Collision early warning method and system based on group target tracking and dangerous area layering

Abstract

The invention belongs to the technical field of target collision early warning, and provides a collision early warning method and system based on group target tracking and dangerous area layering in order to solve the problem of high collision risk of a spacecraft at present. The collision early warning method based on group target tracking and dangerous area layering comprises the following steps: calculating a moving trajectory of a spacecraft and dividing a dangerous area; correspondingly dividing the group targets into a plurality of sparse groups according to the similarity between the position information and the motion state of the group targets, and constructing a mesh topology structure associated with behaviors of each sparse group; obtaining an overall motion track of each sparse group; the moment when the distance between each sparse group and the spacecraft is closest is calculated, the behavior association of the corresponding sparse group is relieved at the same time, targets in the dangerous area at the corresponding moment are searched, and the collision risk of the single target in the corresponding sparse group is calculated; and comparing with an early warning threshold value to judge whether to execute track avoidance operation or not. The probability of collision can be reduced.

Description

Technical Field

[0001] The present invention belongs to the technical field of target collision warning, and particularly relates to a collision warning method and system based on group target tracking and hierarchical dangerous areas. Background Art

[0002] The statements in this part only provide background technical information related to the present invention, and do not necessarily constitute prior art.

[0003] The current collision probability calculation model calculates the collision probability based on the collision probability between a spacecraft and either a single target or any one of multiple targets. When it comes to the collision between a spacecraft and a group of targets, the current collision probability calculation model needs to train the individual behaviors of the group targets separately, which results in a large consumption of computing power. In addition, during the process of calculating the collision probability, mainly the box model and the Gaussian model are used for calculation. Its principle is to solve the collision probability in the way of an error ellipsoid, ignoring the influence of the motion state on the dangerous area during the motion process, which increases the possibility of false alarms and missed alarms, thus increasing the collision risk of the spacecraft. Summary of the Invention

[0004] In order to solve the above technical problems, the present invention provides a collision warning method and system based on group target tracking and hierarchical dangerous areas, which re-divide the groups at set intervals. When the target group approaches a satellite or a spacecraft, the behavior association of the group targets is released, and the collision risk is calculated based on the Gaussian probability distribution model and the principle of hierarchical dangerous areas, reducing the probability of collision.

[0005] In order to achieve the above object, the present invention adopts the following technical solutions: The first aspect of the present invention provides a collision warning method based on group target tracking and hierarchical dangerous areas.

[0006] In one or more embodiments, a collision warning method based on group target tracking and hierarchical dangerous areas is provided, including: Obtaining the position information and motion state of the spacecraft and the group targets at set intervals, calculating the running trajectory of the spacecraft and dividing the dangerous area; the motion state includes the motion direction and the motion speed; According to the similarity degree of the position information and motion state of the group targets, the group targets are correspondingly divided into several sparse groups, and a network topology structure of the behavior association of each sparse group is constructed; Taking the central target of each network topology structure as the main target, and using the similarity degree of the motion state between other targets and the main target as the weight, the overall motion state of each sparse group is calculated by weighting, and the overall motion trajectory of each sparse group is obtained; According to the overall motion trajectory of each sparse group and the running trajectory of the spacecraft, the time when each sparse group is closest to the spacecraft is calculated and the behavior association of the corresponding sparse group is released at the same time, the target in the danger zone at the corresponding time is found, and the collision risk of a single target in the corresponding sparse group is calculated; The collision risk of each individual target in the corresponding sparse group is compared with the warning threshold one by one to determine whether to perform orbit avoidance operations.

[0007] As an implementation method, the process of dividing the group targets into a number of sparse groups is as follows: The group targets are initially divided into several position subclusters according to their positions, and then each position subcluster is refined into speed subclusters with similar positions and speeds according to the similarity of the motion states of the group targets, thus obtaining a sparse group.

[0008] As an implementation method, in the process of constructing a mesh topology structure, whether to connect two targets is determined based on the similarity of the speed directions; if the similarity of the speed directions of the two targets is greater than a preset threshold, the speed directions are judged to be similar and a connecting line is drawn.

[0009] As an implementation method, with the spacecraft's center of mass as the center, the short axis and long axis of the ellipse are preset to construct three layers of areas from the inside to the outside, namely a high-risk area, a medium-risk area, and a low-risk area.

