Fusion processing method and device based on electronic reconnaissance and multispectral optical detection data

Abstract

The invention belongs to the technical field of target detection, and provides a fusion processing method and device based on electronic reconnaissance and multispectral optical detection data, and the method comprises the steps: carrying out the preprocessing of the track data of the electronic reconnaissance and optical detection; performing track association on the preprocessed track data; carrying out feature fusion on the successfully associated tracks; carrying out track fusion on the tracks which are successfully associated and subjected to feature fusion; and carrying out flight path filtering on the flight path after flight path fusion. The advantages of two types of sensors and two reconnaissance means are combined, electronic information of target radiation can be obtained in a large-range area, information such as the accurate position and the image of the target can be obtained according to an optical detection result, the confidence coefficient of target reconnaissance is improved through a fusion processing result, and the dimensionality of the target information which can be obtained is increased.

Description

Technical Field

[0001] The present invention relates to the technical field of target detection, and more particularly, to a method and device for fusion processing of electronic reconnaissance and multi-spectrum optical detection data. Background Art

[0002] Data Fusion refers to the processing of data from multiple sensors at multiple levels, in multiple aspects, and at multiple layers to generate new meaningful information that cannot be obtained by any single sensor. With the rapid development of science and technology, modern warfare has evolved to be carried out in a five-dimensional structure of land, sea, air, space, and electromagnetic fields. Interference exists among various weapon devices, the battlefield environment becomes more complex, the number of detected targets increases, and a single sensor is easily deceived and interfered. The best way to solve this problem is to use data fusion technology to process the information obtained by multiple means and multiple sensors, so as to more accurately obtain the target state and identity information.

[0003] As an important means of intelligence collection, electronic reconnaissance has the advantages of a wide detection range, all-weather operation, and high-speed response. However, in a complex electromagnetic environment, it is vulnerable to electromagnetic interference, resulting in a reduced reconnaissance probability and problems such as false alarms and missed alarms. Electronic reconnaissance based on secondary radar, as a specific type of electronic reconnaissance method, in addition to the common advantages and disadvantages of electronic reconnaissance, can provide more target information (such as aircraft codes, altitude, etc.), but it also depends on the return of the target transponder. If the target turns off the transponder or uses a deceptive response, it will interfere with the reconnaissance result.

[0004] Optical detection, as a mature detection technology, has been widely used in many fields. Optical detection has good concealment, can provide high-definition images, is conducive to detail identification and target recognition, and can also obtain multi-dimensional optical information of the target through various spectral means such as infrared and single photons. However, optical detection means are greatly affected by weather, it is difficult to detect targets when there are obstacles such as mountains and buildings, and usually the field of view of optical instruments is small and the detection range is limited. Summary of the Invention

[0005] The present invention aims to provide a method and device for fusion processing of electronic reconnaissance and multi-spectrum optical detection data to fuse the target reconnaissance information of two types of sensors and two means, thereby solving the problems existing in a single sensor in the prior art.

[0006] In a first aspect, the present invention provides a method for fusion processing of electronic reconnaissance and multi-spectrum optical detection data, including:

[0007] Preprocessing the track data of the two means of electronic reconnaissance and optical detection;

[0008] Perform track association on the preprocessed track data;

[0009] Perform feature fusion on the successfully associated tracks;

[0010] Perform track fusion on the tracks that are successfully associated and have completed feature fusion;

[0011] Perform track filtering on the tracks after track fusion.

[0012] In some embodiments, the preprocessing of the track data of the two means of electronic reconnaissance and optical detection includes:

[0013] Obtain the tracks of stable targets by judging the target starting batch conditions for the track data;

[0014] Perform filtering processing on the track data and convert the track point coordinates to the same coordinate system;

[0015] And / or, the two means use the same time source. If the time sources are inconsistent, it is necessary to estimate the time difference between the sensors and align the measurement time of each track of the other means with the time of one of the means as the reference.

