Short-wave radar Hough transform track initiation method and system on Doppler domain

Abstract

The invention belongs to the technical field of radar data processing, and particularly relates to a short-wave radar Hough transform track initiation method and system on a Doppler domain. The method comprises the following steps: 1, carrying out clustering processing on radar data in a rectangular coordinate system; 2, establishing a time-Doppler two-dimensional coordinate system, performing Hough transform on the time-Doppler data in the selected clustering interval, performing clustering and straight line merging in a Hough transform parameter space, and detecting a corresponding straight line according to a threshold; and 3, obtaining a corresponding track according to the detected straight line, converting the track to a rectangular coordinate system, and estimating parameters to obtain the initial course and speed estimation of the target track. The method is used for solving the problems of high starting difficulty, large position deviation, multiple false tracks and the like caused by challenges of low detection rate, low measurement precision, low data rate, high false alarm and the like of a short-wave radar system of which an electromagnetic wave propagation path passes through an ionized layer.

Description

Technical Field

[0001] The present invention belongs to the technical field of radar data processing, and particularly relates to a short-wave radar Hough transform track initiation method and system in the Doppler domain. Background Art

[0002] The short-wave radar propagating through the ionosphere includes various forms, such as sky-wave radar, sky-transmit and ground-receive hybrid radar, and short-wave external radiation source radar, etc. The electromagnetic wave is reflected and propagated by the ionosphere, enabling these radars to have the ability of long-range over-the-horizon detection. Through the coherent processing of the reference signal and the echo signal, the radar can extract the target time delay, Doppler frequency shift, and arrival angle information from the target echo, and then achieve positioning and tracking. Furthermore, it can achieve long-range early warning of the target. This technology has received attention due to its long detection range, wide coverage, and low cost-effectiveness ratio; however, the interference of the ionosphere makes target detection face challenges such as low detection rate, low measurement accuracy, low data rate, and high false alarm, resulting in problems such as low target track initiation rate, large parameter estimation error, and many false tracks. Target track formation has become one of the key technologies for such radar information processing.

[0003] Radar track initiation methods aim to quickly establish the initial target trajectory from noise and clutter, and are mainly divided into two categories: sequential processing and batch processing. The sequential method (such as the logic method) associates the dots frame by frame and combines rule verification (such as the 3 / 3 criterion), which is suitable for scenarios with high real-time requirements and sparse targets; the batch processing method (such as Hough transform, track-before-detection) uses joint analysis of multiple frames of data, and enhances the weak target detection ability through parameter space accumulation or energy integration, which is suitable for complex environments with dense clutter. Emerging methods combine dynamic logical reasoning (MN logic) and machine learning, and adaptively learn the dot association rules, reducing the dependence on manual parameter adjustment and taking into account both robustness and efficiency. However, after the electromagnetic wave propagation path passes through the ionosphere, the measurement accuracies of the radar range R and azimuth θ will be reduced due to the instability of the channel; at the same time, since the electromagnetic wave energy after passing through the ionosphere is weak, it is necessary to accumulate for a long time to detect the target, and this system of radar also faces problems such as low data rate and low detection probability. And because the electromagnetic wave irradiates the ground or the sea surface, it also faces the problem of high false alarm. For the "three lows and one high" problems, the above track initiation methods have poor initiation effects. Summary of the Invention

[0004] The present invention provides a short-wave radar Hough transform track initiation method in the Doppler domain to solve the problems of large initiation difficulty, large position deviation, and many false tracks caused by challenges such as low detection rate, low measurement accuracy, low data rate, and high false alarm of the short-wave radar system whose electromagnetic wave propagation path passes through the ionosphere for target track initiation.

[0005] The present invention provides a short-wave radar Hough transform track initiation system in the Doppler domain to implement a short-wave radar Hough transform track initiation method in the Doppler domain.