[0010] As an implementation method, the highly dangerous zone is a circular area with a radius equal to the sum of the equivalent radius of the spacecraft and the equivalent radius of the space debris. In the highly dangerous zone, the danger coefficient of the highly dangerous zone is 1, and if the distance between the center of mass of the spacecraft and the space debris is less than the safety radius, a collision is bound to occur.

[0011] As an implementation mode, the medium risk area and the low risk area are parts of ellipsoidal surfaces having structures similar to the two-dimensional projection of the error ellipsoid; the risk coefficient decreases exponentially: , where x and y are the horizontal and vertical coordinates of the coordinate system, and a and b are the warning distance thresholds determined by the relative speed error between the spacecraft and the space target.

[0012] As an implementation method, in the medium-risk area and the low-risk area, the closest distance from the two-dimensional projection of the space debris position error ellipsoid in the intersection plane to the center of the coordinate system is regarded as r, the probability distribution within the overlapping range of the projection and the danger range is calculated, and the final collision probability is obtained by multiplying the danger coefficient by the probability size of the overlapping range.

[0013] A second aspect of the present invention provides a collision warning system based on group target tracking and dangerous area stratification.

[0014] In one or more embodiments, a collision warning system based on group target tracking and dangerous area stratification includes: A spacecraft trajectory determination module is used to obtain the position information and motion status of the spacecraft and the group of targets at set intervals, calculate the spacecraft's trajectory and divide the dangerous area; the motion status includes the motion direction and motion speed; A group target division module is used to divide the group targets into a number of sparse groups according to the location information and similarity of the motion states of the group targets, and to construct a mesh topological structure of the behavior association of each sparse group; A sparse group trajectory determination module is used to take the central target of each mesh topological structure as the main target and the similarity of the motion state between other targets and the main target as the weight, and to weightedly calculate the overall motion state of each sparse group to obtain the overall motion trajectory of each sparse group; A collision risk calculation module is used to calculate the moment when each sparse group is closest to the spacecraft based on the overall motion trajectory of each sparse group and the running trajectory of the spacecraft, and to simultaneously remove the behavior association of the corresponding sparse group, find the target in the danger zone at the corresponding moment, and calculate the collision risk of a single target in the corresponding sparse group; The track avoidance execution judgment module is used to compare the collision risk of each single target in the corresponding sparse group with the warning threshold one by one to determine whether to execute the track avoidance operation.

[0015] A third aspect of the present invention provides a computer-readable storage medium.

[0016] A computer-readable storage medium stores a computer program, which, when executed by a processor, implements the steps in the collision warning method based on group target tracking and dangerous area stratification as described above.

[0017] A fourth aspect of the present invention provides an electronic device.

[0018] An electronic device includes a memory, a processor, and a computer program stored in the memory and executable on the processor. When the processor executes the program, the steps in the collision warning method based on group target tracking and dangerous area stratification as described above are implemented.

[0019] Compared with the prior art, the present invention has the following beneficial effects: When the present invention is involved in the collision between a spacecraft and a group of targets, the group of targets is divided to obtain a sparsification result, reducing the repeated training for targets with similar motion states; by constructing a network topology structure related to the behavior of the group of targets, the dense group of targets is divided into sparse groups, taking the central target of the group of targets as the main target, calculating the weighted motion state of the group of targets, and using it as the overall motion state of the group of targets, saving the time for monitoring multiple targets; and the groups are re-divided every once in a while. When the target group approaches the satellite or spacecraft, the behavior association of the group of targets is released, and the collision risk is calculated to reduce the probability of collision occurrence. BRIEF DESCRIPTION OF THE DRAWINGS

[0020] The accompanying drawings forming a part of this invention are used to provide a further understanding of the present invention. The schematic embodiments of the present invention and their descriptions are used to explain the present invention and do not constitute an improper limitation to the present invention.

[0021] Figure 1 is a schematic flowchart of a collision warning method based on group target tracking and hierarchical dangerous areas according to an embodiment of the present invention; Figure 2 is the process of converting a group of targets into sparse groups according to an embodiment of the present invention; Figure 3 is a schematic structural diagram of a collision warning system based on group target tracking and hierarchical dangerous areas according to an embodiment of the present invention; Figure 4 is a schematic diagram of collision risk in a dangerous area according to an embodiment of the present invention; Figure 5 is a schematic diagram of a rendezvous reference system according to an embodiment of the present invention; Figure 6 is a diagram of the division of the danger level of a rendezvous plane according to an embodiment of the present invention; Figure 7 is a schematic diagram of the original rendezvous plane (the relative velocity is perpendicular to the paper surface); Figure 8 is a diagram of the change of the danger coefficient according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE EMBODIMENTS

[0022] The present invention will be further described below in conjunction with the accompanying drawings and embodiments.

