Target trajectory tracking method based on distributed networking and signal-to-noise ratio time sequence detection

Abstract

The invention discloses a target trajectory tracking method based on distributed networking and signal-to-noise ratio time sequence detection. The method comprises the following steps: arranging a plurality of receiving stations in a detection area in advance, so that the gain of each receiving station is equal and the coverage areas of the adjacent receiving stations are overlapped; when trajectory tracking needs to be carried out on the target, a signal-to-noise ratio detection time sequence of target echoes of each receiving station is obtained; obtaining the time information of the target passing through the coverage area of each receiving station according to the signal-to-noise ratio detection time sequence, thereby obtaining the sequence of the target passing through each receiving station; according to the distance time association relationship between the coverage areas of the adjacent receiving stations and the signal-to-noise ratio detection time sequence in the sequence, determining passing points of the target passing through the adjacent receiving stations; and obtaining a target tracking trajectory according to each passing point. According to the method, target trajectory tracking can be simply and efficiently realized, the consumption of system resources is low, the requirements on hardware conditions and performance of the receiving stations are relatively low, and the number of the receiving stations is easier to expand.

Description

Technical Field

[0001] The present invention belongs to the field of target tracking, and particularly relates to a target trajectory tracking method based on distributed networking and SNR time-series detection. Background Art

[0002] In the field of target tracking, active positioning methods are prone to exposing their own positions when positioning targets. In comparison, passive positioning has advantages such as good position concealment, low communication bandwidth requirements, and long operating ranges. With the continuous improvement of measurement technologies, the signal interception and processing capabilities are also increasing synchronously, and passive positioning technologies are being more widely applied in various fields.

[0003] In passive positioning technologies, distributed positioning and tracking systems based on external radiation sources detect, locate, and track targets passively by deploying multiple ground receiving stations distributively and utilizing known external radiation sources in the environment (such as broadcast, communication, navigation signals, etc.). They have advantages such as good concealment and low energy consumption, and have become a hot technology in the current field of air target tracking. The distributed receiving station layout method adopted in this technology can expand the coverage range of receiving stations, improve the reliability and stability of signal reception, enhance the flexibility and scalability of the system, reduce construction costs, and improve the robustness and fault tolerance of the system. When specifically performing positioning and tracking, the distributed receiving stations receive the target radiation noise signals, and then analyze and extract information such as the target azimuth. After obtaining measurement information mainly based on azimuth, subsequent tracking and positioning calculations are performed on the target.

[0004] Existing distributed positioning and tracking technologies based on external radiation sources usually need to utilize measured angle or distance information to detect, locate, and track targets. However, the angle measurement function will greatly increase the scale of the antenna, the ranging function has requirements for the transmission power and modulation method, and when using angle and distance information for target positioning and tracking, it will increase the complexity of signal processing, increase system resource consumption, and reduce the timeliness of target positioning and tracking. In addition, existing distributed positioning and tracking technologies based on external radiation sources have poor scalability in different scenarios due to the differences between different specialized devices when performing tracking tasks in different scenarios. Summary of the Invention

[0005] To solve the above problems existing in the prior art, the present invention provides a target trajectory tracking method based on distributed networking and SNR time-series detection.

[0006] The technical problems to be solved by the present invention are realized through the following technical solutions:

[0007] In a first aspect, the present invention provides a target trajectory tracking method based on distributed networking and SNR time-series detection, including:

[0008] According to relevant factors of the receiving station layout, a plurality of receiving stations are pre-arranged in the detection area so that the gains of each receiving station are equal and the coverage areas of adjacent receiving stations overlap;

[0009] When it is necessary to track the target trajectory, obtain the SNR detection time sequence of the target echo of each receiving station;

[0010] Obtain the time information of the target passing through the coverage area of each receiving station according to the SNR detection time sequence, and obtain the order of the target passing through each receiving station according to this time information;

[0011] Determine the passing points of the target on the way through the adjacent receiving stations according to the relationship between the distance time and the SNR detection time sequence between the coverage areas of the adjacent receiving stations in the said order;

[0012] Obtain the target tracking trajectory according to each of the passing points.

[0013] Optionally, the determining the passing points of the target on the way through the adjacent receiving stations according to the relationship between the distance time and the SNR detection time sequence between the coverage areas of the adjacent receiving stations in the said order includes:

[0014] For the i-th receiving station and the (i + 1)-th receiving station that the target passes through in order, mark a first point and a second point from the edge of the coverage area of the i-th receiving station; the first point is located at the edge of the coverage area of the i-th receiving station and within the coverage area of the (i + 1)-th receiving station; when i = 1, the second point is located at the edge of the coverage area of the 1st receiving station and not within the area covered by the 2nd receiving station; when i > 1, the second point is the first point marked when solving the passing point of the target through the (i - 1)-th receiving station and the i-th receiving station; i = [1, 2, … M], M is the number of receiving stations;

[0015] Solve the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point, and the SNR detection time sequences of the i-th receiving station and the (i + 1)-th receiving station.

[0016] Optionally, the solving the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point, and the SNR detection time sequences of the i-th receiving station and the (i + 1)-th receiving station includes:

[0017] According to the signal-to-noise ratio detection time sequence of the i-th receiving station and the (i + 1)-th receiving station, the first time and the second time when the target passes through the areas between the i-th receiving station and the (i + 1)-th receiving station are obtained; the first time is the time taken for the target to pass through the overlapping area of the coverage areas of the i-th receiving station and the (i + 1)-th receiving station; the second time is the time taken for the target to travel from the second point until it enters the coverage area of the (i + 1)-th receiving station.