[0006] The present invention is implemented through the following technical solutions:

[0007] A short-wave radar Hough transform track initiation method in the Doppler domain, the method comprising the following steps:

[0008] Step 1: Cluster the radar data in the rectangular coordinate system, select a clustering interval according to the motion characteristics of the target, cluster the traces within the selected area, and separately process the data of each cluster;

[0009] Step 2: Establish a time-Doppler two-dimensional coordinate system, perform Hough transform on the time-Doppler data within the clustering interval selected in Step 1, and cluster and merge straight lines in the Hough transform parameter space, and detect the corresponding straight lines according to the threshold;

[0010] Step 3: Obtain the corresponding track according to the detected straight line, convert it to the rectangular coordinate system and perform smoothing processing to estimate the parameters, and obtain the initial heading and speed estimation of the target track.

[0011] Further, the specific content of Step 1 is as follows:

[0012] Step 1.1: According to the motion speed v of the target, the frame interval T of the short-wave radar, and the number of frames N for radar track initiation, obtain the motion distance S of the target within the track initiation time;

[0013] Step 1.2: Select an appropriate clustering distance ΔR according to the motion distance S of the target within the track initiation time, and select the minimum number of points N for clustering according to the number of frames N for radar track initiation, the detection probability p d and the false alarm probability p f of the radar; min ;

[0014] Step 1.3: Cluster the radar data according to the clustering distance ΔR and the minimum number of points N for clustering; min ;

[0015] Step 1.4: Arrange the radar data within each cluster according to time to obtain a time-Doppler data group.

[0016] Further, the specific content of Step 2 is as follows: Establish a time-Doppler two-dimensional coordinate system, convert the time-Doppler data within the clustering interval into a parameter space, perform clustering processing again in the parameter space, vote on each unit in the parameter space to accumulate the support numbers of the measured points, set a detection threshold according to the parameters of the radar, and obtain the corresponding detected straight line.

[0017] Further, step 2 is more specifically including the following steps:

[0018] Step 2.1: Establish a time-Doppler two-dimensional coordinate system (t, f d ), convert the time-Doppler data into binary data, convert the binary data in the cluster to the ρ-θ space by using the Hough transform conversion model ρ = xcosθ + ysinθ, convert each measurement point corresponding to a discrete sine curve in the parameter space, and save the time-Doppler track data corresponding to each point in the ρ-θ space;

[0019] Step 2.2: Also perform clustering processing on the data in the parameter space and merge the similar straight lines;

[0020] Step 2.3: Vote to accumulate the support number M of the measurement points for each unit (i.e., possible ρ and θ combinations) in the parameter space;

[0021] Step 2.4: Set a suitable detection threshold V according to the clutter density N S of the radar, the detection probability p d , and the number of frames N for track initiation; Threshold ;

[0022] Step 2.5: Find the track candidate parameters (ρ0, θ0) corresponding to exceeding the detection threshold value V Threshold . The candidate parameters (ρ0, θ0) are the detected straight line parameters, and the corresponding detection straight line can be obtained according to the straight line parameters.

[0023] Further, step 3 is specifically to obtain the time-Doppler track and the Cartesian coordinate system track corresponding to the straight line according to the detected straight line, smooth the track, and estimate the parameters of the track.

[0024] Further, step 3 is more specifically including the following steps:

[0025] Step 3.1: According to the detected straight line parameters (ρ0, θ0), find the track points corresponding to the voting of the straight line parameters (ρ0, θ0), and find the corresponding Cartesian coordinate system data according to the time-Doppler track data, that is, the starting track in the Cartesian coordinate system can be obtained;

[0026] Step 3.3: Use the least squares method to smooth the Cartesian coordinate system track data and estimate the track parameters.

[0027] A short-wave radar Hough transform track initiation system in the Doppler domain, the system uses the above-mentioned short-wave radar Hough transform track initiation method in the Doppler domain, and the system includes

[0028] Clustering processing unit: Perform clustering processing on radar data in the rectangular coordinate system, select a clustering interval according to the motion characteristics of the target, cluster the traces within the selected area, and separately process the data of each cluster;

[0029] Hough transform calculation unit: Establish a two-dimensional time-Doppler coordinate system, perform Hough transform on the time-Doppler data within the clustering interval selected in step 1, and cluster and merge straight lines in the Hough transform parameter space, and detect the corresponding straight lines according to the threshold;

[0030] Coordinate conversion module: Obtain the corresponding track according to the detected straight line, convert it to the rectangular coordinate system and perform smoothing processing to estimate the parameters, and obtain the initial heading and speed estimation of the target track.