[0023] It should be noted that the following detailed description is illustrative and is intended to provide further explanation of the present invention. Unless otherwise specified, all technical and scientific terms used herein have the same meaning as commonly understood by those of ordinary skill in the technical field to which the present invention belongs.

[0024] It should be noted that the terms used herein are only for describing specific embodiments and are not intended to limit the exemplary embodiments according to the present invention. As used herein, unless the context clearly indicates otherwise, the singular form is also intended to include the plural form. In addition, it should be understood that when the terms "comprising" and / or "including" are used in this specification, they indicate the presence of features, steps, operations, devices, components, and / or combinations thereof.

[0025] Figure 1 is a schematic flow chart of a collision warning method based on group target tracking and hierarchical dangerous areas in an embodiment of the present invention. As Figure 1 shown, the collision warning method based on group target tracking and hierarchical dangerous areas in this embodiment may include: S101, obtaining the position information and motion state of the spacecraft and the group target at intervals of a set time, calculating the running trajectory of the spacecraft and dividing the dangerous areas; the motion state includes the motion direction and the motion speed.

[0026] It should be noted here that the group target can be a meteorite cluster, or other celestial bodies and the celestial bodies around them, etc.

[0027] In this step, the position information and motion state of the spacecraft and the group target can be obtained through authorized synchronization from the space database.

[0028] Specifically, with the center of mass of the spacecraft as the center, a preset minor axis and major axis of the ellipse are used to construct three layers of areas from the inside to the outside, namely the highly dangerous area, the moderately dangerous area, and the lowly dangerous area, as Figure 6 and Figure 7 shown.

[0029] S102, according to the similarity degree of the position information and motion state of the group target, correspondingly dividing the group target into several sparse groups, and constructing a network topology structure related to the behaviors of each sparse group.

[0030] In step S102, as Figure 2 shown, the process of correspondingly dividing the group target into several sparse groups is as follows: According to the positions of the group targets, the group targets are initially divided into several position sub-clusters, and then according to the similarity degree of the motion states of the group targets, each position sub-cluster is refined into a velocity sub-cluster with similar positions and velocities, that is, the sparse groups are obtained.

[0031] For example, the K-Means clustering algorithm is used to initially divide the group targets into several position sub-clusters.

[0032] The K-Means clustering algorithm is carried out by minimizing the distance from the target points within the cluster to the cluster center. Its objective function is: ; is the objective function (sum of squared errors within clusters); is the number of clusters; is the th cluster, containing all the points belonging to that cluster; are the coordinates (positions) of the target points; is the th cluster center.

[0033] The K-Means clustering algorithm optimizes this objective function through iteration. First, each point is assigned to the nearest cluster center, and then the cluster centers are updated until convergence.

[0034] During the process of constructing the mesh topology, it is determined whether to connect two targets based on the similarity degree of the velocity directions. If the similarity degree of the velocity directions of two targets is greater than a preset threshold (e.g., 0.8), it is determined that the velocity directions are similar, and a connection line is drawn. This ensures that the target points are only connected when the velocity similarity is high, further enhancing the visualization effect of clustering.

[0035] S103, taking the central target of each mesh topology as the main target, and using the similarity degree of the motion states between other targets and the main target as weights, calculating the overall motion state of each sparse group through weighted calculation, and obtaining the overall motion trajectory of each sparse group.

[0036] In each mesh topology, the similarity degree of the motion states between other targets and the main target can be characterized by cosine similarity.

[0037] The cosine similarity formula is as follows: ; where, represents the cosine similarity; and are the velocity vectors of two targets; is the dot product of two velocity vectors; and are the magnitudes of the velocity vectors and respectively.

[0038] The normalized velocity vector has a unit magnitude, which is simplified to: ; The above formula calculates the similarity between two velocity vectors, and the value is within Between them, the closer the value is to 1, the more similar the two velocity vectors are.