[0018] Traverse and search the edge of the coverage area of the (i + 1)-th receiving station within the overlapping area to obtain the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station, so that the first distance between the first point and this passing point, the second distance between the second point and this passing point, the first time and the second time satisfy the distance-time correlation relationship.

[0019] Optionally, the distance-time correlation relationship is:

[0020]

[0021] wherein, S1 represents the first distance, S2 represents the second distance, T1 represents the first time, and T2 represents the second time.

[0022] Optionally, the obtaining the signal-to-noise ratio detection time sequence of the target echo of each receiving station includes:

[0023] Obtain the target echo time sequence of each receiving station; perform signal-to-noise ratio detection on the target echo time sequence to obtain an initial signal-to-noise ratio detection time sequence; perform threshold processing on the initial signal-to-noise ratio detection time sequence according to the detection threshold to obtain the final signal-to-noise ratio detection time sequence of this receiving station.

[0024] In a second aspect, the present invention provides a target trajectory tracking device based on distributed networking and signal-to-noise ratio time sequence detection, including:

[0025] An acquisition module: used to obtain the signal-to-noise ratio detection time sequence of the target echo of each receiving station when target trajectory tracking is required; wherein, there are multiple receiving stations, and the multiple receiving stations are receiving stations arranged in the detection area in advance according to relevant factors of receiving station layout, the gain of each receiving station is equal, and the coverage areas of adjacent receiving stations overlap;

[0026] A determination module: used to obtain the time information of the target passing through the coverage area of each receiving station according to the signal-to-noise ratio detection time sequence, and obtain the order of the target passing through each receiving station according to this time information;

[0027] A calculation module: used to determine the passing point of the target on the way through the adjacent receiving stations according to the distance-time correlation relationship between the coverage areas of adjacent receiving stations in sequence and the signal-to-noise ratio detection time sequence.

[0028] Trajectory generation module: used to obtain the target tracking trajectory based on each passing point.

[0029] Optionally, the solution module includes a marking sub-module and a solution operator sub-module:

[0030] The marking sub-module is used to mark a first point and a second point from the edge of the coverage area of the i-th receiving station for the i-th receiving station and the (i + 1)-th receiving station that the target sequentially passes through; the first point is located at the edge of the coverage area of the i-th receiving station and within the coverage area of the (i + 1)-th receiving station; when i = 1, the second point is located at the edge of the coverage area of the 1st receiving station and not within the area covered by the 2nd receiving station; when i > 1, the second point is the first point marked when calculating the passing point of the target through the (i - 1)-th receiving station and the i-th receiving station; i = [1, 2,..., M], M is the number of receiving stations;

[0031] The solution operator sub-module is used to calculate the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point, and the signal-to-noise ratio detection time sequence of the i-th receiving station and the (i + 1)-th receiving station.

[0032] Optionally, the solution operator sub-module is specifically used for:

[0033] According to the signal-to-noise ratio detection time sequence of the i-th receiving station and the (i + 1)-th receiving station, obtain the first time and the second time during the target passing through the i-th receiving station and the (i + 1)-th receiving station; the first time is the time spent by the target passing through the overlapping area of the coverage areas of the i-th receiving station and the (i + 1)-th receiving station; the second time is the time spent by the target from the second point until before the target enters the coverage area of the (i + 1)-th receiving station;

[0034] Traverse and search the edge of the coverage area of the (i + 1)-th receiving station within the overlapping area to obtain the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station, so that the first distance between the first point and this passing point, the second distance between the second point and this passing point, the first time, and the second time satisfy the distance-time correlation relationship.

[0035] Optionally, the distance-time correlation relationship is:

[0036]

[0037] Wherein, S1 represents the first distance, S2 represents the second distance, T1 represents the first time, and T2 represents the second time.

[0038] Optionally, the acquisition module is specifically used for:

[0039] Obtain the target echo timing sequence of each receiving station; perform signal-to-noise ratio detection on the target echo timing sequence to obtain an initial signal-to-noise ratio detection timing sequence; perform threshold processing on the initial signal-to-noise ratio detection timing sequence according to the detection threshold to obtain the final signal-to-noise ratio detection timing sequence of this receiving station.

[0040] The target trajectory tracking method based on distributed networking and signal-to-noise ratio timing detection provided by the present invention pre-arranges a plurality of distributed receiving stations in the detection area, so that the gains of each receiving station are equal and the coverage areas of adjacent receiving stations overlap; when performing target trajectory tracking, first obtain the signal-to-noise ratio detection timing sequence of the target echo of each receiving station, so as to obtain the time information of the target passing through the coverage area of each receiving station, and obtain the order of the target passing through each receiving station according to this time information; then determine the passing points on the way of the target passing through these two adjacent receiving stations according to the relationship between the coverage areas of adjacent receiving stations in order and the travel time correlation of the signal-to-noise ratio detection timing sequence; finally, obtain the target tracking trajectory according to each passing point. Therefore, the present invention can achieve target trajectory tracking according to the signal-to-noise ratio detection timing sequence of the target echo of the receiving station and the coverage area of the receiving station. The target trajectory calculation process is simple and efficient, consumes less system resources, and the present invention has low requirements for the hardware conditions and performance of the receiving station, and it is easier to expand the number of receiving stations when applied to different scenarios.