[0031] Further, the working principle of the Hough transform calculation unit is to establish a two-dimensional time-Doppler coordinate system, convert the time-Doppler data within the clustering interval into the parameter space, perform clustering processing again in the parameter space, vote for each unit in the parameter space to accumulate the support numbers of the measurement points, set the detection threshold according to the parameters of the radar, and obtain the corresponding detected straight line;

[0032] The working principle of the coordinate conversion module is to obtain the time-Doppler track and the rectangular coordinate system track corresponding to the straight line according to the voting points corresponding to the detected straight line, perform smoothing processing on the track by the least squares method, and estimate the parameters of the track.

[0033] A computer device includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method as described above is implemented.

[0034] A computer-readable storage medium stores a computer program therein. When the computer program is executed by a processor, the method as described above is implemented.

[0035] The beneficial effects of the present invention are:

[0036] By applying the Hough transform to the time-Doppler domain and using the clustering method, the present invention improves the effect of track initiation.

[0037] The present invention provides a more effective short-wave radar track initiation method.

[0038] The present invention converts the Hough transform from the traditional XOY domain to the time-Doppler domain, uses the geographical coordinate information of the traces to perform clustering and partitioning processing on the traces, and utilizes the characteristic that the Doppler measurement error of the short-wave radar is small to achieve a better track initiation effect by the Hough transform. Description of the Drawings

[0039] Figure 1 It is the flowchart of the method of the present invention.

[0040] Figure 2a It is a schematic diagram of the binarization and detection result of the data of Cluster 1 of the present invention.

[0041] Figure 2b It is the accumulation graph of the parameter space of the data of Cluster 1 of the present invention.

[0042] Figure 2c It is a schematic diagram of the binarization and detection result of the data of Cluster 2 of the present invention.

[0043] Figure 2d It is the accumulation graph of the parameter space of the data of Cluster 2 of the present invention.

[0044] Figure 2e It is a schematic diagram of the binarization and detection result of the data of Cluster 3 of the present invention.

[0045] Figure 2f It is the accumulation graph of the parameter space of the data of Cluster 3 of the present invention.

[0046] Figure 2g It is a schematic diagram of the binarization and detection result of the data of Cluster 4 of the present invention.

[0047] Figure 2h It is the accumulation graph of the parameter space of the data of Cluster 4 of the present invention.

[0048] Figure 3a It is a schematic diagram of the binarization result of the complete data of the present invention.

[0049] Figure 3b It is a schematic diagram of the comparison between the true value and the detected straight line of the Doppler domain data of the present invention.

[0050] Figure 4 It is a schematic diagram of the time-Doppler data extracted from the detected straight line of the present invention.

[0051] Figure 5 It is a schematic diagram of the target trajectory in the geographic coordinate system extracted from the detected straight line of the present invention.

[0052] Figure 6 It is a comparison graph between the straight line fitted by the least squares method and the true trajectory of the present invention.

[0053] Figure 7a It is a schematic diagram of the binary conversion result in the rectangular coordinate system of the present invention.

[0054] Figure 7b It is a schematic diagram of the straight line detection result of the binary image in the rectangular coordinate system of the present invention.

[0055] Figure 7c It is the accumulation graph of the Hough transform parameter space in the rectangular coordinate system of the present invention.

[0056] Figure 8 It is a schematic diagram of the starting result of the Hough transform in the rectangular coordinate system of the present invention.

[0057] Figure 9 It is a schematic diagram of the smoothing result of the least squares method for the starting track in the rectangular coordinate system of the present invention. Specific Embodiments

[0058] In the following description, for the purpose of illustration rather than limitation, specific details such as specific system structures and technologies are presented to thoroughly understand the embodiments of the present application. However, those skilled in the art should clearly understand that the present application can also be implemented in other embodiments without these specific details. In other cases, detailed descriptions of well-known systems, devices, circuits, and methods are omitted to avoid unnecessary details from obstructing the description of the present application.

