according to the fusion priorities of each radio target information. In one embodiment, as Figure 3 shown, the steps in S200 above can be implemented through the following steps:

[0082] S210. Perform spatio - temporal synchronization processing on at least one of the radar target information and each radio target information according to the fusion priorities of each radio target information, to obtain the synchronized radar target information and the synchronized radio target information.

[0083] In practical applications, the computer device can perform spatio-temporal synchronization processing on at least one of the radar target information and each radio target information respectively by using a spatio-temporal synchronization algorithm according to the fusion priority of each radio target information, so as to obtain the synchronized radar target information and the synchronized radio target information. Optionally, the above spatio-temporal synchronization algorithm can be a synchronization algorithm based on the Global Positioning System (GPS), a Kalman filter synchronization algorithm, etc.

[0084] In addition, the computer device can pre-train a spatio-temporal synchronization model, and then input at least one of the radar target information and each radio target information into the spatio-temporal synchronization model. After the time synchronization model performs spatio-temporal synchronization processing on at least one of the radar target information and each radio target information, it outputs the synchronized radar target information and the synchronized radio target information respectively. Optionally, the spatio-temporal synchronization model can be implemented by at least one of a convolutional neural network model, a fully connected neural network model, a long short-term memory neural network model, a residual neural network model, a recurrent neural network model, etc.

[0085] In the embodiment of the present application, the computer device can perform spatio-temporal synchronization processing on at least one of the radar target information and each radio target information by using an interpolation method, so as to obtain the synchronized radar target information and the synchronized radio target information.

[0086] S220. Perform sliding processing on the synchronized radar target information and the synchronized radio target information respectively according to a preset sliding window length and sliding step size, so as to obtain multiple groups of target information.

[0087] Among them, the above sliding window length and sliding step size can be determined by user definition, or can be determined according to historical experience values.

[0088] Specifically, the computer device can perform sliding processing on the synchronized radar target information and the synchronized radio target information respectively according to a preset sliding window length and sliding step size, so as to obtain multiple groups of target information. It should be noted here that each time the sliding window slides, a group of target information can be obtained. This group of target information can include a part of the synchronized radar target information and a part of the synchronized radio target information contained in the sliding window.

[0089] It should be noted here that the number of groups of target information can be less than or equal to the number of sliding times of the sliding window; in practical applications, in order to improve the authenticity of the fusion object, if the number of real information acquisitions of a part of the synchronized radar target information and / or a part of the synchronized radio target information in any sliding window is less than a preset quantity threshold, then the part of the synchronized radar target information and the part of the synchronized radio target information in the current sliding window are deleted, that is, the part of the synchronized radar target information and the part of the synchronized radio target information in the current sliding window are not used as a group of target information.

[0090] S230. Perform fusion processing on each group of target information respectively to obtain an information fusion result.

[0091] In practical applications, each group of target information can be processed for fusion respectively to obtain an information fusion result.

[0092] In the technical solution of the embodiment of the present application, according to the fusion priority of each radio target information, at least one of the radar target information and each radio target information is subjected to spatio-temporal synchronization processing to obtain the synchronized radar target information and the synchronized radio target information. According to the preset sliding window length and sliding step, the synchronized radar target information and the synchronized radio target information are respectively subjected to sliding processing to obtain multiple groups of target information, and each group of target information is respectively subjected to fusion processing to obtain an information fusion result; before the above method performs fusion processing on the radar target information and the radio target information, spatio-temporal synchronization processing is first performed on these two types of information, so that the radar target information and the radio target information can be effectively combined for fusion processing, improving the accuracy of information fusion and the continuity of the information fusion result.

[0093] The following describes the process of performing spatio-temporal synchronization processing on at least one of the radar target information and each radio target information according to the fusion priority of each radio target information to obtain the synchronized radar target information and the synchronized radio target information. In one embodiment, as Figure 4 shown, the steps in the above S210 may include:

[0094] S211. According to the fusion priority order from high to low, sequentially obtain the corresponding target information to be fused in each radio target information according to the fusion priority of each radio target information. Among them, the target information to be fused is the automatic dependent surveillance - broadcast information, the broadcast operational identification information, or the networked operational identification information in each radio target information.