[0041] The following will further describe the present invention in detail with reference to the drawings. Description of the Drawings

[0042] Figure 1 It is a schematic flow chart of a target trajectory tracking method based on distributed networking and signal-to-noise ratio timing detection provided by an embodiment of the present invention;

[0043] Figure 2 It is a schematic layout diagram of distributed receiving stations of a target trajectory tracking method based on distributed networking and signal-to-noise ratio timing detection provided by an embodiment of the present invention;

[0044] Figure 3 It is a schematic layout and target movement trajectory diagram of Embodiment 1 of a target trajectory tracking method based on distributed networking and signal-to-noise ratio timing detection provided by an embodiment of the present invention;

[0045] Figure 4 It is the signal-to-noise ratio detection timing sequence of the target echo of Embodiment 1 of a target trajectory tracking method based on distributed networking and signal-to-noise ratio timing detection provided by an embodiment of the present invention;

[0046] Figure 5 It is the target trajectory tracking result diagram of Embodiment 1 of a target trajectory tracking method based on distributed networking and signal-to-noise ratio timing detection provided by an embodiment of the present invention;

[0047] Figure 6 It is the layout schematic diagram of the distributed receiving stations in the second embodiment of a target trajectory tracking method provided by an embodiment of the present invention based on distributed networking and SNR time series detection;

[0048] Figure 7 It is the SNR detection time series of the target echo in the second embodiment of a target trajectory tracking method provided by an embodiment of the present invention based on distributed networking and SNR time series detection;

[0049] Figure 8 It is the schematic diagram of the target trajectory tracking result in the second embodiment of a target trajectory tracking method provided by an embodiment of the present invention based on distributed networking and SNR time series detection;

[0050] Figure 9 It is the structural schematic diagram of a target trajectory tracking device provided by an embodiment of the present invention based on distributed networking and SNR time series detection. Specific Embodiments

[0051] The following further describes the present invention in detail with specific embodiments, but the embodiments of the present invention are not limited thereto.

[0052] In order to simply and efficiently implement air target trajectory tracking, reduce the consumption of system resources, lower the requirements for the hardware conditions and performance of the receiving stations, and make the number of receiving stations more scalable, an embodiment of the present invention provides a target trajectory tracking method based on distributed networking and SNR time series detection. See Figure 1 , and the method includes the following steps:

[0053] S10. According to the relevant factors of receiving station layout, a plurality of receiving stations are pre-arranged in the detection area so that the gain of each receiving station is equal and the coverage areas of adjacent receiving stations overlap.

[0054] Here, the layout of the distributed receiving stations is affected by various factors such as geographical environment, communication conditions, application scenarios, and tracking requirements. The specific layout steps include:

[0055] Site selection and planning: In the process of site selection of the distributed receiving stations, various factors such as geographical location, environmental factors, and communication conditions need to be considered for detailed planning and design to ensure the communication connection and data sharing between each receiving station;

[0056] Device selection and configuration: According to the application scenario and requirements, select appropriate receiving devices and configurations. The receiving devices need to have characteristics such as high performance, low power consumption, and easy maintenance;

[0057] Communication network connection: The distributed receiving stations are connected and data is transmitted through a communication network. Appropriate communication technologies and protocols are selected to ensure the reliability and real-time nature of data transmission;

[0058] System debugging and optimization: After the construction of the distributed receiving station system is completed, system debugging and optimization work need to be carried out, specifically including work such as equipment calibration, performance testing, and fault troubleshooting, to ensure the normal operation and optimal performance of the system.

[0059] In this embodiment, the layout effect of the receiving stations is as Figure 2 shown, where the gain of each receiving station is equal, and the coverage areas of adjacent receiving stations overlap.

[0060] S20. When trajectory tracking of a target is required, obtain the signal-to-noise ratio detection time sequence of the target echo of each receiving station.

[0061] Specifically, obtaining the signal-to-noise ratio detection time sequence of the target echo of each receiving station includes:

[0062] Obtain the target echo time sequence of each receiving station, then perform signal-to-noise ratio detection on the target echo time sequence to obtain an initial signal-to-noise ratio detection time sequence, and then perform threshold processing on the initial signal-to-noise ratio detection time sequence according to the detection threshold to obtain the final signal-to-noise ratio detection time sequence of this receiving station.

[0063] Exemplarily, the threshold processing can adopt binary threshold processing, that is, when the signal-to-noise ratio is greater than or equal to the detection threshold, it is marked as 1, and when the signal-to-noise ratio is less than the detection threshold, it is marked as 0. Through binary threshold processing, irrelevant details such as background noise can be removed, making the key target information clearer and more obvious, facilitating subsequent analysis and processing.

[0064] S30. Obtain the time information of the target passing through the coverage area of each receiving station according to the signal-to-noise ratio detection time sequence, and obtain the order of the target passing through each receiving station according to this time information.

[0065] Specifically, according to the obtained final signal-to-noise ratio detection time sequence of each receiving station, the time when the target enters and leaves the coverage area of each receiving station and the residence time of the target within the coverage area of the receiving station can be determined. Thus, according to this time, the order of the target passing through each receiving station can be determined.

