Track updating method, control device and target detection system

Abstract

The invention relates to the technical field of target detection, and discloses a track updating method, a control device and a target detection system.The method is applied to the control device and comprises the steps that detection information, sent by a detection device, for a detection target is received, and the coordinate system type of the detection device is determined according to the type of the detection device; correcting the position data according to the coordinate system type, determining first coordinate data of the detection target in a preset coordinate system, determining a target track corresponding to the detection target according to the detection time, the state data and the first coordinate data, determining a data extraction condition according to the type of the detection equipment, and extracting the target track according to the data extraction condition. And extracting target state data from the state data according to the data extraction condition, and finally updating the target track according to the target state data, the first coordinate data and the detection time. Through the above mode, mutual complementation of information among various detection devices is realized, and information comprehensiveness is improved.

Description

Technical Field

[0001] The embodiments of the present application relate to the field of target detection technology, and specifically to a track updating method, a control device, and a target detection system. Background Art

[0002] Currently, detection of different target types primarily relies on a single detection device, which often fails to cover all types of targets. For example, in drone detection, while visual detection equipment can accurately identify whether a drone is carrying an object and precisely measure angles, it generally lacks accurate distance measurement. Radar detection equipment, while capable of precise distance measurement, cannot accurately identify whether the target is a drone. Therefore, due to the potential limitations of a single detection device, existing technologies struggle to achieve comprehensive, stable, and accurate detection of various targets. Summary of the Invention

[0003] In view of the above problems, the embodiments of the present application provide a track updating method, a control device and a target detection system to solve the problem in the prior art that it is difficult to achieve comprehensive, stable and accurate detection of various detection targets.

[0004] According to one aspect of an embodiment of the present application, a track updating method is provided, which is applied to a control device, and the method includes: receiving detection information for a detection target sent by a detection device, wherein the detection information includes position data, detection time and status data; determining a coordinate system type of the detection device according to the type of the detection device; correcting the position data according to the coordinate system type, and determining first coordinate data of the detection target in a preset coordinate system, wherein the preset coordinate system is the coordinate system used by the control device; determining a target track corresponding to the detection target according to the detection time, status data and first coordinate data; determining a data extraction condition according to the type of the detection device, and extracting target status data from the status data according to the data extraction condition; and updating the target track according to the target status data, the first coordinate data and the detection time.

[0005] In an optional manner, the position data is corrected according to the coordinate system type to determine the first coordinate data of the detection target in the preset coordinate system, specifically including: if the coordinate system type is a geographic coordinate system, the position data is corrected to determine the second coordinate data of the detection target in the geocentric coordinate system; the first coordinate origin information of the preset coordinate system and the geographic location data of the coordinate origin of the preset coordinate system in the geographic coordinate system are obtained; the first rotation matrix between the preset coordinate system and the geocentric coordinate system is determined according to the geographic location data; and the first coordinate data of the detection target in the preset coordinate system is determined according to the second coordinate data, the first coordinate origin information and the first rotation matrix.

[0006] In an optional manner, the position data is corrected according to the coordinate system type to determine the first coordinate data of the detection target in the preset coordinate system, specifically including: if the coordinate system type is a carrier coordinate system, obtaining the second coordinate origin information and second coordinate axis information of the carrier coordinate system used by the detection device; obtaining the first coordinate origin information and first coordinate axis information of the preset coordinate system; determining the second rotation matrix between the preset coordinate system and the carrier coordinate system used by the detection device based on the first coordinate axis information and the second coordinate axis information; determining the first coordinate data of the detection target in the preset coordinate system based on the first coordinate origin information, the position data, the second coordinate origin information and the second rotation matrix.

[0007] In an optional manner, the target track corresponding to the detected target is determined based on the detection time, status data and first coordinate data, specifically including: respectively calculating the cost values between the status data, the first coordinate data and each track in the track database to obtain cost data, wherein the track database is used to store the track corresponding to the detected target; and obtaining the target track corresponding to the detected target from the track database based on the detection time and cost data.