[0059] It should be understood that when used in this specification and the appended claims, the term "comprising" indicates the presence of the described features, wholes, steps, operations, elements, and / or components, but does not exclude the presence or addition of one or more other features, wholes, steps, operations, elements, components, and / or their combinations.

[0060] It should also be understood that the terms used in the specification of the present application are only for the purpose of describing specific embodiments and are not intended to limit the present application. As used in the specification of the present application and the appended claims, unless the context clearly indicates otherwise, the singular forms "a", "an", and "the" are intended to include the plural forms.

[0061] The technical solutions in the embodiments of the present application will be clearly and completely described below with reference to the accompanying drawings of the present application specification. Obviously, the described embodiments are only a part of the embodiments of the present application, rather than all of the embodiments. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present application without creative efforts shall fall within the scope of protection of the present application.

[0062] Many specific details are set forth in the following description in order to provide a thorough understanding of the present application, but the present application may also be implemented in other ways different from those described herein. Those skilled in the art can make similar generalizations without departing from the connotation of the present application, so the present application is not limited by the specific embodiments disclosed below.

[0063] Embodiment 1

[0064] This embodiment provides a method for starting a short-wave radar Hough transform track in the Doppler domain. The radar system parameters are shown in Table 1, and the parameters of the uniformly moving linear target are shown in Table 2. The data are all generated by simulation experiments.

[0065] Table 1 Radar System Parameters

[0066]

[0067] Table 2 Simulation Target Parameter Settings

[0068]

[0069] As Figure 1 shown, the method includes the following steps:

[0070] Step 1: Cluster the radar data in the rectangular coordinate system. Select a suitable clustering interval according to the motion characteristics of the target (mainly speed) (clustering rule: calculate the distance that the target moves within the starting time based on the number of frames at the start of the track, the frame interval, and the approximate motion speed of the target, and use this distance as the clustering range; set a suitable minimum number of clustering points according to the number of frames at the start of the track and the radar detection probability; the clustering method can be processed using common clustering methods), cluster the traces within the selected area, and separately process the data of each cluster;

[0071] Step 2: Establish a time-Doppler two-dimensional coordinate system, perform a Hough transform on the time-Doppler data within the clustering interval selected in Step 1, convert each trace in the time-Doppler space into a discrete curve in the Hough transform parameter space, and at the same time save the corresponding trace data in the time-Doppler space for each point on the discrete curve, and perform clustering and merging of lines in the Hough transform parameter space, and detect the corresponding lines according to the threshold;

[0072] Step 3: Find the corresponding original traces according to the voting points of the detected lines, arrange the traces in chronological order and associate them to obtain the corresponding tracks, convert them to the rectangular coordinate system and perform smoothing processing to estimate the parameters, and obtain the initial heading and speed estimates of the target track.

[0073] Further, Step 1 is specifically as follows:

[0074] Step 1.1: According to the motion speed v of the target, the frame interval T of the short-wave radar, and the number of frames N at the start of the radar track, obtain the moving distance S of the target within the start time of the track;

[0075] Step 1.2: Select a suitable clustering distance ΔR according to the moving distance S of the target within the start time of the track, and select the minimum number of clustering points N according to the number of frames N at the start of the radar track, the detection probability p d of the radar, f and the false alarm probability p min of the radar;

[0076] Step 1.3: According to the clustering distance ΔR and the minimum number of clustering points N min, use a general clustering method (such as the DBSCAN clustering method) to cluster the radar data;

[0077] Step 1.4: Arrange the radar data within each cluster according to time to obtain a time-Doppler data group.

[0078] Furthermore, the specific content of step 2 is as follows: establish a two-dimensional time-Doppler coordinate system, convert the time-Doppler data within the clustering interval into a parameter space, perform clustering processing again in the parameter space, vote to accumulate the support numbers of the measurement points for each unit (i.e., possible ρ and θ combinations) in the parameter space, set an appropriate detection threshold according to the parameters of the radar, and obtain the corresponding detection line.