[0066] For example, refer to Figure 7 , Figure 7The signal-to-noise ratio (SNR) detection timing diagram of 4 receiving stations is shown. The horizontal axis of the SNR detection timing diagram represents time, and the vertical axis represents the target SNR. The SNR of the raised part in the SNR detection timing diagram is 1, indicating that the target is within the coverage area of the receiving station at this moment. Conversely, the SNR of the low and flat part in the SNR detection timing diagram is 0, indicating that the target is not within the coverage area of the receiving station at this moment. Therefore, from the SNR detection timing diagram of the receiving station, the time information of the target entering and leaving the coverage area of the receiving station, as well as the residence time of the target within the coverage area of the receiving station, can be known, so that the order of the target passing through each receiving station can be determined.

[0067] S40. Determine the passing points of the target on the way through the adjacent receiving stations according to the relationship between the distance and time between the coverage areas of the adjacent receiving stations and the SNR detection timing under the order of the target passing through each receiving station.

[0068] Here, determining the passing points of the target on the way through the adjacent receiving stations according to the relationship between the distance and time between the coverage areas of the adjacent receiving stations and the SNR detection timing under the order of the target passing through each receiving station includes:

[0069] (1) Mark the first point and the second point within the coverage area of the adjacent receiving stations passed by the target.

[0070] Specifically, for the i-th receiving station and the (i + 1)-th receiving station passed by the target in sequence, mark the first point and the second point from the edge of the coverage area of the i-th receiving station; the first point is located at the edge of the coverage area of the i-th receiving station and is also within the coverage area of the (i + 1)-th receiving station. It can be understood that if the target just passes through this first point, when the target passes through this first point, the SNR of the i-th receiving station will change from 1 to 0, that is, it just corresponds to the falling edge in the SNR detection timing of the i-th receiving station; the second point is marked in two cases. When i = 1, the second point is located at the edge of the coverage area of the 1st receiving station and is not within the area covered by the 2nd receiving station. It can be understood that if the target just passes through this second point, when the target passes through this second point, the SNR of the i-th receiving station will change from 0 to 1, that is, it just corresponds to the rising edge in the SNR detection timing of the i-th receiving station; when i > 1, the second point is the first point marked when calculating the passing point of the target through the (i - 1)-th receiving station and the i-th receiving station; i = [1, 2,... M], where M is the number of receiving stations.

[0071] (2) Calculate the passing points of the target through the adjacent receiving stations according to the second point, the first point, and the SNR detection timing of the adjacent receiving stations.

[0072] First, according to the SNR detection time series of the \(i\)-th receiving station and the \((i + 1)\)-th receiving station, obtain the first time and the second time when the target passes through the areas between the \(i\)-th receiving station and the \((i + 1)\)-th receiving station. The first time is the time taken for the target to pass through the overlapping area of the coverage areas of the \(i\)-th receiving station and the \((i + 1)\)-th receiving station. The second time is the time taken for the target to start from the second point until it enters the coverage area of the \((i + 1)\)-th receiving station.

[0073] Secondly, traverse and search the edge of the coverage area of the \((i + 1)\)-th receiving station within the overlapping area to obtain the passing point of the target through the \(i\)-th receiving station and the \((i + 1)\)-th receiving station, so that the first distance between the first point and the passing point, the second distance between the second point and the passing point, the first time, and the second time satisfy the distance-time correlation relationship.

[0074] Here, consider the movement of the target within the coverage areas of two adjacent receiving stations as a uniform linear motion. Then the distance-time correlation relationship is:

[0075]

[0076] Among them, \(S1\) represents the first distance, \(S2\) represents the second distance, \(T1\) represents the first time, and \(T2\) represents the second time.

[0077] S50. Obtain the target tracking trajectory according to each passing point.

[0078] It can be understood that according to all the passing points determined in step S40, the complete target movement trajectory can be obtained.

[0079] The target trajectory tracking method based on distributed networking and SNR time series detection provided by the present invention pre-arranges multiple distributed receiving stations in the detection area, so that the gain of each receiving station is equal and the coverage areas of adjacent receiving stations overlap. When performing target trajectory tracking, first obtain the SNR detection time series of the target echo of each receiving station, so as to obtain the time information of the target passing through the coverage area of each receiving station, and obtain the order of the target passing through each receiving station according to this time information. Then, according to the distance-time correlation relationship between the coverage areas and the SNR detection time series of two adjacent receiving stations in sequence, determine the passing points of the target on the way through these two adjacent receiving stations. Finally, obtain the target tracking trajectory according to each passing point. Therefore, the present invention can realize target trajectory tracking according to the SNR detection time series of the target echo of the receiving station and the receiving station coverage area. The target trajectory calculation process is simple and efficient, consumes less system resources, and the present invention has low requirements for the hardware conditions and performance of the receiving station, and it is easier to expand the number of receiving stations when applied to different scenarios.

[0080] The following uses two specific embodiments to further illustrate the target trajectory tracking method provided by the present invention based on distributed networking and SNR time series detection.

[0081] Embodiment 1

[0082] In a laboratory simulation environment, assume that the radiation source is a near-orbit satellite that can be regarded as a far-field parallel source and always maintains one-way communication with the target. The radiation source has concentrated energy and a narrow beam. Set up an air detection area with a height of 10 km and a size of 50 km * 50 km. The target moves in a uniform straight-line motion. The simulation duration of the target motion trajectory is 300 s. The starting point is at [-12000, 15022] m, and the speed is [200, 0] m / s. Sixteen circular main lobe antenna receiving stations are arranged in the detection area in advance for target trajectory tracking. The gain of each receiving station is equal. The distance between the centers of the coverage areas of adjacent receiving stations is equal to the radius of the coverage area of each receiving station. The receiving stations are numbered with 1 at the lower left, 2 above it, and 5 to its right, as Figure 3 shown.