[0008] In an optional manner, the method further includes: obtaining any two tracks from a track database to obtain a first track and a second track; calculating the similarity between the first track and the second track; judging whether the detection target corresponding to the first track and the detection target corresponding to the second track are the same based on the similarity; if they are the same, updating the track point data in the second track to the first track and deleting the second track from the track database; jumping to the step of obtaining any two tracks from the track database to obtain the first track and the second track, until all combinations are traversed.

[0009] In an optional manner, the target track includes at least one track point data, and the track point data includes a passing time, coordinate data and status data; the target track is updated according to the target status data, the first coordinate data and the detection time, specifically including: judging whether there is track point data in the target track with a passing time identical to the detection time; if there is track point data in the target track with a passing time identical to the detection time, then determining the track point data in the target track with a passing time identical to the detection time as the target track point data, and updating the coordinate data and status data of the target track point data according to the first coordinate data and the target status data; otherwise, determining new track point data according to the detection time, the target status data and the first coordinate data, and updating the new track point data to the target track.

[0010] In an optional manner, the coordinate data and status data of the target track point data are updated according to the first coordinate data and the target status data, specifically including: determining the first weight information corresponding to the first coordinate data and the second weight information corresponding to the target status data according to the type of the detection device; updating the coordinate data of the target track point data according to the first weight information and the first coordinate data; and updating the status data of the target track point data according to the second weight information and the target status data.

[0011] In an optional manner, after correcting the position data according to the coordinate system type and determining the first coordinate data of the detected target in the preset coordinate system, the method further includes: making the detection time, status data and the first coordinate data correspond to each other and storing them in a buffer database; determining the target track corresponding to the detected target according to the detection time, status data and the first coordinate data, specifically including: periodically performing the following steps at a preset time interval: obtaining the detection time and its corresponding status data and first coordinate data within a preset time range from the buffer database to obtain the detection data to be updated; determining the target track corresponding to the detected target according to the detection time, status data and the first coordinate data in the detection data to be updated in sequence according to the order of the detection time in the detection data to be updated.

[0012] In an optional manner, the method further includes: obtaining clock data on the control device in response to a clock synchronization request sent by the detection device; and sending the clock data to the detection device so that the detection device adjusts its clock according to the clock data.

[0013] According to another aspect of an embodiment of the present application, a control device is provided, including a memory, a processor, and a computer program stored in the memory, wherein the processor executes the computer program to implement any one of the above-mentioned track updating methods.

[0014] According to another aspect of an embodiment of the present application, a target detection system is provided, which includes a detection device and the above-mentioned control device, and the detection device is signal-connected to the control device; the detection device is used to obtain position data and status data of the detected target, and generate detection information for the detected target, thereby sending the detection information to the control device.

[0015] The embodiments of the present application correct the position data in the detection information to determine the coordinate data of the detection target in a preset coordinate system, so that the position data received from different types of detection devices can be converted into a unified coordinate system, thereby improving the correlation of data between different types of detection devices, and thus increasing the probability that the detection information of different detection devices for the same detection target will be integrated into the same target track. In addition, reliable status data is obtained from the status data based on the type of detection device and updated to the target track. This not only improves the accuracy and reliability of the track through reliable status data, but also enables information to be supplemented when multiple types of detection devices are included in the target detection system, improving the comprehensiveness of the information. In particular, in complex detection environments or those unfavorable to certain types of detection devices, the track update algorithm can be used to achieve information supplementation, thereby improving the robustness and stability of the target detection system.

[0016] The above description is only an overview of the technical solutions of the embodiments of the present application. In order to more clearly understand the technical means of the embodiments of the present application, they can be implemented in accordance with the contents of the specification. In order to make the above and other purposes, features and advantages of the embodiments of the present application more obvious and easy to understand, the specific implementation methods of the present application are listed below. BRIEF DESCRIPTION OF THE DRAWINGS

[0017] The accompanying drawings are only used to illustrate the embodiments and are not to be considered as limiting the present application. In addition, the same reference symbols are used to represent the same components throughout the drawings. In the drawings:

[0018] Figure 1 A schematic diagram of the structure of a target detection system provided in an embodiment of the present application is shown;

[0019] Figure 2 A schematic diagram showing a flow chart of a track updating method provided in the first embodiment of the present application is shown;

[0020] Figure 3 A schematic diagram showing a flow chart of a track updating method provided in the second embodiment of the present application is shown;

[0021] Figure 4 A schematic diagram showing a flow chart of a track updating method provided in the third embodiment of the present application is shown;

[0022] Figure 5 A schematic diagram of the structure of a track updating device provided in an embodiment of the present application is shown;

[0023] Figure 6 A schematic structural diagram of a control device provided in an embodiment of the present application is shown. DETAILED DESCRIPTION

[0024] The exemplary embodiments of the present application will be described in more detail below with reference to the accompanying drawings. Although exemplary embodiments of the present application are shown in the drawings, it should be understood that the present application can be implemented in various forms and should not be limited to the embodiments set forth herein.