[0095] In practical applications, the computer device can sequentially obtain the corresponding target information to be fused in each radio target information according to the fusion priority order from high to low according to the fusion priority of each radio target information. In the embodiment of the present application, the target information to be fused is the automatic dependent surveillance - broadcast information, the broadcast operational identification information, or the networked operational identification information in each radio target information.

[0096] S212. Sequentially perform spatio-temporal synchronization processing on the radar target information and the corresponding target information to be fused to obtain the synchronized radar target information and the synchronized target information to be fused.

[0097] Further, the computer device may sequentially perform spatio-temporal synchronization processing on the radar target information and the broadcast automatic dependent surveillance information, broadcast operational identification information, or network operational identification information to obtain the synchronized radar target information and the synchronized target information to be fused.

[0098] It should be noted here that before performing the steps in S212 above, the computer device may perform consistency detection on the radar target information of the target to be measured and at least one piece of radio target information. When the positions, flight speeds, and accelerations in the radar target information and at least one piece of radio target information are all consistent, it can be determined that the radar target information and at least one piece of radio target information are all corresponding information of the same target to be measured, and then the steps in S212 above are executed to ensure that fusion processing is achieved based on the target information corresponding to the same target to be measured, improving the accuracy of information fusion.

[0099] In one embodiment, the step of obtaining the corresponding target information to be fused in each piece of radio target information according to the fusion priority order from high to low in S211 above may include: if the fusion priority of the broadcast automatic dependent surveillance information is the first priority and the fusion priority of the broadcast operational identification information is the second priority, then it is determined that the target information to be fused is the broadcast automatic dependent surveillance information, the broadcast operational identification information, and the network operational identification information in sequence.

[0100] In one embodiment, the target information includes the synchronized radar target information and the synchronized target information to be fused, and the synchronized target information to be fused is the synchronized broadcast automatic dependent surveillance information, the synchronized broadcast operational identification information, or the synchronized network operational identification information; as Figure 5 shown, the step of separately performing fusion processing on each group of target information to obtain an information fusion result in S230 above may include:

[0101] S231. Perform fusion processing on the synchronized radar target information and the synchronized broadcast automatic dependent surveillance information in each group of target information. When the fusion processing is successful, determine the current fusion result as the information fusion result.

[0102] In the embodiment of the present application, the computer device may first perform fusion processing on the synchronized radar target information and the synchronized broadcast automatic dependent surveillance information in each group of target information. When the fusion processing is successful, determine the fusion result between the synchronized radar target information and the synchronized broadcast automatic dependent surveillance information in each group of target information as the information fusion result. Among them, the above-mentioned broadcast automatic dependent surveillance information may include information such as the position, flight speed, and flight altitude of the target to be measured.

[0103] It should be noted here that in the embodiments of the present application, only the position and flight speed in the radar target information are fused with the position and flight speed in at least one piece of radio target information.

[0104] S232. In the case of failed fusion processing, fuse the synchronized radar target information and the synchronized broadcast-based operational identification information in each group of target information. In the case of successful fusion processing, determine the current fusion result as the information fusion result.

[0105] Among them, in the case of failed fusion between the synchronized radar target information and the synchronized broadcast automatic dependent surveillance information, the synchronized radar target information and the synchronized broadcast-based operational identification information in each group of target information can continue to be fused. In the case of successful fusion processing, determine the fusion result between the synchronized radar target information and the synchronized broadcast-based operational identification information in each group of target information as the information fusion result.

[0106] It should be noted here that in the case where the broadcast-based operational identification information transmitter is not installed on the target to be measured, correspondingly, the broadcast-based operational identification information receiving station in the ground equipment cannot collect the broadcast-based operational identification information of the target to be measured. In this case, the synchronized radar target information and the synchronized broadcast-based operational identification information cannot be effectively fused. Therefore, the situation of failed fusion between the synchronized radar target information and the synchronized broadcast-based operational identification information will occur.