[0039] S104. According to the overall motion trajectories of each sparse group and the operating trajectory of the spacecraft, calculate the moment when the distance between each sparse group and the spacecraft is the closest, and at the same time release the behavioral association of the corresponding sparse group, search for the targets within the dangerous area at the corresponding moment, and calculate the collision risk of a single target in the corresponding sparse group.

[0040] Specifically, releasing the behavioral association means regarding the sparse group as an individual again. As time changes, the original division of the sparse group of targets no longer meets the current requirements, and it is considered that their behavioral similarity is no longer reasonable. Therefore, the behavioral association is released to update the sparse group and ensure the accuracy of the behavioral association. Releasing the behavioral association at the moment when the distance between the sparse group and the spacecraft is the closest is to pay attention to all targets, obtain the collision probability, and reduce the possibility of false alarms and missed alarms.

[0041] In this embodiment, the high-risk area is a circular area with a radius equal to the sum of the equivalent radius of the spacecraft and the equivalent radius of the space debris. In the high-risk area, the risk coefficient of the high-risk area is 1. When the distance between the centroid of the spacecraft and the space debris is less than the safety radius, a collision will surely occur.

[0042] The medium-risk area and the low-risk area are parts of elliptical surfaces that are respectively similar to the two-dimensional projection structure of the error ellipsoid; as Figure 8 shown, the risk coefficient decreases exponentially: , where x and y are the horizontal and vertical coordinates of the coordinate system, and a and b are the warning distance thresholds determined by the relative velocity error between the spacecraft and the space target. For example, in an ideal state, the relative velocity between the spacecraft and the space target is perpendicular to the paper surface. However, in actual applications, there will be certain errors in the calculation of the velocities of the spacecraft and the space target. If the velocity error of the space target in the rendezvous plane is regarded as the ideal value (0, 0), and the velocity error of the spacecraft is regarded as , then the relative velocity error between the two is . The greater the velocity error, the higher the warning distance threshold required. The simple calculation method is , . The k values of different levels of dangerous areas are different. Therefore, the values of a and b are different, forming multiple elliptical boundaries. The specific k value needs to be verified through examples.

[0043] In the medium-risk area and the low-risk area, project the two-dimensional position error ellipsoid of the space debris in the rendezvous plane onto the coordinate system center at the closest distance, regarded as r, calculate the probability distribution within the overlapping range of the projection and the dangerous range, and multiply the risk coefficient by the probability size of the overlapping range to obtain the final collision probability.

[0044] In the specific implementation process, the probability distribution within the overlapping range of the projection and the danger range can be calculated using existing algorithms, such as the Monte Carlo algorithm.

[0045] S105. Compare the collision risk of each individual target in the corresponding sparse group with the warning threshold one by one to determine whether to perform an orbit avoidance operation, as Figures 4 - 5 shown.

[0046] The warning threshold here can be set according to historical data and experience. For example, the collision probability threshold of the International Space Station (ISS) is set to 10 -4 , and the warning threshold can also be divided according to different risk levels. For example, a red warning (collision probability > 10 -4 ), requires immediate risk avoidance; a yellow warning (collision probability 10 -5 ~10 -4 ), requires attention and possible avoidance; a green warning (collision probability < 10 -5 ), is considered safe.

[0047] Based on Figure 2 the process of converting group targets into sparse groups, Table 1 gives the number of points that need to be concerned determined by the collision warning method based on group target tracking and hierarchical dangerous areas in the embodiment of the present invention.

[0048] Table 1 Number of points to be concerned;

[0049] The present invention divides group targets, can obtain a sparsification result, reduce repeated training for targets with similar motion states, and only need to obtain the simple relationship within the sparse group to define the overall motion state of the group target. At the same time, when the spacecraft is relatively close to the group target, the behavioral association between the group targets is released, and precise trajectory tracking and prediction are performed on the satellites within the risk range, which can reduce the collision risk.