[0016] In some embodiments, the latest tracks after preprocessing the two means are used as the input tracks a for track association i,i＝1,2,...N1 ∈A, the track input list is A, i is the input track index, N1 is the number of input tracks, the track output list is B, and the performing track association on the preprocessed track data includes:

[0017] When performing track association every period T, first back up the previous track output, let C = B, and then clear the track output list B;

[0018] Take the input track a i,i＝1,2,...N1 ∈A and sequentially perform correlation judgment with the output track b j j＝1,2,...N2 ∈B in the track output list B. j is the output track index and N2 is the number of output tracks: If the track output list B is empty, directly add the current input track a i to the track output list B; If the track output list B is not empty, then traverse each output track b j,j＝1,2,...N2 ∈B in the track output list B and perform correlation with the current input track a i until the correlation is successful or the traversal ends;

[0019] When performing correlation, first judge the data source and the target batch number. If the input track a i and the output track b j have the same data source but different target batch numbers, the correlation fails;

[0020] If the data sources are different, then for the input track a i and the output track b j perform correlation judgment based on point pairs;

[0021] If the input track a i and all the output tracks b in the track output list B j,j＝1,2,...N2 ∈B all fail in correlation, then add the current input track a i directly to the track output list B.

[0022] In some embodiments, the correlation judgment based on point pairs specifically includes:

[0023] Traverse all the track points in the track, find the point pairs with time alignment, and filter out the qualified point pairs by calculating the distance, time difference, and circular gate radius between each point pair;

[0024] Assume that the total number of point pairs is N p , and the number of qualified point pairs is n p , and the correlation threshold is α. Then the condition for successful correlation is: n p / N p *100% ≥ α.

[0025] In some embodiments, the qualified point pairs are filtered out according to the following formula:

[0026] D xy ≤R

[0027] R = μ·τ xy

[0028] where D xy,x＝1,2,...N1,y＝1,2,...N2 is the distance between each point pair, τ xy,x＝1,2,...N1,y＝1,2,...N2 is the time difference between each point pair, R is the circular gate radius, and μ is the set speed threshold.

[0029] In some embodiments, the feature fusion of the correlated successful tracks includes:

[0030] Perform feature fusion on the correlated successful input track a i and the output track b j : If the input track a i is a secondary radar electronic reconnaissance target, then update the electronic reconnaissance feature to the output track b j , and if the input track a i is an optical detection target, then update the optical detection feature to the output track b j ;

[0031] For the features available in both means, select the relatively accurate detection result to update to the output track bj ;

[0032] Electronic reconnaissance interception time t E , Electronic reconnaissance target batch number I E , Optical detection time t O , Optical detection target batch number I O They are recorded separately without fusion.

[0033] In some embodiments, the track fusion of the successfully associated and feature-fused tracks includes:

[0034] For the input track a that is successfully associated and feature-fused i and the output track b j perform track state fusion: If the states of the input track a i and the output track b j are the same before fusion, then the track state of the output track b j remains unchanged after fusion; If the track states of the input track a i and the output track b j are different before fusion, then the track state of the output track b j is set to the "updated" state;

[0035] For the input track a that is successfully associated and feature-fused i and the output track b j perform track point fusion: For the time-aligned point pairs, use the optical detection results, and for the non-time-aligned point pairs, perform fusion processing according to the structure of the local track and the system track fusion;

[0036] Inherit the fusion batch number of the target: If the previous track association output list C is empty, then assign a new fusion batch number I j,j＝1,2,...N2 to the output track b f ∈B in sequence; If the previous track association output list C is not empty, then compare the electronic reconnaissance target batch number I j and the optical detection target batch number I E of the output track b O with c k,k＝1,2,...N3 ∈C in sequence, where k is the previous track association output track index and N3 is the number of tracks in the previous track association output list. If the I k and I E of the track c O are found to be equal to the I j and I E of b O respectively, then the output track b j inherits the fusion batch number I k of the track c f; If the final output track is b j If no fusion batch number can be inherited, a new fusion batch number is assigned.