[0107] In the embodiments of the present application, the above-mentioned broadcast-based operational identification information receiving station can collect information such as the identification code, position, speed, and flight altitude of the target to be measured.

[0108] S233. In the case of failed fusion processing, fuse the synchronized radar target information and the synchronized network-based operational identification information in each group of target information. In the case of successful fusion processing, determine the current fusion result as the information fusion result.

[0109] Furthermore, the computer device can, in the case of failed fusion between the synchronized radar target information and the synchronized broadcast-based operational identification information, fuse the synchronized radar target information and the synchronized network-based operational identification information in each group of target information. In the case of successful fusion processing, determine the fusion result between the synchronized radar target information and the synchronized network-based operational identification information in each group of target information as the information fusion result.

[0110] It should be noted here that in the case where the network - type operation identification information transmitter is not installed on the target to be measured, correspondingly, the network - type operation identification information receiving station in the ground equipment cannot collect the network - type operation identification information of the target to be measured. In this case, it is impossible to effectively fuse the synchronized radar target information and the synchronized network - type operation identification information. Therefore, the situation where the synchronized radar target information and the synchronized network - type operation identification information fail to be fused will occur.

[0111] In the embodiment of the present application, the above - mentioned network - type operation identification information receiving station can collect information such as the position, speed, flight state, and operator identity of the target to be measured.

[0112] The technical solution in the embodiment of the present application performs spatio - temporal synchronization processing on at least one of the radar target information and each radio target information according to the fusion priority of each radio target information, obtains the synchronized radar target information and the synchronized radio target information, performs sliding processing on the synchronized radar target information and the synchronized radio target information respectively according to the preset sliding window length and sliding step to obtain multiple groups of target information, and performs fusion processing on each group of target information to obtain the information fusion result; before fusing the radar target information and the radio target information, the above - mentioned method first performs spatio - temporal synchronization processing on these two types of information, thereby being able to improve the accuracy of information fusion. On this basis, the recognition rate of the target to be measured can be improved according to the information fusion result of the target to be measured; at the same time, in a specific scenario, the above - mentioned method does not need to fuse different radio target information, thereby being able to reduce the amount of data processed in the information fusion process, speed up the information fusion speed and efficiency, and save computing resources.

[0113] In some scenarios, it is necessary to obtain the states of the target to be measured at different times. The process of obtaining the current state of the target to be measured will be described below. In one embodiment, after performing the steps in the above - mentioned S200, the above - mentioned method may further include: performing estimation processing based on the information fusion result and the previous state of the target to be measured to obtain the current state of the target to be measured. Among them, the current state is a uniform - speed state, an acceleration state, or a deceleration state.

[0114] Among them, the computer device can pre - train a state estimation model in advance, and then input both the information fusion result and the previous state of the target to be measured into the state estimation model. The state estimation model performs estimation processing based on the information fusion result and the previous state of the target to be measured and then outputs the current state of the target to be measured. Optionally, the above - mentioned state estimation model can be implemented by at least one of a convolutional neural network model, a fully - connected neural network model, a long - short - term memory neural network model, a residual neural network model, etc.

[0115] In the embodiments of the present application, the computer device may adopt a state estimation algorithm to perform estimation processing based on the information fusion result and the previous state of the target to be measured to obtain the current state of the target to be measured. Optionally, the above state estimation algorithm may be Kalman filter, extended Kalman filter, error state Kalman filter, etc.

[0116] In the technical solution of the embodiments of the present application, the current state of the target to be measured is obtained through estimation processing based on the information fusion result and the previous state of the target to be measured. On this basis, the state of the target to be measured can be tracked, and the operating state of the target to be measured can be controlled and adjusted to ensure the safety of the target to be measured.