[0050] Figure 3 is a schematic structural diagram of a collision warning system based on group target tracking and hierarchical dangerous areas in an embodiment of the present invention. This embodiment corresponds to the Figure 1 collision warning method based on group target tracking and hierarchical dangerous areas, as Figure 3 shown. The collision warning system based on group target tracking and hierarchical dangerous areas in this embodiment can include: A spacecraft trajectory determination module 301, which is used to obtain the position information and motion state of the spacecraft and the group target at set time intervals, calculate the running trajectory of the spacecraft, and divide the dangerous area; the motion state includes the motion direction and the motion speed; The group target division module 302 is configured to divide the group targets into several sparse groups according to the similarity degree of the position information and motion states of the group targets, and construct a network topology structure related to the behaviors of each sparse group; The sparse group trajectory determination module 303 is configured to use the central target of each network topology structure as the main target, and use the similarity degree of the motion states between other targets and the main target as weights to calculate the overall motion state of each sparse group by weighted calculation, so as to obtain the overall motion trajectory of each sparse group; The collision risk calculation module 304 is configured to calculate the moment when the distance between each sparse group and the spacecraft is the closest according to the overall motion trajectories of each sparse group and the operating trajectory of the spacecraft, and at the same time release the behavior association of the corresponding sparse group, find the targets in the dangerous area at the corresponding moment, and calculate the collision risk of a single target in the corresponding sparse group; The orbit avoidance execution judgment module 305 is configured to compare the collision risk of each single target in the corresponding sparse group with the warning threshold one by one to judge whether to execute the orbit avoidance operation.

[0051] It should be noted here that Figure 3 each module in the collision warning system based on group target tracking and dangerous area stratification in Figure 1 corresponds one by one to each step in the collision warning method based on group target tracking and dangerous area stratification in

[0052] The electronic device includes a central processing unit (CPU), which can perform various appropriate actions and processes according to the program stored in the read-only memory (ROM) or the program loaded from the storage part into the random access memory (RAM). In the RAM, various programs and data required for system operation are also stored. The central processing unit, ROM, and RAM are connected to each other through a bus. The input / output (I / O) interface is also connected to the bus.

[0053] The following components are connected to the I / O interface: an input part including a keyboard, a mouse, etc.; an output part including a cathode ray tube (CRT), a liquid crystal display (LCD), etc. and a speaker, etc.; a storage part including a hard disk, etc.; and a communication part including a network interface card such as a local area network (LAN) card, a modem, etc. The communication part performs communication processing via a network such as the Internet. The drive is also connected to the I / O interface as needed. A removable medium, such as a magnetic disk, an optical disk, a magneto-optical disk, a semiconductor memory, etc., is installed on the drive as needed, so that the computer program read from it can be installed into the storage part as needed.

[0054] When the central processing unit in the electronic device of this embodiment executes the program, it realizes asFigure 1 Steps in the collision warning method based on group target tracking and hierarchical hazardous areas as shown.

[0055] Specifically, according to an embodiment of the present application, the process described above with reference to the flowchart can be implemented as a computer software program. For example, an embodiment of the present application includes a computer program product that includes a computer program carried on a computer-readable medium, and the computer program includes program code for performing Figure 1 the method as shown. In such an embodiment, the computer program can be downloaded and installed from a network through a communication part, and / or installed from a removable medium. When the computer program is executed by a central processing unit, various functions defined in the device of the present application are executed.

[0056] Wherein, Figure 1 the computer program instructions corresponding to the method as shown can also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to work in a specific manner, so that the instructions stored in the computer-readable memory generate a manufactured article including an instruction device, and the instruction device implements the process in the process Figure 1 one process or multiple processes and / or blocks Figure 1 the functions specified in one block or multiple blocks.

[0057] Those of ordinary skill in the art can understand that all or part of the processes of implementing the methods in the above embodiments can be completed by instructing relevant hardware through a computer program, and the program can be stored in a computer-readable storage medium. When the program is executed, it can include the processes of the embodiments of the above methods. Among them, the storage medium can be a magnetic disk, an optical disk, a read-only memory (ROM), or a random access memory (RAM), etc.

[0058] The above are only preferred embodiments of the present invention and are not used to limit the present invention. For those skilled in the art, the present invention can have various changes and modifications. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included in the protection scope of the present invention.

Claims

1. A collision warning method based on group target tracking and hierarchical dangerous areas, characterized in that include: The position information and motion status of the spacecraft and the group targets are obtained at set intervals, the trajectory of the spacecraft is calculated and the danger zone is divided; the motion status includes the motion direction and the motion speed; According to the location information and similarity of the movement states of the group targets, the group targets are divided into several sparse groups, and a mesh topological structure of the behavior association of each sparse group is constructed; The central target of each mesh topology structure is taken as the main target, and the similarity of the motion state between other targets and the main target is taken as the weight. The overall motion state of each sparse group is weightedly calculated to obtain the overall motion trajectory of each sparse group. According to the overall motion trajectory of each sparse group and the running trajectory of the spacecraft, the time when each sparse group is closest to the spacecraft is calculated and the behavior association of the corresponding sparse group is released at the same time, the target in the danger zone at the corresponding time is found, and the collision risk of a single target in the corresponding sparse group is calculated; The collision risk of each individual target in the corresponding sparse group is compared with the warning threshold one by one to determine whether to perform orbit avoidance operations.