[0037] In some embodiments, when inheriting the batch number, if track c k ∈C is successfully inherited, then track c k is marked; if, after the track fusion process ends, there are still c x ∈C that are not marked, then the track status of track c x is set to "disappeared" and added to the track output list B.

[0038] In some embodiments, the track filtering of the track after track fusion includes:

[0039] Filter the longitude and latitude data of the output track b j,j＝1,2,...N2 ∈B to obtain a smooth track curve.

[0040] In a second aspect, the present invention provides a fusion processing device based on electronic reconnaissance and multi-spectral optical detection data, including:

[0041] A preprocessing module for preprocessing the track data of the two means of electronic reconnaissance and optical detection;

[0042] A track association module for associating the preprocessed track data;

[0043] A feature fusion module for fusing the features of the successfully associated tracks;

[0044] A track fusion module for fusing the tracks that are successfully associated and have completed feature fusion;

[0045] A track filtering module for filtering the tracks after track fusion.

[0046] In summary, due to the adoption of the above technical solutions, the beneficial effects of the present invention are:

[0047] The present invention combines the advantages of two types of sensors and two reconnaissance means, can not only obtain the electronic information radiated by the target in a large area, but also obtain the accurate position and image information of the target according to the optical detection results. The fusion processing result improves the confidence level of target reconnaissance and increases the dimension of target information that can be obtained. BRIEF DESCRIPTION OF THE DRAWINGS

[0048] Figure 1 It is a flowchart of a fusion processing method based on electronic reconnaissance and multi-spectral optical detection data proposed by an embodiment of the present invention.

[0049] Figure 2It is a flowchart of track association in an embodiment of the present invention.

[0050] Figure 3 It is a schematic diagram of point track pair screening in an embodiment of the present invention.

[0051] Figure 4 It is a schematic diagram of the fusion of local track and system track in an embodiment of the present invention.

[0052] Figure 5 It is a schematic structural diagram of a fusion processing device based on electronic reconnaissance and multi-spectral optical detection data proposed in an embodiment of the present invention.

[0053] Figure 6 It is a schematic structural diagram of an electronic device proposed in an embodiment of the present invention. Detailed implementation manners

[0054] To make the objectives, technical solutions and advantages of the embodiments of the present invention clearer, the technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the accompanying drawings in the embodiments of the present invention. Obviously, the described embodiments are some, but not all, of the embodiments of the present invention. Usually, the components of the embodiments of the present invention described and illustrated herein can be arranged and designed in various different configurations.

[0055] Therefore, the following detailed description of the embodiments of the present invention provided in the drawings is not intended to limit the scope of the claimed present invention, but merely represents selected embodiments of the present invention. All other embodiments obtained by those of ordinary skill in the art based on the embodiments of the present invention without creative efforts shall fall within the protection scope of the present invention.

[0056] As Figure 1 shown, an embodiment of the present invention proposes a fusion processing method based on electronic reconnaissance and multi-spectral optical detection data, including the following steps:

[0057] S1, preprocess the track data of the two means of electronic reconnaissance and optical detection.

[0058] Specifically, the track data of the two means (or sensors) need to be preprocessed before data fusion. Since both means can independently conduct target reconnaissance, therefore, to ensure the accuracy of the reconnaissance results, it is required that the input of data fusion is the tracks of stable targets formed by the two means respectively. That is, the track data of the two means are respectively subjected to track processing, the batch conditions for the target are strictly determined, and then the tracks of their stable targets are fused.

[0059] To improve the positioning accuracy, the track data of the two methods can be filtered, and the track point coordinates need to be converted to the same coordinate system, for example, converted to the WGS84 longitude and latitude system.

[0060] The two methods use the same time source, such as the unified system time or both use Beidou or GPS time. If the time sources are inconsistent, it is necessary to estimate the time difference between the two methods and align the measurement time of each track of the other method with reference to the time of one method.