[0117] In one embodiment, the embodiments of the present application further provide an information fusion method applied to a computer device. The method includes the following processes:

[0118] S10. When the distance between the target to be measured and the ground device is greater than the preset distance threshold and the network quality of the information fusion system is less than the preset quality threshold, determine the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information as the first priority, and determine the fusion priority of the broadcast operational identification information in each radio target information as the second priority, and determine the fusion priority of the network - based operational identification information in each radio target information as the third priority; the second priority is lower than the first priority and higher than the third priority;

[0119] S11. When the distance is less than the preset distance threshold and the network quality of the information fusion system is less than the preset quality threshold, determine the fusion priority of the broadcast operational identification information as the first priority, and determine the fusion priority of the automatic dependent surveillance - broadcast information as the second priority, and determine the fusion priority of the network - based operational identification information as the third priority;

[0120] S12. When the distance between the target to be measured and the ground device is greater than the preset distance threshold and the radio interference intensity of the information fusion system is greater than the preset intensity threshold, determine the fusion priority of the network - based operational identification information in each radio target information as the first priority, and determine the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information as the second priority, and determine the fusion priority of the broadcast operational identification information in each radio target information as the third priority;

[0121] S13. When the distance is less than the preset distance threshold and the radio interference intensity of the information fusion system is greater than the preset intensity threshold, determine the fusion priority of the network - based operational identification information as the first priority, and determine the fusion priority of the broadcast operational identification information as the second priority, and determine the fusion priority of the automatic dependent surveillance - broadcast information as the third priority;

[0122] S14. If the fusion priority of the broadcast automatic dependent surveillance information is the first priority and the fusion priority of the broadcast operational identification information is the second priority, determine that the target information to be fused is, in sequence, the broadcast automatic dependent surveillance information, the broadcast operational identification information, and the network operational identification information; the target information to be fused is the broadcast automatic dependent surveillance information, the broadcast operational identification information, or the network operational identification information among the radio target information.

[0123] S15. Perform spatio-temporal synchronization processing on the radar target information and the corresponding target information to be fused in sequence to obtain the synchronized radar target information and the synchronized target information to be fused.

[0124] S16. Perform sliding processing on the synchronized radar target information and the synchronized target information to be fused respectively according to the preset sliding window length and sliding step to obtain multiple groups of target information.

[0125] S17. Perform fusion processing on the synchronized radar target information and the synchronized broadcast automatic dependent surveillance information in each group of target information. If the fusion processing is successful, determine the current fusion result as the information fusion result.

[0126] S18. If the fusion processing fails, perform fusion processing on the synchronized radar target information and the synchronized broadcast operational identification information in each group of target information. If the fusion processing is successful, determine the current fusion result as the information fusion result.

[0127] S19. If the fusion processing fails, perform fusion processing on the synchronized radar target information and the synchronized network operational identification information in each group of target information. If the fusion processing is successful, determine the current fusion result as the information fusion result.

[0128] S20. Perform estimation processing based on the information fusion result and the previous state of the target to be measured to obtain the current state of the target to be measured; the current state is a constant speed state, an accelerating state, or a decelerating state.

[0129] For the execution processes of S10 to S20 above, reference can specifically be made to the descriptions of the above embodiments. Their implementation principles and technical effects are similar and will not be elaborated here.

[0130] It should be understood that although the steps in the flowcharts involved in the above-described embodiments are sequentially shown according to the arrows, these steps are not necessarily executed in the order indicated by the arrows. Unless there is a clear indication in this document, there is no strict order restriction for the execution of these steps, and these steps can be executed in other orders. Moreover, at least a part of the steps in the flowcharts involved in the above-described embodiments may include multiple steps or multiple stages. These steps or stages are not necessarily executed at the same time, but can be executed at different times, and the execution order of these steps or stages is not necessarily sequential, but can be executed alternately or in turn with at least a part of other steps or steps or stages in other steps.

[0131] Based on the same inventive concept, an embodiment of the present application further provides an information fusion device for implementing the above-mentioned information fusion method. The solution provided by this device for solving problems is similar to the solution described in the above method. Therefore, the specific limitations in one or more embodiments of the information fusion device provided below can refer to the limitations on the information fusion method in the above text, and will not be repeated here.

[0132] In an exemplary embodiment, as Figure 6 shown, an information fusion device is provided, including: a determination module 11 and an information fusion module 12, where:

[0133] The determination module 11 is configured to determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system;

[0134] The information fusion module 12 is configured to perform fusion processing on at least one of the radar target information collected by the radar equipment in the ground equipment and the radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured.