2. The collision warning method based on group target tracking and hierarchical dangerous area as claimed in claim 1, wherein The process of dividing the group targets into several sparse groups is: The group targets are initially divided into several position subclusters according to their positions, and then each position subcluster is refined into speed subclusters with similar positions and speeds according to the similarity of the motion states of the group targets, thus obtaining a sparse group.

3. The collision warning method based on group target tracking and hierarchical dangerous area as claimed in claim 1, wherein, In the process of constructing a mesh topology structure, whether to connect two targets is determined based on the similarity of the speed directions; if the similarity of the speed directions of the two targets is greater than a preset threshold, the speed directions are judged to be similar and a connecting line is drawn.

4. The collision warning method based on group target tracking and danger area stratification according to claim 1, characterized in that With the spacecraft's center of mass as the center, the short and long axes of the ellipse are preset to construct three layers of areas from the inside to the outside, namely the high-risk area, the medium-risk area, and the low-risk area.

5. The collision warning method based on group target tracking and hierarchical dangerous area as claimed in claim 4, wherein The highly dangerous zone is a circular area with the sum of the equivalent radius of the spacecraft and the equivalent radius of the space debris as the radius; in the highly dangerous zone, the danger coefficient of the highly dangerous zone is 1, and the distance between the center of mass of the spacecraft and the space debris is less than the safety radius, and a collision is bound to occur.

6. The collision warning method based on group target tracking and hierarchical dangerous area as claimed in claim 4, wherein The medium-risk area and the low-risk area are respectively parts of elliptical surfaces that are similar to the two-dimensional projection structure of the error ellipsoid; the risk coefficient decreases exponentially: , where x and y are the horizontal and vertical coordinates of the coordinate system, and a and b are the early warning distance thresholds determined by the relative velocity error of the spacecraft and the space target.

7. The collision warning method based on group target tracking and danger area stratification according to claim 6, characterized in that, In the medium-risk area and the low-risk area, the closest distance from the two-dimensional projection of the space debris position error ellipsoid in the intersection plane to the center of the coordinate system is regarded as r, and the probability distribution within the overlapping range of the projection and the danger range is calculated. The final collision probability is obtained by multiplying the danger coefficient by the probability size of the overlapping range.

8. A collision warning system based on group target tracking and hierarchical dangerous areas, characterized in that, include: A spacecraft trajectory determination module is used to obtain the position information and motion status of the spacecraft and the group of targets at set intervals, calculate the spacecraft's trajectory and divide the dangerous area; the motion status includes the motion direction and motion speed; A group target division module is used to divide the group targets into a number of sparse groups according to the location information and similarity of the motion states of the group targets, and to construct a mesh topological structure of the behavior association of each sparse group; A sparse group trajectory determination module is used to take the central target of each mesh topological structure as the main target and the similarity of the motion state between other targets and the main target as the weight, and to weightedly calculate the overall motion state of each sparse group to obtain the overall motion trajectory of each sparse group; A collision risk calculation module is used to calculate the moment when each sparse group is closest to the spacecraft based on the overall motion trajectory of each sparse group and the running trajectory of the spacecraft, and to simultaneously remove the behavior association of the corresponding sparse group, find the target in the danger zone at the corresponding moment, and calculate the collision risk of a single target in the corresponding sparse group; The track avoidance execution judgment module is used to compare the collision risk of each single target in the corresponding sparse group with the warning threshold one by one to determine whether to execute the track avoidance operation.

9. A computer-readable storage medium having a computer program stored thereon, characterized in that, When the program is executed by a processor, the steps in the collision warning method based on group target tracking and dangerous area stratification as described in any one of claims 1 to 7 are implemented.

10. An electronic device, comprising a memory, a processor, and a computer program stored on the memory and executable on the processor, characterized in that, When the processor executes the program, the steps in the collision warning method based on group target tracking and dangerous area stratification as described in any one of claims 1 to 7 are implemented.

Images