[0025] Target detection refers to the process of identifying, locating, and tracking targets, such as drones and vehicles, through technical means. Taking drone detection as an example, the increasing popularity of drones has brought convenience but also potential security threats (such as illegal surveillance, interference with aviation safety, and illegal filming). Therefore, drone detection has become a necessary means to ensure safety, maintain privacy, and prevent illegal activities.

[0026] Currently, drone detection primarily relies on single-device detection devices. These detection systems are susceptible to limitations that affect the accuracy and reliability of drone detection. For example, in complex urban environments, radar and visual detection systems may be unable to accurately detect and identify drones due to obstructions from buildings. Radio frequency signal detection systems can significantly degrade in environments with strong multipath interference, significantly impacting system reliability and practicality.

[0027] However, research has found that while detection equipment may have certain limitations, it can still accurately capture some drone data, and the high-precision data that different types of detection equipment can capture often differs. For example, visual detection equipment can accurately provide information about the target drone's type and payload, protocol detection equipment can accurately provide information such as the drone pilot's coordinates and return point coordinates, and spectrum detection can accurately provide information about the frequency and protocol of remote control and image transmission signals.

[0028] Based on this, in order to achieve comprehensive, stable and accurate detection of drones, the present application provides a track updating method. After receiving the detection information for the drone sent by the detection device, the track corresponding to the drone is first determined by the detection information, and then reliable status data is obtained from the detection information according to the type of the detection device (for example, if the detection device is a visual detection device, the type of the target drone and the mount information are used as reliable status data; if the detection device is a protocol detection device, the drone pilot coordinates, return point coordinates and other information are used as reliable status data). Finally, the track corresponding to the drone is updated according to the reliable status data. This method updates the track through the reliable status data obtained by the detection device. While improving the accuracy of the track, when the system includes multiple types of detection devices, the reliable status data obtained by different detection devices can also be integrated to achieve comprehensive monitoring of drone information, overcome the defects of incomplete information obtained by a single detection device and its own limitations, and enhance the ability to accurately detect and identify drones.

[0029] Furthermore, the location data collected by different detection devices may differ. For example, for visual, radar, and radio detection devices, the detected drone location data is typically based on the detection device's location and the device's own carrier coordinate system. For protocol detection devices, the detected drone location data is typically the latitude, longitude, and altitude actively broadcast by the drone in a real-world geographic coordinate system. Therefore, before determining the drone's corresponding track using detection information, the location data in the detection information needs to be corrected to improve the correlation between the detection information obtained by different detection devices, thereby increasing the probability that detection information from different detection devices for the same drone will be matched to the same track. Specifically, the type of coordinate system used by the detection device can be determined based on the type of detection device. The location data can then be corrected using a method corresponding to that coordinate system type, correcting the location data collected by different detection devices to the same coordinate system. This allows the corrected location data to improve the correlation between the detection information obtained by different detection devices when matching the drone's corresponding track based on the detection information, thereby improving the accuracy of track matching.

[0030] The track update method provided in the embodiment of the present application can be applied not only to drone detection, but also to the detection of targets such as vehicles, people, and animals. For the sake of convenience, the embodiment of the present application only takes drone detection as an example.

[0031] According to one aspect of the embodiments of the present application, a target detection system is provided, such as Figure 1 As shown, Figure 1 The schematic diagram of the structure of the target detection system provided by the embodiment of the present application is shown. The target detection system includes a detection device 1 and a control device 2. The detection device 1 and the control device 2 are connected by a network 3, which can be a Bluetooth, WIFI, etc. In addition, in order to achieve low-latency and high-reliability communication in a possible strong electromagnetic interference environment, the detection device 1 and the control device 2 can also achieve network communication by using a wired connection via a cable (such as a twisted pair cable, optical fiber, etc.).