[0061] S2. Perform track association on the preprocessed track data.

[0062] Assume that the period of track association is T. Then, every T time, the latest track information of the two methods is obtained simultaneously for track association. The target attributes involved in track association include data source, track status, target batch number, longitude and latitude coordinates of each track point in the track, etc. Among them, the data source indicates which method the track comes from; the track status indicates whether the current target track is in the "updated" or "temporarily cancelled" state; the target batch number is the batch numbering result after each method independently processes the track.

[0063] Take the latest tracks of the two methods after preprocessing as the input tracks a for track association i,i＝1,2,...N1 ∈A, the track input list is A, i is the input track index, N1 is the number of input tracks, the track output list is B, as Figure 2 shown, the processing flow of the track association is as follows:

[0064] S21. When performing track association every period T, first back up the previous track output, let C = B, and then clear the track output list B;

[0065] S22. Compare the input track a i,i＝1,2,...N1 ∈A with the output track b j j＝1,2,...N2 ∈B in the track output list B in turn for correlation judgment. j is the output track index, and N2 is the number of output tracks:

[0066] If the track output list B is empty, directly add the current input track a i to the track output list B;

[0067] If the track output list B is not empty, traverse each output track b j,j＝1,2,...N2 ∈B in the track output list B and perform correlation with the current input track a i until the correlation is successful or the traversal ends;

[0068] S23. When performing correlation, first judge the data source and the target batch number. If the input track a iWith the output track b j If the data sources are the same but the target batch numbers are different, then the correlation fails (since the track correlation is performed sequentially, there is no duplicate correlation situation where the data sources are the same and the batch numbers are also the same);

[0069] S24, if the data sources are different, then for the input track a i With the output track b j Perform correlation judgment based on point pairs.

[0070] Such as Figure 3 As shown, the correlation judgment based on point pairs specifically includes: traversing all track points in the track, finding point pairs with time alignment (the time window can be set as needed, for example, 1s), and calculating the distance D xy,x＝1,2,...N1,y＝1,2,...N2 And the time difference τ xy,x＝1,2,...N1,y＝1,2,...N2 , calculate the circular gate radius R according to the set speed threshold μ, and screen out the qualified point pairs according to the following formula:

[0071] D xy ≤R

[0072] R = μ·τ xy

[0073] Assume the total number of point pairs is N p , and the number of qualified point pairs is n p , and the correlation threshold is α, then the condition for successful correlation is:

[0074] n p / N p *100% ≥ α

[0075] S25, if the input track a i Fails to correlate with all output tracks b j,j＝1,2,...N2 ∈B in the track output list B, then directly add the current input track a i To the track output list B.

[0076] S3, perform feature fusion on the successfully correlated tracks.

[0077] Specifically, perform feature fusion on the successfully correlated input track a i With the output track b j : If the input track a i Is a secondary radar electronic reconnaissance target, then update the electronic reconnaissance features such as signal mode, signal frequency, amplitude, identity code, and friend-or-foe attribute to the output track b j , if the input track a i Is an optical detection target, then update the optical detection features such as target category, infrared image, point cloud attribute, and single-photon image to the output track b j .

[0078] For the features available in both means, select the relatively accurate detection result and update it to the output track b j , for example, for altitude and the like, use the more accurate electronic reconnaissance detection result; for azimuth, distance, etc., use the more accurate optical detection result.

[0079] Electronic reconnaissance intercept time t E , electronic reconnaissance target batch number I E , optical detection time t O , optical detection target batch number I O Then record them separately without fusion.

[0080] S4. Perform track fusion on the tracks for which association is successful and feature fusion is completed.

[0081] Specifically, track fusion includes track status fusion, track point fusion, and batch number inheritance.

[0082] For the input track a for which association is successful and feature fusion is completed i and the output track b j perform track status fusion: If the status of the input track a i before fusion is the same as that of the output track b j , then the track status of the output track b j after fusion remains unchanged; if the track status of the input track a i before fusion is different from that of the output track b j , then the track status of the output track b j after fusion is set to the "updated" status.