[0135] The information fusion device provided by the embodiment of the present application can be used to execute the technical solutions in the above information fusion method embodiments of the present application. The implementation principles and technical effects are similar, and will not be repeated here.

[0136] In one of the embodiments, the environmental information of the information fusion system includes network quality; the determination module 11 includes: a first determination unit and a second determination unit, where:

[0137] A first determination unit, configured to, when a separation distance is greater than a preset distance threshold and a network quality is less than a preset quality threshold, determine the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information as a first priority, and determine the fusion priority of the broadcast operational identification information in each radio target information as a second priority, and determine the fusion priority of the network - based operational identification information in each radio target information as a third priority; the second priority is lower than the first priority and higher than the third priority.

[0138] A second determination unit, configured to, when a separation distance is less than a preset distance threshold and a network quality is less than a preset quality threshold, determine the fusion priority of the broadcast operational identification information as a first priority, and determine the fusion priority of the automatic dependent surveillance - broadcast information as a second priority, and determine the fusion priority of the network - based operational identification information as a third priority.

[0139] The information fusion device provided by an embodiment of the present application can be used to execute the technical solutions in the above - mentioned information fusion method embodiments of the present application. The implementation principles and technical effects are similar, and will not be elaborated here.

[0140] In one embodiment, the environmental information of the information fusion system includes radio interference intensity; the determination module 11 includes: a third determination unit and a fourth determination unit, where:

[0141] The third determination unit is configured to, when a separation distance is greater than a preset distance threshold and a radio interference intensity is greater than a preset intensity threshold, determine the fusion priority of the network - based operational identification information in each radio target information as a first priority, and determine the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information as a second priority, and determine the fusion priority of the broadcast operational identification information in each radio target information as a third priority;

[0142] The fourth determination unit is configured to, when a separation distance is less than a preset distance threshold and a radio interference intensity is greater than a preset intensity threshold, determine the fusion priority of the network - based operational identification information as a first priority, and determine the fusion priority of the broadcast operational identification information as a second priority, and determine the fusion priority of the automatic dependent surveillance - broadcast information as a third priority.

[0143] The information fusion device provided by an embodiment of the present application can be used to execute the technical solutions in the above - mentioned information fusion method embodiments of the present application. The implementation principles and technical effects are similar, and will not be elaborated here.

[0144] In one embodiment, the information fusion module 12 includes: a synchronization processing unit, a sliding processing unit, and a fusion processing unit, where:

[0145] A synchronization processing unit, configured to perform spatio-temporal synchronization processing on at least one of the radar target information and each radio target information according to the fusion priority of each radio target information, so as to obtain the synchronized radar target information and the synchronized radio target information;

[0146] A sliding processing unit, configured to perform sliding processing on the synchronized radar target information and the synchronized radio target information respectively according to a preset sliding window length and sliding step, so as to obtain multiple groups of target information;

[0147] A fusion processing unit, configured to perform fusion processing on each group of target information respectively to obtain an information fusion result.

[0148] The information fusion device provided by the embodiment of the present application can be used to execute the technical solutions in the above-mentioned information fusion method embodiment of the present application. The implementation principle and technical effect are similar, and will not be elaborated here.

[0149] In one embodiment, the synchronization processing unit includes: an acquisition subunit and a synchronization processing subunit, where:

[0150] The acquisition subunit is configured to sequentially acquire the corresponding target information to be fused in each radio target information according to the fusion priority of each radio target information in the order from high to low; the target information to be fused is the automatic dependent surveillance-broadcast information, the broadcast operational identification information or the networked operational identification information in each radio target information;

[0151] The synchronization processing subunit is configured to perform spatio-temporal synchronization processing on the radar target information and the corresponding target information to be fused in sequence, so as to obtain the synchronized radar target information and the synchronized target information to be fused.

[0152] The information fusion device provided by the embodiment of the present application can be used to execute the technical solutions in the above-mentioned information fusion method embodiment of the present application. The implementation principle and technical effect are similar, and will not be elaborated here.