[0079] Furthermore, the more specific content of step 2 includes the following steps:

[0080] Step 2.1: Establish a two-dimensional time-Doppler coordinate system (t, f d ), convert the time-Doppler data into binary data, use the Hough transform conversion model ρ = xcosθ + ysinθ to convert the binary data in the cluster to the ρ-θ space, convert each measurement point into a discrete sine curve in the parameter space, and save the time-Doppler point trace data corresponding to each point in the ρ-θ space;

[0081] Step 2.2: Also perform clustering processing (such as the DBSCAN clustering method) on the data in the parameter space, and merge the similar lines;

[0082] Step 2.3: Vote to accumulate for each unit (i.e., possible ρ and θ combinations) in the parameter space to accumulate votes, and count the support number M of the measurement points;

[0083] Step 2.4: Set an appropriate detection threshold V according to the clutter density N S , detection probability p d , and the number of frames N for track initiation; Threshold ;

[0084] Step 2.5: Find the track candidate parameters (ρ0, θ0) corresponding to the value exceeding the detection threshold V Threshold , and the candidate parameters (ρ0, θ0) are the detected line parameters. According to the line parameters, the corresponding detection line can be obtained.

[0085] Furthermore, the specific content of step 3 is as follows: obtain the time-Doppler track and the Cartesian coordinate system track corresponding to the detected line, smooth the track, and estimate the parameters of the track.

[0086] Furthermore, the more specific content of step 3 includes the following steps:

[0087] Step 3.1: According to the detected line parameters ($\rho_0$, $\theta_0$), find the point traces corresponding to the voted line parameters ($\rho_0$, $\theta_0$) (that is, according to the data in the $\rho$-$\theta$ parameter space in Step 2.1, the corresponding original time-Doppler original point trace data can be found), and find the corresponding Cartesian coordinate data according to the time-Doppler point trace data, so as to obtain the starting track in the Cartesian coordinate system;

[0088] Step 3.3: Use the least squares method to smooth the track data in the Cartesian coordinate system and estimate the track parameters. The estimated parameters are shown in Table 3.

[0089] Table 3 Target Parameter Estimation Results

[0090]

[0091] The simulation results prove that:

[0092] As can be seen from Figure 2, clustering has achieved good results, dividing the tracks in different regions into different clusters, making the Doppler data no longer interfere with each other, and optimizing the data for the subsequent Hough transform detection. At the same time, it can also be seen that the Hough transform has obvious effects in the time-Doppler domain, can detect all the straight lines, and there are basically no missed detection points, and the straight lines detected by clustering in the parameter space are basically not repeated, and the detection effect is good.

[0093] As can be seen from Figure 3, through the clustering method, the Hough transform can also separate the straight lines when the time-Doppler data cross and are relatively close to each other, and it can be seen from the figure that all the tracks have started, and there are few missed detections.

[0094] From Figure 5 it can be seen that the Hough transform starting method in the time-Doppler domain can start the tracks with relatively poor accuracy in the geographical coordinates, and there are basically no missed starting point traces.

[0095] From Figure 6 it can be seen that after fitting the starting tracks by the least squares method, the tracks are closer to the true tracks and the errors become smaller.

[0096] As can be seen from Table 3, the parameters of the target after the least squares method estimation have little difference from the true values, and the parameter estimation effect is good.

[0097] Comparing Figure 7, Figure 8 and Figure 9 it can be seen that the method proposed by the present invention has obvious advantages compared with the traditional Hough transform track starting method. The traditional method has poor track starting effect, many false alarms, poor track quality, and problems such as no association. The method proposed by the present invention perfectly solves these problems.

[0098] For the problem of "three lows and one high", according to the characteristics that the Doppler measurement of short-wave radar has higher relative distance and azimuth accuracy, this patent uses the characteristic that the Doppler of a uniformly moving straight-line target approximately changes linearly with time to perform Hough transform processing on the track data in the time-Doppler domain. The Hough Transform is a feature extraction technique based on parameter space mapping. By converting data from the Cartesian coordinate system to the parameter space (such as distance ρ and angle θ in the polar coordinate system), it uses an accumulator voting mechanism to detect straight lines. Its advantage lies in its robustness to noise and local defects, being able to stably detect straight-line trajectories in discontinuous or noisy scenarios, and enabling fully automatic processing without prior initial target state values. This patent performs Hough transform on the starting track in the time-Doppler domain, improving the accuracy and quality of short-wave radar track initiation and having strong robustness.