[0083] For the input track a for which association is successful and feature fusion is completed i and the output track b j perform track point fusion: For the point pairs with aligned time, preferentially use the optical detection result with higher accuracy. For the point pairs with unaligned time, perform fusion processing according to the structure of local track and system track fusion. Specifically, since b j is the output track, regard b j as the system track, regard a i as the local track, based on the time label of the track point, and according to the chronological order, insert the unaligned track points in the track a i into the system track b j in sequence, as shown in Figure 4 .

[0084] The fusion processing method of the present invention does not perform independent track cycle management. Therefore, it is necessary to inherit the fusion batch number of the target: If the previous track association output list C is empty, then for the output track b j,j＝1,2,...N2∈B assigns a new fusion batch number I f If the previous track association output list C is not empty, then output track b j The electronic reconnaissance target batch number I E and the optical detection target batch number I O are compared with c k,k＝1,2,...N3 ∈C in sequence. k is the previous track association output track index, and N3 is the number of tracks in the previous track association output list. If track c k 's I E and I O are respectively equal to b j 's I E and I O (if b j and c k only have I E or I O simultaneously, then only judge whether I E or I O is equal), then output track b j inherits the fusion batch number I k of track c f . If the final output track b j cannot find a fusion batch number to inherit, then assign a new fusion batch number.

[0085] In addition, when inheriting the batch number, if track c k ∈C is successfully inherited, then mark track c k . If, after the track fusion process ends, there are still c x ∈C that are not marked, then set the track status of track c x to "disappeared" and add it to the track output list B.

[0086] S5. Perform track filtering on the tracks after track fusion.

[0087] After completing the track fusion of steps S1 to S4, the latitude and longitude data of the output track b j,j＝1,2,...N2 ∈B can be filtered to improve the positioning accuracy of target reconnaissance and obtain a smoother track curve.

[0088] Based on the same technical concept, as Figure 5 shown, an embodiment of the present invention also provides a fusion processing device based on electronic reconnaissance and multi-spectral optical detection data, including:

[0089] A preprocessing module for preprocessing the track data of the two means of electronic reconnaissance and optical detection;

[0090] A track association module for performing track association on the preprocessed track data;

[0091] A feature fusion module for performing feature fusion on successfully associated tracks;

[0092] A track fusion module for performing track fusion on tracks that are successfully associated and have completed feature fusion;

[0093] A track filtering module for performing track filtering on the tracks after track fusion.

[0094] The working principles of the various modules in the above device can be referred to the descriptions in the method of the foregoing embodiments, and will not be elaborated herein.

[0095] Based on the same technical concept, an embodiment of the present invention also provides an electronic device, which can implement the flow of the fusion processing method based on electronic reconnaissance and multi-spectral optical detection data provided in the above embodiments of the present invention. In one embodiment, the electronic device can be a server, or a terminal device or other electronic devices. As Figure 6 shown, the electronic device may include:

[0096] At least one processor, and a memory connected to at least one processor. In the embodiments of the present invention, the specific connection medium between the processor and the memory is not limited. Figure 6 In, it is taken as an example that the processor and the memory are connected by a bus. The bus is Figure 6 shown by a thick line in, and the connection manners between other components are only for illustrative purposes and are not limited thereto. The bus can be divided into an address bus, a data bus, a control bus, etc. For the sake of convenience of representation, Figure 6 only a thick line is shown in, but it does not mean that there is only one bus or one type of bus. Alternatively, the processor can also be called a controller, and there is no limitation on the name.

[0097] In the embodiments of the present invention, the memory stores instructions executable by at least one processor. By executing the instructions stored in the memory, at least one processor can execute a fusion processing method based on electronic reconnaissance and multi-spectral optical detection data discussed above. The processor can implement Figure 6 the functions of the various modules in the device shown.