[0032] The detection device 1 is used to obtain the location data and status data of the detection target and generate detection information for the detection target, thereby sending the detection information to the control device 2. The detection device 1 can be one or more, and the detection device 1 can be a visual detection device (usually including different types of cameras such as visible light, thermal imaging, and wide-angle), a radar detection device (usually including a phased array radar or a machine-scanned radar), a protocol detection device (usually listening to the drone's Remote ID or Drone ID, mainly used to obtain the drone's unique identifier, location, altitude, speed, and other information continuously broadcast during flight), a radio detection device (usually listening to the drone's remote control or image transmission signal), etc.

[0033] The detection device 1 included in the target detection system may have one or more of the above-mentioned detection capabilities, or be composed of multiple single-type sub-devices with a single detection capability. Specifically, they may be single-type sub-devices of the same type, such as one or more radar sub-devices, or they may be single-type sub-devices of different types, such as one or more radar sub-devices and one or more protocol detection devices.

[0034] Furthermore, the detection device 1 can be mobile or fixed, requiring only network communication capabilities, the ability to report detection information to the control device 2 in real time, and the ability for the control device 2 to process the data in the detection information. Specifically, the detection device 1 can include one or more single fixed devices, or a fixed device tower with one or more detection devices. The detection device 1 can also include one or more single mobile devices, or one or more single fixed devices and one or more single mobile devices.

[0035] The control device 2 is used to execute the track updating method provided in the following embodiments of the present application. Specifically, the control device 2 is used to receive detection information for the detection target sent by the detection device 1, and process the data in the detection information to update the track corresponding to the detection target according to the processed data, thereby displaying the movement path, position, movement speed and other data of the detection target in real time on the display device.

[0036] In addition, the target detection system may also include a command and control unit (for example, a local command and control unit or a cloud command and control unit), which is used to provide a communication channel between the user and the device so that the user can control the status and instructions of the device, for example, turning the device on or off, viewing more detailed properties of a specific detection target, controlling the detection device to lock and track the detection target, etc. Among them, the cloud command and control unit can also integrate and control multiple single or integrated devices to achieve remote interaction, such as achieving monitoring within a larger area. The command and control unit can be set on the control device 2, or on another mobile phone, computer, tablet or other device.

[0037] According to another aspect of the present application, a track updating method is provided, such as Figure 2 As shown, Figure 2 The flowchart of the track update method provided by the first embodiment of the present application is shown, and the method is executed by a control device. The control device can be a terminal device such as a mobile phone or a tablet, or a local server or a cloud server. Figure 2 As shown, the method includes the following steps:

[0038] Step S100: receiving detection information for a detection target sent by a detection device, wherein the detection information includes location data, detection time, and status data.

[0039] Detection targets can include drones, vehicles, and people. Detection information is data detected by the detection device, typically used to characterize the target's attributes, such as its location, movement speed, and category. The detection time in the detection information is the time the detection device detects the target—that is, the time the target reaches the location represented by the location data—rather than the time the detection device sends the detection information. This ensures the accuracy of the target's corresponding track.

[0040] The location data in the detection information is used to represent the location of the detected target. This location data can be of various types, depending on the type of coordinate system used by the detection device. Specifically, the location data can be the location of the detected target in the carrier coordinate system used by the detection device. For example, this location data can be polar coordinate measurements of distance, azimuth, and elevation based on the detection device's own carrier coordinate system, with the detection device's location as the origin. The location data can also be rectangular coordinate data based on the detection device's own carrier coordinate system, or it can be the latitude, longitude, and altitude of the detected target in a real-world geographic coordinate system.

[0041] The status data in the detection information is used to characterize the relevant attributes of the detected target, such as the target's movement speed and category. Since different detection devices have different detection capabilities, the specific data included in the status data may also vary. Taking drone detection as an example, if the detection device is a visual detection device, the status data may include the drone model, mount information, angle data, flight speed, etc. If the detection device is a protocol detection device, the status data may include flight speed, pilot coordinates, return point coordinates, etc. If the detection device is a radio detection device, the status data may include the frequency and protocol information of the remote control and image transmission signals.