[0083] Here, the specific steps for the present invention to perform target trajectory tracking are as follows:

[0084] Step 1: Obtain the SNR detection time series of the target echo of each receiving station, as Figure 4 shown.

[0085] Step 2: According to the SNR detection time series, the time information when the target enters and leaves the coverage area of each receiving station can be obtained, and from this, the order in which the target passes through each receiving station and the residence time of the target at each receiving station can be known, as shown in the following table.

[0086]

[0087]

[0088] From Figure 4 and the above table, it can be seen that the target enters the coverage areas of receiving stations 2 and 3 simultaneously and has almost the same residence time; the target enters the coverage areas of receiving stations 6 and 7 simultaneously and has almost the same residence time; the target enters the coverage areas of receiving stations 10 and 11 simultaneously and has almost the same residence time; the target enters the coverage areas of receiving stations 14 and 15 simultaneously and has almost the same residence time. From this, the order in which the target passes through each receiving station can be obtained as follows: The target first enters the coverage areas of receiving stations 2 and 3 simultaneously, then enters the coverage areas of receiving stations 6 and 7 simultaneously, then enters the coverage areas of receiving stations 10 and 11 simultaneously, and finally enters the coverage areas of receiving stations 14 and 15 simultaneously.

[0089] Step 3: Determine the passing points of the target on the way through the adjacent receiving stations based on the relationship between the distance and time of the coverage areas and SNR detection time sequences of the adjacent receiving stations according to the order of the target passing through each receiving station.

[0090] (1) From the order of the target passing through each receiving station obtained in Step 2, it can be seen that the target first enters the coverage areas of Receiving Station 2 and Receiving Station 3 simultaneously, and then enters the coverage areas of Receiving Station 6 and Receiving Station 7 simultaneously. Therefore, mark the intersection point on the left side of the edge of the coverage areas of Receiving Station 2 and Receiving Station 3 as the second point ( Figure 5 point A in Figure 5 ), and mark the intersection point on the right side of the edge of the coverage areas of Receiving Station 2 and Receiving Station 3 as the first point (

[0091] (2) From Figure 4 it can be known that within the coverage areas of Receiving Station 2 and Receiving Station 3, for the target, the first time T1 spent from entering Receiving Station 6 to leaving Receiving Station 2, and the second time T2 spent from starting at point A to entering Receiving Station 6.

[0092] (3) In the overlapping area of the coverage areas of Receiving Station 2 and Receiving Station 6, perform a traversal search on the edge of the coverage area of Receiving Station 6, and the passing point B that satisfies the distance-time relationship can be found. Among them, S1 is the distance between point C and point B, and S2 is the distance between point A and point B. This passing point B is the intersection point on the left side of the edge of the coverage areas of Receiving Station 6 and Receiving Station 7.

[0093] (4) Next, the target leaves the coverage areas of Receiving Station 2 and Receiving Station 3 simultaneously and enters the coverage areas of Receiving Station 10 and Receiving Station 11 simultaneously from the coverage areas of Receiving Station 6 and Receiving Station 7. Therefore, for the coverage areas of Receiving Station 6 and Receiving Station 10 next, use the first point marked in step (1), that is, point C, as the current second point, and mark the intersection point on the right side of the edge of the coverage areas of Receiving Station 6 and Receiving Station 7 as the current first point ( Figure 5 point E in Figure 4 ). According to the SNR detection time sequences of Receiving Station 2, Receiving Station 6, and Receiving Station 10 in Figure 4 , it can be determined that for the target, the first time T1 spent from entering Receiving Station 10 to leaving Receiving Station 6, and the second time T2 spent from starting at point C to entering Receiving Station 10. Then, the passing point D of the target on the way through Receiving Station 6 and Receiving Station 10 can be calculated using the distance-time relationship.

[0094] And so on, all the passing points of the target can be calculated.

[0095] Step 5: The target motion trajectory can be obtained according to all the passing points calculated in Step 4, as Figure 5 shown.

[0096] Example 2

[0097] In the laboratory simulation environment, 4 circular main lobe antenna receiving stations are arranged in advance in the detection area for target trajectory tracking. The receiving stations cover the entire detection area, and the gain of each receiving station is equal and the coverage areas of adjacent receiving stations overlap, as Figure 6 shown.

[0098] Here, the specific implementation steps of this embodiment are as follows:

[0099] Step 1: Obtain the signal-to-noise ratio detection time sequence of the target echo of each receiving station, as Figure 7 shown.

[0100] Step 2: According to the signal-to-noise ratio detection time sequence, the time information of the target entering and leaving the coverage area of each receiving station can be obtained, and from this, the order of the target passing through each receiving station and the residence time of the target at each receiving station can be known.

[0101] The target movement order is: entering the coverage area of receiving station 1, entering the coverage area of receiving station 2, leaving the coverage area of receiving station 1, entering the coverage area of receiving station 4, leaving the coverage area of receiving station 2, leaving the coverage area of receiving station 4 and simultaneously entering the coverage area of receiving station 3, leaving the coverage area of receiving station 3;

[0102] Step 3: Regarding the movement of the target between adjacent receiving stations as uniform linear motion, according to the distance-time correlation relationship between the coverage areas of adjacent receiving stations and the signal-to-noise ratio detection time sequence in the order of the target passing through each receiving station, determine the passing points of the target on the way between the adjacent receiving stations.