[0099] Embodiment 2

[0100] This embodiment provides a short-wave radar Hough transform track initiation system in the Doppler domain. The system uses the short-wave radar Hough transform track initiation method in the Doppler domain as described in Embodiment 1. The system includes

[0101] Clustering processing unit: Perform clustering processing on radar data in the Cartesian coordinate system, select a suitable clustering interval according to the motion characteristics of the target (mainly speed), cluster the traces within the selected area, and separately process the data of each cluster;

[0102] Hough transform calculation unit: Establish a two-dimensional time-Doppler coordinate system, perform Hough transform on the time-Doppler data within the clustering interval selected in step 1, and perform clustering and merging of straight lines in the Hough transform parameter space, and detect the corresponding straight lines according to the threshold;

[0103] Coordinate conversion module: Obtain the corresponding track according to the detected straight line, convert it to the Cartesian coordinate system and perform smoothing processing to estimate the parameters, and obtain the initial heading and speed estimation of the target track.

[0104] Furthermore, the working principle of the Hough transform calculation unit is to establish a two-dimensional time-Doppler coordinate system, convert the time-Doppler data within the clustering interval into the parameter space, perform clustering processing again in the parameter space, accumulate the support numbers of measurement points by voting for each unit in the parameter space, set a suitable detection threshold according to the parameters of the radar, and obtain the corresponding detected straight line;

[0105] The working principle of the coordinate conversion module is to obtain the time-Doppler track and the Cartesian coordinate track corresponding to the straight line according to the voting points corresponding to the detected straight line, perform smoothing processing on the track by the least squares method, and estimate the parameters of the track.

[0106] Embodiment 3

[0107] This embodiment provides a short-wave radar Hough transform track initiation method in the Doppler domain implemented based on the method described in Embodiment 1. With its characteristics of high accuracy and quality of track initiation, it is applied to the radar technology field with extremely high requirements for track initiation accuracy, and is particularly suitable for the electromagnetic wave target tracking scenario in a short-wave radar system.

[0108] Embodiment 4

[0109] This embodiment of the present invention provides an electronic device, which includes a memory, a processor, and a computer program stored in the memory and executable on the processor. Among them, the memory is used to store software programs and modules, and the processor executes various functional applications and data processing by running the software programs and modules stored in the memory. The memory and the processor are connected by a bus. Specifically, when the processor runs the computer program stored in the memory, any step in Embodiment 1 is implemented.

[0110] It should be understood that in this embodiment of the present invention, the so-called processor may be a central processing unit (CPU), and the processor may also be other general-purpose processors, digital signal processors (DSPs), application specific integrated circuits (ASICs), field-programmable gate arrays (FPGAs), or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, etc. The general-purpose processor may be a microprocessor or the processor may also be any conventional processor, etc.

[0111] The memory may include a read-only memory, a flash memory, and a random access memory, and provide instructions and data to the processor. A part or all of the memory may also include a non-volatile random access memory.

[0112] As can be seen from the above, the electronic device provided by this embodiment of the present invention can implement the short-wave radar Hough transform track initiation method described in Embodiment 1 by running a computer program, initiate a track by performing a Hough transform in the time-Doppler domain, improve the accuracy and quality of track initiation of the short-wave radar, and has strong robustness.

[0113] It should be understood that if the above integrated module / unit is implemented in the form of a software functional unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, to implement all or part of the processes in the above-described embodiments of the method of the present invention, it can also be completed by a computer program instructing relevant hardware. The above computer program can be stored in a computer-readable storage medium. When the computer program is executed by a processor, the steps of the above-described various method embodiments can be implemented. Among them, the above computer program includes computer program code, and the above computer program code can be in the form of source code, object code, executable file, or some intermediate form, etc. The above computer-readable medium can include: any entity or device capable of carrying the above computer program code, recording medium, USB flash drive, mobile hard disk, magnetic disk, optical disc, computer memory, read-only memory (ROM), random access memory (RAM), electrical carrier signal, telecommunication signal, and software distribution medium, etc. It should be noted that the content included in the above computer-readable storage medium can be appropriately increased or decreased according to the requirements of legislation and patent practice in the jurisdiction.