[0153] In one embodiment, the target information includes the synchronized radar target information and the synchronized target information to be fused, and the synchronized target information to be fused is the synchronized automatic dependent surveillance-broadcast information, the synchronized broadcast operational identification information or the synchronized networked operational identification information; the fusion processing unit includes: a first fusion processing subunit, a second fusion processing subunit and a third fusion processing subunit, where:

[0154] The first fusion processing subunit is configured to perform fusion processing on the synchronized radar target information and the synchronized automatic dependent surveillance-broadcast information in each group of target information, and in the case of successful fusion processing, determine the current fusion result as the information fusion result;

[0155] The second fusion processing subunit is configured to perform fusion processing on the synchronized radar target information and the synchronized broadcast - type operation identification information in each group of target information when the fusion processing fails, and determine the current fusion result as the information fusion result when the fusion processing is successful;

[0156] The third fusion processing subunit is configured to perform fusion processing on the synchronized radar target information and the synchronized network - type operation identification information in each group of target information when the fusion processing fails, and determine the current fusion result as the information fusion result when the fusion processing is successful.

[0157] The information fusion device provided by the embodiments of the present application can be used to execute the technical solutions in the above - mentioned information fusion method embodiments of the present application. The implementation principles and technical effects are similar and will not be elaborated here.

[0158] In one embodiment, the information fusion device further includes: a state estimation module, where:

[0159] The state estimation module is configured to perform estimation processing based on the information fusion result and the previous state of the target to be measured, and obtain the current state of the target to be measured; the current state is a uniform motion state, an accelerating state, or a decelerating state.

[0160] The information fusion device provided by the embodiments of the present application can be used to execute the technical solutions in the above - mentioned information fusion method embodiments of the present application. The implementation principles and technical effects are similar and will not be elaborated here.

[0161] Each module in the above - mentioned information fusion device can be implemented in whole or in part by software, hardware, and their combination. The above - mentioned modules can be embedded in the processor of the computer device in hardware form or be independent of it, or be stored in the memory of the computer device in software form, so that the processor can call and execute the operations corresponding to the above - mentioned modules.

[0162] In an exemplary embodiment, a computer device is provided. The computer device can be a server, and its internal structure diagram can be as Figure 7As shown in the figure. The computer device includes a processor, a memory, an input / output interface (Input / Output, abbreviated as I / O), and a communication interface. Among them, the processor, the memory, and the input / output interface are connected through a system bus, and the communication interface is connected to the system bus through the input / output interface. Among them, the processor of the computer device is used to provide computing and control capabilities. The memory of the computer device includes a non-volatile storage medium and an internal memory. The non-volatile storage medium stores an operating system, a computer program, and a database. The internal memory provides an environment for the operation of the operating system and the computer program in the non-volatile storage medium. The database of the computer device is used to store the actual scenario information of the target to be measured, radar target information, and various different radio target information. The input / output interface of the computer device is used to exchange information between the processor and external devices. The communication interface of the computer device is used to communicate with an external terminal through a network connection. When the computer program is executed by the processor, it implements an information fusion method.

[0163] Those skilled in the art can understand that Figure 7 the structure shown in the figure is only a block diagram of some structures related to the solution of the present application, and does not constitute a limitation on the computer device to which the solution of the present application is applied. The specific computer device may include more or fewer components than those shown in the figure, or combine certain components, or have a different component layout.

[0164] In an exemplary embodiment, a computer device is further provided, including a memory and a processor. A computer program is stored in the memory. When the processor executes the computer program, the following steps are implemented:

[0165] According to the actual scenario information of the target to be measured, determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system;

[0166] According to the fusion priority of each radio target information, perform fusion processing on at least one of the radar target information and each radio target information collected by the radar equipment in the ground equipment to obtain the information fusion result of the target to be measured.