[0098] Among them, the processor is the control center of the device, and can connect various parts of the entire control device through various interfaces and lines. By running or executing the instructions stored in the memory and calling the data stored in the memory, the various functions of the device and process the data, so as to monitor the device as a whole.

[0099] In an alternative design, the processor may include one or more processing units. The processor may integrate an application processor and a modem processor. Among them, the application processor mainly processes the operating system, user interface, application programs, etc., and the modem processor mainly processes wireless communications. It can be understood that the above-mentioned modem processor may not be integrated into the processor either. In some embodiments, the processor and the memory may be implemented on the same chip, and in some embodiments, they may also be separately implemented on independent chips.

[0100] The processor may be a general-purpose processor, such as a CPU, a digital signal processor, an application-specific integrated circuit, a field-programmable gate array, or other programmable logic devices, discrete gate or transistor logic devices, discrete hardware components, and can implement or execute the various methods, steps, and logic block diagrams disclosed in the embodiments of the present invention. The general-purpose processor may be a microprocessor or any conventional processor, etc. The steps of a fusion processing method based on electronic reconnaissance and multi-spectral optical detection data disclosed in the embodiments of the present invention can be directly embodied as being executed and completed by a hardware processor, or executed and completed by a combination of hardware and software modules in the processor.

[0101] As a non-volatile computer-readable storage medium, the memory can be used to store non-volatile software programs, non-volatile computer-executable programs, and modules. The memory may include at least one type of storage medium, for example, it may include flash memory, a hard disk, a multimedia card, a card-type memory, a random access memory (RAM), a static random access memory (SRAM), a programmable read-only memory (PROM), a read-only memory (ROM), an electrically erasable programmable read-only memory (EEPROM), a magnetic memory, a magnetic disk, an optical disc, and so on. The memory is any other medium that can be used to carry or store the desired program code in the form of instructions or data structures and can be accessed by a computer, but is not limited thereto. The memory in the embodiments of the present invention may also be a circuit or any other device capable of implementing a storage function, for storing program instructions and / or data.

[0102] By programming the processor design, the code corresponding to a method for fusion processing based on electronic reconnaissance and multi-spectrum optical detection data introduced in the foregoing embodiments can be solidified into the chip, so that the chip can execute the steps of the method of the foregoing embodiments when running. How to program the processor design is well-known to those skilled in the art and will not be elaborated here.

[0103] Based on the same inventive concept, an embodiment of the present invention further provides a storage medium storing computer instructions, which, when run on a computer, cause the computer to execute a method for fusion processing based on electronic reconnaissance and multi-spectrum optical detection data described above.

[0104] In some alternative embodiments, the present invention also provides that various aspects of a method for fusion processing based on electronic reconnaissance and multi-spectrum optical detection data can also be implemented in the form of a program product, which includes program code. When the program product runs on a device, the program code is used to cause the control device to execute the steps in a method for fusion processing based on electronic reconnaissance and multi-spectrum optical detection data according to various exemplary embodiments of the present invention described above in this specification.

[0105] It should be noted that although several units or subunits of the device are mentioned in the foregoing detailed description, this division is merely exemplary and not mandatory. In fact, according to the embodiments of the present invention, the features and functions of the two or more units described above can be embodied in one unit. Conversely, the features and functions of one unit described above can be further divided and embodied by multiple units. In addition, although the operations of the method of the present invention are described in a specific order in the drawings, this does not require or imply that these operations must be performed in that specific order, or that all the operations shown must be performed to achieve the desired result. Additionally or alternatively, some steps may be omitted, multiple steps may be combined into one step for execution, and / or one step may be decomposed into multiple steps for execution.

[0106] Those skilled in the art should understand that the embodiments of the present invention can be provided as a method, a system, or a computer program product. Therefore, the present invention can take the form of a complete hardware embodiment, a complete software embodiment, or an embodiment combining software and hardware aspects. Moreover, the present invention can take the form of a computer program product implemented on one or more computer-usable storage media (including but not limited to disk storage, CD-ROM, optical storage, etc.) containing computer-usable program code.