[0114] The above description of the disclosed embodiments enables those skilled in the art to implement or use the present invention. Various modifications to these embodiments will be obvious to those skilled in the art, and the general principles defined herein can be implemented in other embodiments without departing from the spirit or scope of the present invention. Therefore, the present invention will not be limited to the embodiments shown herein, but rather to the widest scope consistent with the principles and novel features disclosed herein.

[0115] Those skilled in the art can clearly understand that for the convenience and brevity of description, only the above division of each functional unit and module is used as an example. In actual applications, the above functions can be allocated to different functional units and modules as needed, that is, the internal structure of the above device can be divided into different functional units or modules to complete all or part of the functions described above. Each functional unit and module in the embodiments can be integrated into a processing unit, or each unit can exist physically alone, or two or more units can be integrated into one unit. The above integrated unit can be implemented in the form of hardware or in the form of a software functional unit. In addition, the specific names of each functional unit and module are only for the convenience of mutual distinction and do not limit the protection scope of the present invention. The specific working processes of the units and modules in the above system can refer to the corresponding processes in the foregoing method embodiments and will not be elaborated herein.

[0116] It should be noted that the methods and their detailed examples provided in the above embodiments can be combined into the devices and equipment provided in the embodiments, and can be referred to each other, and will not be elaborated here.

[0117] Those of ordinary skill in the art can realize that the units and algorithm steps of each example described in combination with the embodiments disclosed in this document can be implemented by electronic hardware, or a combination of computer software and electronic hardware. Whether these functions are executed in a hardware or software manner depends on the specific application and design constraints of the technical solution. Professional technicians can use different methods for each specific application to implement the described functions, but such implementation should not be considered to exceed the scope of the present invention.

[0118] In the embodiments provided by the present invention, it should be understood that the disclosed devices / terminal devices and methods can be implemented in other ways. For example, the device / equipment embodiments described above are merely illustrative. For example, the above division of modules or units is only a logical function division. In actual implementation, there can be other division methods. For example, multiple units or components can be combined or integrated into another system, or some features can be ignored or not executed.

[0119] The above embodiments are only used to illustrate the technical solutions of the present invention, rather than to limit it; although the present invention has been described in detail with reference to the foregoing embodiments, those of ordinary skill in the art should understand that they can still modify the technical solutions described in the foregoing embodiments, or perform equivalent replacements for some of the technical features; and these modifications or replacements do not make the essence of the corresponding technical solutions deviate from the spirit and scope of the technical solutions of the embodiments of the present invention, and should all be included in the protection scope of the present invention.

Claims

1. A short-wave radar Hough transform track initiation method in the Doppler domain, characterized in that, The method includes the following steps: Step 1: Cluster the radar data in the rectangular coordinate system, select the clustering interval according to the motion characteristics of the target, cluster the traces within the selected area, and separately process the data of each cluster; Step 2: Establish a two-dimensional time-Doppler coordinate system, perform the Hough transform on the time-Doppler data within the clustering interval selected in Step 1, and cluster and merge the lines in the Hough transform parameter space, and detect the corresponding lines according to the threshold; Step 3: Obtain the corresponding track according to the detected line, convert it to the rectangular coordinate system and perform smoothing processing to estimate the parameters, and obtain the initial heading and speed estimation of the target track.

2. The method according to claim 1, wherein The specific content of Step 1 is as follows: Step 1.1: According to the motion speed v of the target, the frame interval T of the short-wave radar, and the number of frames N at the start of the radar track, obtain the moving distance S of the target within the track start time; Step 1.2: Select an appropriate clustering distance ΔR according to the moving distance S of the target within the track start time, and select the minimum number of points N for clustering according to the number of frames N of the radar track start, the detection probability p of the radar d and the false alarm probability p of the radar f ; min ; Step 1.3: Cluster the radar data according to the clustering distance ΔR and the minimum number of points N for clustering min , and perform clustering processing on the radar data; Step 1.4: Arrange the radar data within each cluster according to time to obtain a time-Doppler data set.