[0103] (1) From the order of the target passing through each receiving station obtained in Step 2, it can be known that the target first enters the coverage area of receiving station 1 and then enters the coverage area of receiving station 2. Therefore, mark the second point ( Figure 8 point A in), which is on the edge of the coverage area of receiving station 1 and not in the coverage area of receiving station 2; mark the first point ( Figure 8 point C in), which is on the edge of the coverage area of receiving station 1 and within the coverage area of receiving station 2.

[0104] (2) From the signal-to-noise ratio detection time sequences of receiving station 1 and receiving station 2 in Figure 7 , the first time T1 that the target spends from entering the coverage area of receiving station 2 to leaving the coverage area of receiving station 1, and the second time T2 that the target spends from the second point A to before entering the coverage area of receiving station 2.

[0105] (3) In the overlapping area of the coverage areas of receiving station 1 and receiving station 2, traverse and search the edge of the coverage area of receiving station 2, and the distance-time correlation relationship can be found waypoint B, where S1 is the distance between the first point C and waypoint B, and S2 is the distance between the second point A and waypoint B.

[0106] (4) Next, the target leaves the coverage area of receiving station 1 and enters the coverage area of receiving station 4 from the coverage area of receiving station 2. Therefore, for the coverage areas of receiving station 2 and receiving station 4 next, the first point C marked in step (1) is used as the current second point, and the first point E is re-marked. This first point is located at the edge of the coverage area of receiving station 2 and is also within the coverage area of receiving station 4; according to Figure 7 the SNR detection timings of receiving station 1, receiving station 2, and receiving station 4 in it, the first time T1 that the target takes from entering receiving station 4 to leaving receiving station 2 can be determined, and the second time T2 that the target takes from starting at point C to entering receiving station 4 can be determined; then, using the relationship between distance and time, the waypoint D on the way of the target passing through receiving station 2 and receiving station 4 can be calculated.

[0107] Repeating the above calculation steps can calculate all the waypoints of the target.

[0108] Step 5: According to all the waypoints calculated in step 4, the target motion trajectory can be obtained, as Figure 8 shown.

[0109] The target trajectory tracking method based on distributed networking and SNR timing detection provided by the present invention pre-arranges a plurality of distributed receiving stations in the detection area, so that the gains of each receiving station are equal and the coverage areas of adjacent receiving stations overlap; when performing target trajectory tracking, first obtain the SNR detection timings of the target echoes of each receiving station, so as to obtain the time information of the target passing through the coverage area of each receiving station, and obtain the order of the target passing through each receiving station according to this time information; then, according to the relationship between distance and time between the coverage areas of adjacent receiving stations in sequence and the SNR detection timings, determine the waypoints on the way of the target passing through these two adjacent receiving stations; finally, obtain the target tracking trajectory according to each waypoint. Therefore, according to the SNR detection timings of the target echoes of the receiving stations and the coverage areas of the receiving stations, the present invention can achieve target trajectory tracking. The target trajectory calculation process is simple and efficient, consumes less system resources, and the present invention has lower requirements for the hardware conditions and performance of the receiving stations, and it is easier to expand the number of receiving stations when applied to different scenarios.

[0110] Corresponding to the above-mentioned target trajectory tracking method based on distributed networking and SNR timing detection, an embodiment of the present invention also provides a target trajectory tracking device based on distributed networking and SNR timing detection; as Figure 9 shown, the device may include:

[0111] Acquisition module 901: It is used to obtain the SNR detection time sequence of the target echo of each receiving station when trajectory tracking of the target is required; wherein, there are multiple receiving stations, and the multiple receiving stations are receiving stations arranged in the detection area in advance according to the relevant factors of receiving station layout. The gain of each receiving station is equal, and the coverage areas of adjacent receiving stations overlap.

[0112] Determination module 902: It is used to obtain the time information of the target passing through the coverage area of each receiving station according to the SNR detection time sequence, and obtain the order of the target passing through each receiving station according to this time information.

[0113] Solution module 903: It is used to determine the passing point of the target on the way through the adjacent receiving stations according to the relationship between the distance time of the coverage areas of the adjacent receiving stations in order and the SNR detection time sequence.

[0114] Trajectory generation module 904: It is used to obtain the target tracking trajectory according to each passing point.

[0115] Optionally, the solution module 903 includes a marking sub-module and a solution operator sub-module:

[0116] The marking sub-module is specifically used to mark a first point and a second point from the edge of the coverage area of the i-th receiving station for the i-th receiving station and the (i + 1)-th receiving station that the target passes through in sequence; the first point is located at the edge of the coverage area of the i-th receiving station and within the coverage area of the (i + 1)-th receiving station; when i = 1, the second point is located at the edge of the coverage area of the first receiving station and not within the area covered by the second receiving station; when i > 1, the second point is the first point marked when solving the passing point of the target through the (i - 1)-th receiving station and the i-th receiving station; i = [1, 2,... M], and M is the number of receiving stations.

[0117] The solution operator sub-module is used to solve the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point, and the SNR detection time sequence of the i-th receiving station and the (i + 1)-th receiving station.

[0118] Optionally, the solution operator sub-module is specifically used for:

[0119] According to the SNR detection time sequence of the i-th receiving station and the (i + 1)-th receiving station, obtain the first time and the second time on the way of the target passing through the i-th receiving station and the (i + 1)-th receiving station; the first time is the time taken for the target to pass through the overlapping area of the coverage areas of the i-th receiving station and the (i + 1)-th receiving station; the second time is the time taken for the target to start from the second point until it enters the coverage area of the (i + 1)-th receiving station.