[0042] Step S200: Determine the coordinate system type of the detection device according to the type of the detection device.

[0043] The coordinate system type is used to characterize the type of location data, allowing for the selection of the corresponding conversion method when subsequently correcting the location data. The coordinate system type of a detection device is generally related to the type of detection device, and can specifically include a geographic coordinate system and a carrier coordinate system. The coordinate system used by protocol detection devices is the geographic coordinate system, while the coordinate system used by visual detection devices, radar detection devices, and radio detection devices is the carrier coordinate system.

[0044] Step S300: Correcting the position data according to the coordinate system type to determine first coordinate data of the detection target in a preset coordinate system, wherein the preset coordinate system is a coordinate system used by the control device.

[0045] Among them, the correction process of the position data is mainly to convert the position data obtained by the detection device into the same coordinate system (i.e., the preset coordinate system) to improve the accuracy of the subsequent acquisition of the target track corresponding to the detected target. The preset coordinate system is the coordinate system used by the control device, which can also be called the local navigation coordinate system. Specifically, the location of the control device can be used as the coordinate origin, and the "North-East-Earth (NED)" right-handed rectangular coordinate system can be used. Of course, the preset coordinate system can also be used with other locations specified by the control device as the origin, or other equivalent rectangular coordinate systems such as "East-North-Sky" and "North-West-Sky" can be used.

[0046] Furthermore, in order to accurately determine the position of the detected target through the first coordinate data, if the coordinate system type is a geographic coordinate system, that is, the position data is based on the latitude and longitude (λ n ,δ n ) and altitude h n (For example, the location data obtained by the protocol detection device through the information actively broadcast by the drone, in which case the location data is irrelevant to the location of the protocol detection device itself), then step S300 may specifically include the following steps (steps S310a to S340a):

[0047] Step S310a: Correct the position data to determine the second coordinate data of the detection target in the geocentric coordinate system.

[0048] Among them, for the position data of the real geographic information, the geocentric coordinate system is used as the intermediate coordinate system. That is, before converting the position data to the preset coordinate system, the position coordinate system is first corrected to determine the coordinates of the detection target in the geocentric coordinate system, and the second coordinate data (x ′ n ,y n ′ ,z ′ n ), the specific conversion formula is as follows:

[0049] (x′ ′ ,y n ′ ,z ′ n )=((N+h n )cosδ n cosλ n ,

[0050] (N+h n )cosδ n sinλ n ,((1-e 2 )N+h n )sinδ n )

[0051] Among them, N is the base curvature radius of the earth, and the specific calculation formula is: e 2 is the first eccentricity of the Earth, and the specific calculation formula is: Among them, a refers to the Earth's equatorial radius, that is, the long radius, the specific value is 6378137.0 meters, b refers to the Earth's polar radius, that is, the short radius, the specific calculation formula is f refers to the oblateness of the earth, and the specific calculation formula is f=1 / 298.257223565.

[0052] Step S320a: Acquire the first coordinate origin information of the preset coordinate system and the geographic location data of the coordinate origin of the preset coordinate system in the geographic coordinate system.

[0053] Among them, the first coordinate origin information is the coordinate origin (x0, y0, z0) of the preset coordinate system, and the geographic location data is used to represent the position of the coordinate origin of the preset coordinate system in the geographic coordinate system, that is, the longitude and latitude (λ0, δ0) and altitude h0 corresponding to the coordinate origin (x0, y0, z0) in the real geographic coordinate system.

[0054] Step S330a: Determine a first rotation matrix between the preset coordinate system and the geocentric coordinate system according to the geographic location data.

[0055] The first rotation matrix from the geocentric coordinate system to the preset coordinate system is as follows:

[0056]

[0057] Step S340a: Determine the first coordinate data of the detection target in the preset coordinate system according to the second coordinate data, the first coordinate origin information and the first rotation matrix.