[0107] The present invention is described with reference to flowchart illustrations and / or block diagrams of methods, apparatus (systems), and computer program products according to embodiments of the invention. It should be understood that each flow and / or block in the flowchart illustrations and / or block diagrams, and combinations of flows and / or blocks in the flowchart illustrations and / or block diagrams, can be implemented by computer program instructions. These computer program instructions can be provided to the processors of general purpose computers, special purpose computers, embedded processors, or other programmable data processing devices to produce a server such that the instructions executed by the processors of the computer or other programmable data processing device create means for implementing the functions specified in the flow Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0108] Program code for carrying out operations of the present invention may be written in any combination of one or more programming languages, including object-oriented programming languages such as Java, C++, etc., as well as conventional procedural programming languages such as the "C" language or similar programming languages. The program code may execute entirely on the user computing device, partly on the user device, as a stand-alone software package, partly on the user computing device and partly on a remote computing device, or entirely on the remote computing device or server.

[0109] In the case of a remote computing device, the remote computing device may be connected to the user computing device through any type of network, including a local area network (LAN) or a wide area network (WAN), or may be connected to an external computing device (e.g., through the Internet using an Internet service provider).

[0110] These computer program instructions may also be stored in a computer-readable memory that can direct a computer or other programmable data processing device to function in a particular manner, such that the instructions stored in the computer-readable memory produce a manufacture including instruction means that implement the functions specified in the flow Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0111] These computer program instructions may also be loaded onto a computer or other programmable data processing device such that a series of operation steps are performed on the computer or other programmable device to produce a computer-implemented process, and thus the instructions executed on the computer or other programmable device provide steps for implementing the functions specified in the flow Figure 1 one or more of the flows and / or blocks Figure 1 or means for implementing the functions specified in a block or blocks.

[0112] The above are only the preferred embodiments of the present invention and are not intended to limit the present invention. For those skilled in the art, the present invention may have various modifications and variations. Any modification, equivalent replacement, improvement, etc. made within the spirit and principle of the present invention shall be included within the protection scope of the present invention.

Claims

1. A fusion processing method based on electronic reconnaissance and multi-spectral optical detection data, characterized in that Including: Preprocessing the track data of two means, namely electronic reconnaissance and optical detection; Performing track association on the preprocessed track data; Performing feature fusion on the successfully associated tracks; Performing track fusion on the tracks that are successfully associated and have completed feature fusion; Performing track filtering on the tracks after track fusion.

2. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 1, wherein, The preprocessing of the track data of the two means of electronic reconnaissance and optical detection includes: Obtaining the tracks of stable targets by judging the starting batch conditions of the tracks for the track data; Performing filtering processing on the track data and converting the track point coordinates to the same coordinate system; And / or, the two means adopt the same time source. If the time sources are inconsistent, it is necessary to estimate the time difference between the sensors, and taking the time of one means as a reference, align the measurement time of each track of the other means.

3. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 2, wherein Use the latest track after preprocessing the two means as the track association input track a i,i＝1,2,...N1 ∈A, the track input list is A, i is the input track index, N1 is the number of input tracks, the track output list is B. The track association of the preprocessed track data includes: When performing track association every period T, first back up the previous track output, let C = B, and then clear the track output list B; The input track a i,i＝1,2,...N1 ∈A is successively correlated with the output track b jj＝1,2,...N2 ∈B in the track output list B. j is the output track index and N2 is the number of output tracks: If the track output list B is empty, the current input track a i is directly added to the track output list B; If the track output list B is not empty, then traverse each output track b j,j＝1,2,...N2 ∈B in the track output list B and correlate it with the current input track a i until the correlation is successful or the traversal ends; When performing correlation, first determine the data source and the target batch number. If the input track a i and the output track b j have the same data source but different target batch numbers, the correlation fails; If the data sources are different, then for the input track a i and the output track b j perform correlation judgment based on point pairs; If the input track a i is related and fails with all output tracks b j,j＝1,2,...N2 ∈B in the track output list B, then the current input track a i is directly added to the track output list B.

4. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 3, characterized in that The relevant judgment based on point pairs specifically includes: Traversing all track points in the track, finding the point pairs with time alignment, and screening out the qualified point pairs by calculating the distance, time difference, and circular gate radius between each point pair; Assume that the total number of point - trace pairs is N p , and the number of point - trace pairs that meet the conditions is n p . If the correlation threshold is α, the condition for successful correlation is: n p / N p * 100% ≥ α.

5. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 4, wherein Screening out the qualified point pairs according to the following formula: D xy ≤R R = μ·τ xy Among them, D xy,x＝1,2,...N1,y＝1,2,...N2 is the distance between each pair of traces, τ xy,x＝1,2,...N1,y＝1,2,...N2 is the time difference between each pair of traces, R is the radius of the circular gate, and μ is the set velocity threshold.

6. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 3, characterized in that, The feature fusion of the successfully associated tracks includes: For the successfully associated input track a i and the output track b j perform feature fusion: If the input track a i is a secondary radar electronic reconnaissance target, update the electronic reconnaissance features to the output track b j , if the input track a i is an optical detection target, update the optical detection features to the output track b j ; For the features available in both methods, update the relatively accurate detection result to the output track b j ; Electronic reconnaissance intercept time t E 、Electronic reconnaissance target batch number I E 、Optical detection time t O 、Optical detection target batch number I O Then record them separately without fusion.

7. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 6, wherein The track fusion of the tracks that are successfully associated and have completed feature fusion includes: For the input track a with successful association and completed feature fusion i and the output track b j perform track state fusion: If the states of the input track a i and the output track b j are the same before fusion, then the track state of the output track b j after fusion remains unchanged; If the track states of the input track a i and the output track b j are different before fusion, then the track state of the output track b j after fusion is set to the "updated" state; For the input track a that has been successfully associated and completed feature fusion i and the output track b j perform track point fusion: for the point track pairs with time alignment, adopt the optical detection results, and for the point tracks without time alignment, perform fusion processing according to the structure of the local track and the system track fusion; Inherit the fusion batch number of the target: If the previous track association output list C is empty, then sequentially assign a new fusion batch number I to the output track b j,j＝1,2,...N2 ∈B f ; If the previous track association output list C is not empty, then compare the electronic reconnaissance target batch number I j and the optical detection target batch number I E of the output track b O with c k,k＝1,2,...N3 ∈C sequentially. Let k be the index of the previous track association output track, and N3 be the number of tracks in the previous track association output list. If the I k and I E of the track c O are respectively equal to the I j and I E of the track b O , then the output track b j inherits the fusion batch number I k of the track c f ; If the final output track b j does not find a fusion batch number that can be inherited, then assign a new fusion batch number.

8. The fusion processing method based on electronic reconnaissance and multi-spectral optical detection data according to claim 7, wherein When batch numbers are inherited, if track c k ∈C is successfully inherited, then track c k is marked; if, after the track fusion process ends, there are still c x ∈C that are unmarked, then the track status of track c x is set to "disappeared" and added to the track output list B.

9. The fusion processing method based on electronic reconnaissance and multi-spectrum optical detection data according to claim 3, wherein The track filtering of the tracks after track fusion includes: For the output track b j,j＝1,2,...N2 Perform filtering on the latitude and longitude data belonging to B to obtain a smooth track curve.

10. A fusion processing device based on electronic reconnaissance and multi-spectral optical detection data, characterized in that Including: A preprocessing module for preprocessing the track data of two means, namely electronic reconnaissance and optical detection; A track association module for performing track association on the preprocessed track data; A feature fusion module for performing feature fusion on the successfully associated tracks; A track fusion module for performing track fusion on the tracks that are successfully associated and have completed feature fusion; A track filtering module for performing track filtering on the tracks after track fusion.

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