[0120] Traverse and search the edge of the coverage area of the (i + 1)-th receiving station within the overlapping area to obtain the passing point where the target passes through the i-th receiving station and the (i + 1)-th receiving station, so that the first distance between the first point and the passing point, the second distance between the second point and the passing point, the first time and the second time satisfy the distance-time correlation relationship.

[0121] Optionally, the distance-time correlation relationship is:

[0122]

[0123] wherein, S1 represents the first distance, S2 represents the second distance, T1 represents the first time, and T2 represents the second time.

[0124] Optionally, the obtaining module 901 is specifically configured to:

[0125] Obtain the target echo timing sequence of each receiving station; perform signal-to-noise ratio detection on the target echo timing sequence to obtain the initial signal-to-noise ratio detection timing sequence; perform threshold processing on the initial signal-to-noise ratio detection timing sequence according to the detection threshold to obtain the final signal-to-noise ratio detection timing sequence of the receiving station.

[0126] The target trajectory tracking device based on distributed networking and signal-to-noise ratio timing detection provided by the present invention pre-arranges a plurality of distributed receiving stations in the detection area, so that the gains of each receiving station are equal and the coverage areas of adjacent receiving stations overlap; when performing target trajectory tracking, first obtain the signal-to-noise ratio detection timing sequence of the target echo of each receiving station, so as to obtain the time information when the target passes through the coverage area of each receiving station, and obtain the order in which the target passes through each receiving station according to this time information; then determine the passing point on the way where the target passes through the two adjacent receiving stations according to the distance-time correlation relationship between the coverage areas of the adjacent receiving stations in sequence and the signal-to-noise ratio detection timing sequence; finally, obtain the target tracking trajectory according to each passing point. Therefore, the present invention can achieve target trajectory tracking according to the signal-to-noise ratio detection timing sequence of the target echo of the receiving station and the coverage area of the receiving station. The target trajectory calculation process is simple and efficient, consumes less system resources, and the present invention has lower requirements on the hardware conditions and performance of the receiving station, and it is easier to expand the number of receiving stations when applied to different scenarios. It should be noted that for the device, since it is basically similar to the method embodiment, the description is relatively simple, and for the relevant parts, refer to the partial description of the method embodiment.

[0127] It should be noted that the terms "first", "second", etc. are used to distinguish similar objects and do not necessarily describe a specific order or sequence. It should be understood that the data used in this way can be interchanged under appropriate circumstances so that the embodiments of the present invention described herein can be implemented in an order different from those illustrated or described herein. The embodiments described in the following exemplary embodiments do not represent all embodiments consistent with the present invention. On the contrary, they are merely examples of devices and methods consistent with some aspects of the present invention.

[0128] In the description of this specification, the description referring to terms such as "one embodiment", "some embodiments", "example", "specific example", or "some examples" means that the specific features or characteristics described in connection with the embodiment or example are included in at least one embodiment or example of the present invention. In this specification, the schematic expressions of the above terms do not necessarily refer to the same embodiment or example. Moreover, the specific features or characteristics described can be combined in a suitable manner in any one or more embodiments or examples. In addition, those skilled in the art can combine and combine the different embodiments or examples described in this specification.

[0129] Although the present invention has been described in connection with various embodiments herein, however, in the process of implementing the claimed invention, those skilled in the art can understand and achieve other variations of the disclosed embodiments by viewing the accompanying drawings and the disclosure. In the description of the present invention, the term "comprising" does not exclude other components or steps, the use of "a" or "an" does not exclude a plurality of cases, and the meaning of "a plurality" is two or more unless otherwise specifically defined. In addition, certain measures are described in different embodiments, but this does not mean that these measures cannot be combined to produce good results.

[0130] The above content is a further detailed description of the present invention in combination with specific preferred embodiments, and it cannot be determined that the specific implementation of the present invention is limited only to these descriptions. For those of ordinary skill in the technical field to which the present invention pertains, without departing from the concept of the present invention, several simple deductions or substitutions can still be made, and all should be regarded as belonging to the protection scope of the present invention.