[0167] In an embodiment, a computer-readable storage medium is further provided, on which a computer program is stored. When the computer program is executed by the processor, the following steps are implemented:

[0168] Determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system;

[0169] According to the fusion priority of each radio target information, perform fusion processing on the radar target information collected by the radar equipment in the ground equipment and at least one of each radio target information to obtain the information fusion result of the target to be measured.

[0170] In one embodiment, a computer program product is further provided, including a computer program, which when executed by a processor, implements the following steps:

[0171] Determine the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system;

[0172] According to the fusion priority of each radio target information, perform fusion processing on the radar target information collected by the radar equipment in the ground equipment and at least one of each radio target information to obtain the information fusion result of the target to be measured.

[0173] Those of ordinary skill in the art can understand that all or part of the processes in the methods of the above embodiments can be completed by instructing relevant hardware through a computer program. The computer program can be stored in a non-volatile computer-readable storage medium. When the computer program is executed, it can include the processes of the embodiments of the above methods. Among them, any reference to a memory, database, or other medium used in the embodiments provided in the present application can include at least one of non-volatile memory and volatile memory. Non-volatile memory can include read-only memory (ROM), magnetic tape, floppy disk, flash memory, optical memory, high-density embedded non-volatile memory, resistive random access memory (ReRAM), magnetoresistive random access memory (MRAM), ferroelectric random access memory (FRAM), phase change memory (PCM), graphene memory, etc. Volatile memory can include random access memory (RAM) or external cache memory, etc. By way of illustration and not limitation, RAM can be in various forms, such as static random access memory (SRAM) or dynamic random access memory (DRAM), etc. The databases involved in the embodiments provided in the present application can include at least one of relational databases and non-relational databases. Non-relational databases can include distributed databases based on blockchain, etc., without limitation. The processors involved in the embodiments provided in the present application can be general-purpose processors, central processors, graphics processors, digital signal processors, programmable logic devices, data processing logics based on quantum computing, artificial intelligence (AI) processors, etc., without limitation.

[0174] The technical features of the above embodiments can be combined arbitrarily. For the sake of brevity of description, not all possible combinations of the technical features in the above embodiments are described. However, as long as there is no contradiction in the combination of these technical features, it should be considered as within the scope recorded in the present application.

[0175] The above-described embodiments merely represent several implementation manners of the present application. The description thereof is relatively specific and detailed, but it should not be construed as a limitation to the patent scope of the present application. It should be noted that for those of ordinary skill in the art, without departing from the concept of the present application, several modifications and improvements can still be made, and these all fall within the protection scope of the present application. Therefore, the protection scope of the present application shall be subject to the appended claims.

Claims

1. An information fusion method, characterized in that The method includes: Determining the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment of the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system; Performing fusion processing on the radar target information collected by the radar equipment in the ground equipment and at least one of the radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured.

2. The method according to claim 1, characterized in that The environmental information of the information fusion system includes network quality; determining the fusion priority of the radio target information of the target to be measured collected by multiple different radio systems in the ground equipment of the information fusion system according to the actual scenario information of the target to be measured includes: when the distance is greater than a preset distance threshold and the network quality is less than a preset quality threshold, determining the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information as the first priority, and determining the fusion priority of the broadcast operational identification information in each radio target information as the second priority, and determining the fusion priority of the networked operational identification information in each radio target information as the third priority; the second priority is lower than the first priority and higher than the third priority; When the distance is less than the preset distance threshold and the network quality is less than the preset quality threshold, determining the fusion priority of the broadcast operational identification information as the first priority, and determining the fusion priority of the automatic dependent surveillance - broadcast information as the second priority, and determining the fusion priority of the networked operational identification information as the third priority.

3. The method according to claim 1, wherein The environmental information of the information fusion system includes radio interference intensity; determining the fusion priority of the corresponding radio target information collected by multiple different radio systems in the ground equipment according to the actual scenario information of the target to be measured includes: When the distance is greater than a preset distance threshold and the radio interference intensity is greater than a preset intensity threshold, determining the fusion priority of the networked operational identification information in each radio target information as the first priority, and determining the fusion priority of the automatic dependent surveillance - broadcast information in each radio target information as the second priority, and determining the fusion priority of the broadcast operational identification information in each radio target information as the third priority; When the distance is less than the preset distance threshold and the radio interference intensity is greater than the preset intensity threshold, determining the fusion priority of the networked operational identification information as the first priority, and determining the fusion priority of the broadcast operational identification information as the second priority, and determining the fusion priority of the automatic dependent surveillance - broadcast information as the third priority.