3. The method according to claim 1, wherein The specific content of Step 2 is to establish a two-dimensional time-Doppler coordinate system, convert the time-Doppler data within the clustering interval into the parameter space, perform clustering processing again in the parameter space, accumulate the support numbers of the measurement points for each unit in the parameter space by voting, set the detection threshold according to the parameters of the radar, and obtain the corresponding detection line.

4. The method according to claim 3, wherein The more specific content of Step 2 includes the following steps: Step 2.1: Establish a time-Doppler two-dimensional coordinate system (t, f d ), convert the time-Doppler data into binary data, convert the binary data in the cluster to the ρ-θ space by using the Hough transform conversion model ρ = xcosθ + ysinθ, convert each measurement point into a discrete sine curve in the parameter space, and save the time-Doppler point trace data corresponding to each point in the ρ-θ space; Step 2.2: Also perform clustering processing on the data in the parameter space to merge the similar lines; Step 2.3: Vote and accumulate the support number M of the measurement points for each unit in the parameter space; Step 2.4: Set an appropriate detection threshold V according to the clutter density N of the radar S , detection probability p d , and the number of frames N for track initiation Threshold ; Step 2.5: Find the track candidate parameters (ρ0, θ0) corresponding to the value exceeding the detection threshold V. The candidate parameters (ρ0, θ0) are the detected line parameters, and the corresponding detected line can be obtained based on the line parameters. Threshold The corresponding track candidate parameters (ρ0, θ0) are the detected line parameters. Based on these line parameters, the corresponding detected line can be obtained.

5. The method according to claim 1, wherein The specific content of Step 3 is to obtain the time-Doppler track and the rectangular coordinate system track corresponding to the line according to the detected line, perform smoothing processing on the track, and estimate the parameters of the track.

6. The method according to claim 5, characterized in that The more specific content of Step 3 includes the following steps: Step 3.1: According to the detected line parameters (ρ0, θ0), find the traces corresponding to the voting of the line parameters (ρ0, θ0), and find the corresponding rectangular coordinate system data according to the time-Doppler trace data, that is, the initial track in the rectangular coordinate system can be obtained; Step 3.3: Use the least squares method to perform smoothing processing on the rectangular coordinate system track data and estimate the track parameters.

7. A short-wave radar Hough transform track initiation system in the Doppler domain, characterized in that The system uses the method described in any one of claims 1-6. The system includes: Clustering processing unit: Cluster the radar data in the rectangular coordinate system, select the clustering interval according to the motion characteristics of the target, cluster the traces within the selected area, and separately process the data of each cluster; Hough transform calculation unit: Establish a two-dimensional time-Doppler coordinate system, perform the Hough transform on the time-Doppler data within the clustering interval selected in Step 1, and cluster and merge the lines in the Hough transform parameter space, and detect the corresponding lines according to the threshold; Coordinate conversion module: Obtain the corresponding track according to the detected line, convert it to the rectangular coordinate system and perform smoothing processing to estimate the parameters, and obtain the initial heading and speed estimation of the target track.

8. The system according to claim 7, wherein The working principle of the Hough transform calculation unit is as follows: establish a two-dimensional time-Doppler coordinate system, convert the time-Doppler data within the clustering interval into a parameter space, perform clustering processing again in the parameter space, accumulate the support numbers of measurement points for each unit in the parameter space by voting, set a detection threshold according to the parameters of the radar, and obtain the corresponding detection line; The working principle of the coordinate conversion module is as follows: the time-Doppler track and the rectangular coordinate system track corresponding to the line can be obtained according to the voting points corresponding to the detected line, the track is smoothed by the least square method, and the parameters of the track are estimated.

9. A computer device, characterized in that, It includes a memory, a processor, and a computer program stored on the memory and executable on the processor. When the processor executes the computer program, the method described in any one of claims 1-6 is implemented.

10. A computer-readable storage medium, characterized in that, The computer-readable storage medium stores a computer program, and when the computer program is executed by the processor, the method described in any one of claims 1-6 is implemented.

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