Claims

1. A target trajectory tracking method based on distributed networking and SNR time series detection, characterized in that, Including: According to relevant factors of the layout of receiving stations, a plurality of receiving stations are pre-arranged in a detection area so that the gains of each receiving station are equal and the coverage areas of adjacent receiving stations overlap; When it is necessary to track the trajectory of a target, obtain the signal-to-noise ratio detection time sequence of the target echo of each receiving station; Obtain the time information of the target passing through the coverage area of each receiving station according to the signal-to-noise ratio detection time sequence, and obtain the order of the target passing through each receiving station according to this time information; Determine the passing point of the target on the way through the adjacent receiving stations according to the relationship between the distance and time of the coverage area of the adjacent receiving stations and the signal-to-noise ratio detection time sequence in the said order; Obtain the target tracking trajectory according to each of the passing points; 2. The target trajectory tracking method based on distributed networking and SNR time series detection according to claim 1, characterized in that, The determining the passing point of the target on the way through the adjacent receiving stations according to the relationship between the distance and time of the coverage area of the adjacent receiving stations and the signal-to-noise ratio detection time sequence in the said order includes: For the i-th receiving station and the (i + 1)-th receiving station that the target passes through in sequence, mark a first point and a second point from the edge of the coverage area of the i-th receiving station; the first point is located at the edge of the coverage area of the i-th receiving station and within the coverage area of the (i + 1)-th receiving station; when i = 1, the second point is located at the edge of the coverage area of the 1st receiving station and not within the area covered by the 2nd receiving station; when i > 1, the second point is the first point marked when calculating the passing point of the target through the (i - 1)-th receiving station and the i-th receiving station; i = [1, 2,..., M], where M is the number of receiving stations; Calculate the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point and the signal-to-noise ratio detection time sequence of the i-th receiving station and the (i + 1)-th receiving station; 3. The target trajectory tracking method based on distributed networking and SNR time series detection according to claim 2, characterized in that The calculating the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point and the signal-to-noise ratio detection time sequence of the i-th receiving station and the (i + 1)-th receiving station includes: Obtain the first time and the second time of the target on the way through the i-th receiving station and the (i + 1)-th receiving station according to the signal-to-noise ratio detection time sequence of the i-th receiving station and the (i + 1)-th receiving station; the first time is the time taken for the target to pass through the overlapping area of the coverage areas of the i-th receiving station and the (i + 1)-th receiving station; the second time is the time taken for the target to start from the second point until it enters the coverage area of the (i + 1)-th receiving station; Traverse and search the edge of the coverage area of the (i + 1)-th receiving station within the overlapping area to obtain the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station, so that the first distance between the first point and this passing point, the second distance between the second point and this passing point, the first time and the second time satisfy the relationship between distance and time; 4. The target trajectory tracking method based on distributed networking and SNR time series detection according to claim 3, wherein The relationship between distance and time is: Wherein, S1 represents the first distance, S2 represents the second distance, T1 represents the first time, and T2 represents the second time; 5. The target trajectory tracking method based on distributed networking and SNR time series detection according to claim 1, characterized in that The obtaining the signal-to-noise ratio detection time sequence of the target echo of each receiving station includes: Obtain the target echo timing of each receiving station; perform signal-to-noise ratio (SNR) detection on the target echo timing to obtain an initial SNR detection timing; perform threshold processing on the initial SNR detection timing according to a detection threshold to obtain the final SNR detection timing of this receiving station.

6. An object trajectory tracking device based on distributed networking and SNR time series detection, characterized in that, It includes: An acquisition module: used to obtain the SNR detection timing of the target echo of each receiving station when target trajectory tracking is required; wherein, there are multiple receiving stations, and the multiple receiving stations are arranged in the detection area in advance according to relevant factors of receiving station layout, the gain of each receiving station is equal, and the coverage areas of adjacent receiving stations overlap; A determination module: used to obtain the time information of the target passing through the coverage area of each receiving station according to the SNR detection timing, and obtain the order of the target passing through each receiving station according to this time information; A solution module: used to determine the passing point of the target on the way through the adjacent receiving stations according to the relationship between the distance and time of the coverage areas of adjacent receiving stations in sequence and the SNR detection timing; A trajectory generation module: used to obtain the target tracking trajectory according to each passing point.

7. The target trajectory tracking device based on distributed networking and SNR time series detection according to claim 6, characterized in that, The solution module includes a marking sub-module and a solving sub-module: The marking sub-module is used to mark a first point and a second point from the edge of the coverage area of the i-th receiving station for the i-th receiving station and the (i + 1)-th receiving station that the target passes through in sequence; the first point is located on the edge of the coverage area of the i-th receiving station and within the coverage area of the (i + 1)-th receiving station; when i = 1, the second point is located on the edge of the coverage area of the 1st receiving station and not within the area covered by the 2nd receiving station; when i > 1, the second point is the first point marked when solving the passing point of the target through the (i - 1)-th receiving station and the i-th receiving station; i = [1, 2,... M], and M is the number of receiving stations; The solving sub-module is used to solve the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station according to the second point, the first point, and the SNR detection timing of the i-th receiving station and the (i + 1)-th receiving station.

8. The target trajectory tracking device based on distributed networking and SNR time series detection according to claim 7, characterized in that, The solving sub-module is specifically used for: According to the SNR detection timing of the i-th receiving station and the (i + 1)-th receiving station, obtain the first time and the second time on the way of the target passing through the i-th receiving station and the (i + 1)-th receiving station; the first time is the time taken for the target to pass through the overlapping area of the coverage areas of the i-th receiving station and the (i + 1)-th receiving station; the second time is the time taken for the target to start from the second point until before the target enters the coverage area of the (i + 1)-th receiving station; Traverse and search the edge of the coverage area of the (i + 1)-th receiving station within the overlapping area to obtain the passing point of the target through the i-th receiving station and the (i + 1)-th receiving station, so that the first distance between the first point and this passing point, the second distance between the second point and this passing point, the first time, and the second time satisfy the distance-time correlation relationship.

9. The target trajectory tracking device based on distributed networking and SNR time series detection according to claim 8, characterized in that, The distance-time correlation relationship is: Wherein, S1 represents the first distance, S2 represents the second distance, T1 represents the first time, and T2 represents the second time.

10. The target trajectory tracking device based on distributed networking and SNR time series detection according to claim 6, characterized in that, The obtaining module is specifically configured to: Obtain the target echo timing sequence of each receiving station; perform signal-to-noise ratio detection on the target echo timing sequence to obtain an initial signal-to-noise ratio detection timing sequence; perform threshold processing on the initial signal-to-noise ratio detection timing sequence according to a detection threshold to obtain the final signal-to-noise ratio detection timing sequence of this receiving station.

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