4. The method according to any one of claims 1-3, characterized in that, Performing fusion processing on at least one of the radar target information collected by the radar device in the ground device and each of the radio target information according to the fusion priority of each of the radio target information to obtain an information fusion result of the target to be measured, including: Performing spatio-temporal synchronization processing on at least one of the radar target information and each of the radio target information according to the fusion priority of each of the radio target information to obtain synchronized radar target information and synchronized radio target information; Performing sliding processing on the synchronized radar target information and the synchronized radio target information respectively according to a preset sliding window length and sliding step to obtain multiple groups of target information; Performing fusion processing on each group of the target information respectively to obtain the information fusion result.

5. The method according to claim 4, wherein The performing spatio-temporal synchronization processing on at least one of the radar target information and each of the radio target information according to the fusion priority of each of the radio target information to obtain synchronized radar target information and synchronized radio target information includes: According to the order of the fusion priorities from high to low, sequentially obtaining the corresponding target information to be fused in each of the radio target information according to the fusion priority of each of the radio target information; the target information to be fused is the automatic dependent surveillance-broadcast information, the broadcast operational identification information or the network operational identification information in each of the radio target information; Sequentially performing spatio-temporal synchronization processing on the radar target information and the corresponding target information to be fused to obtain synchronized radar target information and synchronized target information to be fused.

6. The method according to claim 5, characterized in that, The sequentially obtaining the corresponding target information to be fused in each of the radio target information according to the fusion priority of each of the radio target information according to the order of the fusion priorities from high to low includes: If the fusion priority of the automatic dependent surveillance-broadcast information is the first priority and the fusion priority of the broadcast operational identification information is the second priority, determining that each of the target information to be fused is the automatic dependent surveillance-broadcast information, the broadcast operational identification information and the network operational identification information in sequence.

7. The method according to claim 6, characterized in that, The target information includes the synchronized radar target information and the synchronized target information to be fused, and the synchronized target information to be fused is the synchronized automatic dependent surveillance-broadcast information, the synchronized broadcast operational identification information or the synchronized network operational identification information; The performing fusion processing on each group of the target information respectively to obtain the information fusion result includes: Performing fusion processing on the synchronized radar target information and the synchronized automatic dependent surveillance-broadcast information in each group of the target information, and if the fusion processing is successful, determining the current fusion result as the information fusion result; If the fusion processing fails, performing fusion processing on the synchronized radar target information and the synchronized broadcast operational identification information in each group of the target information, and if the fusion processing is successful, determining the current fusion result as the information fusion result; In the case where the fusion process fails, perform a fusion process on the synchronized radar target information and the synchronized networked operation recognition information in each group of the target information, and in the case where the fusion process is successful, determine the current fusion result as the information fusion result.

8. The method according to any one of claims 1 to 3, characterized in that The method further includes: Performing an estimation process based on the information fusion result and the previous state of the target to be measured to obtain the current state of the target to be measured; the current state is a uniform speed state, an acceleration state, or a deceleration state.

9. An information fusion device, characterized in that, The device includes: A determination module, configured to determine the fusion priority of the radio target information of the target to be measured collected by a plurality of different radio systems in the ground equipment in the information fusion system according to the actual scenario information of the target to be measured; the actual scenario information includes at least one of the distance between the target to be measured and the ground equipment and the environmental information of the information fusion system; An information fusion module, configured to perform a fusion process on the radar target information collected by the radar equipment in the ground equipment and at least one of the radio target information according to the fusion priority of each radio target information to obtain the information fusion result of the target to be measured.

10. A computer device, comprising a memory and a processor, the memory storing a computer program, characterized in that, When the processor executes the computer program, the steps of the method according to any one of claims 1 to 8 are implemented.

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