[0058] Among them, the first coordinate data (x n ,y n ,zn ) is a further transformation of the position of the detected target based on the second coordinate system to obtain the position of the detected target in the preset coordinate system. The specific conversion formula is as follows:

[0059]

[0060] Through steps S310a to S340a, the geocentric coordinate system is used as an intermediary to first convert the position data based on the geographic coordinate system into second coordinate data based on the geocentric coordinate system, and then the second coordinate data is further converted to obtain the position of the detected target in the preset coordinate system, rather than directly using the geocentric coordinate system as the preset coordinate system. This allows the user to accurately determine the position of the detected target based on the coordinate origin of a known specific location (i.e., the origin of the preset coordinate system, usually the position of the control device), that is, the position of the detected target relative to the coordinate origin can be determined through the first coordinate data, thereby accurately determining the position of the detected target.

[0061] In addition, if the coordinate system type is a carrier coordinate system, that is, the position data is the coordinate data of the detection target based on the location of the detection device and the carrier coordinate system of the detection device itself, then step S300 may specifically include the following steps (steps S310b to S340b):

[0062] Step S310b: Acquire the second coordinate origin information and second coordinate axis information of the carrier coordinate system used by the detection device.

[0063] The second coordinate origin information is usually the location of the detection device (x k ,y k ,z k ), which can be the coordinates of the detection device in the preset coordinate system. The second coordinate axis information is used to characterize the posture of the detection device, usually including pitch angle, roll angle, yaw angle (η k ,γ k ,ψ k ) can be determined by the sensor information carried by the detection device itself, such as information collected by sensors such as gyroscopes, accelerometers, and magnetometers. In addition, when the detection device is a mobile device (such as a vehicle-mounted device or an airborne device), the control device can also determine the position, speed, posture and other information of the detection device through the sensors carried by the detection device itself, and dynamically adjust the second coordinate origin information and the second coordinate axis information by using appropriate filtering algorithms (such as Kalman filtering, unscented Kalman filtering, particle filtering, etc.) to adapt to rapid changes in the environment and ensure the accuracy of data fusion.

[0064] Step S320b: Obtain first coordinate origin information and first coordinate axis information of the preset coordinate system.

[0065] The first coordinate origin information is the coordinate origin (x0, y0, z0) of the preset coordinate system, which is usually the location of the control device. The first coordinate axis information is used to represent the posture of the preset coordinate system, which also includes the pitch angle, roll angle and yaw angle (η n ,γ n ,ψ n ).

[0066] Step S330b: Determine a second rotation matrix between the preset coordinate system and the carrier coordinate system used by the detection device according to the first coordinate axis information and the second coordinate axis information.

[0067] Among them, first, the rotation matrix corresponding to the preset coordinate system is determined according to the first coordinate axis information, then the rotation matrix corresponding to the carrier coordinate system used by the detection device is determined according to the second coordinate axis information, and finally, the second rotation matrix between the preset coordinate system and the carrier coordinate system used by the detection device is determined according to their respective rotation matrices.

[0068] Specifically, we can first determine the rotation matrix of the coordinate system around the Z axis, the rotation matrix around the Y axis, and the rotation matrix around the Z axis based on the yaw angle, pitch angle, and roll angle. Taking the coordinate system used by the detection device as an example, the specific calculation formula of the rotation matrix is as follows:

[0069]

[0070] Among them, R z (ψ k ) is the rotation matrix of the carrier coordinate system around the Z axis used by the detection device, R y (η k ) is the rotation matrix of the carrier coordinate system around the Y axis used by the detection device, R x (γ k ) is the rotation matrix of the carrier coordinate system used by the detection device around the X axis. Combining the above rotation matrix, we can get the rotation matrix R corresponding to the carrier coordinate system used by the detection device. k =R z (ψ k )R y (η k )R x (γ k ). Similarly, the above formula can be used to first calculate the rotation matrix around the Z axis, the rotation matrix around the Y axis, and the rotation matrix around the X axis of the preset coordinate system, and then calculate the rotation matrix R corresponding to the preset coordinate system n .

[0071] The second rotation matrix is the downloaded matrix S1 that rotates the carrier coordinate system used by the detection device to the preset coordinate system. The specific formula is as follows:

[0072]

[0073] in, is the rotation matrix R corresponding to the carrier coordinate system used by the detection device k The transposed matrix (i.e. inverse matrix) of .

[0074] Step S340b: Determine first coordinate data of the detection target in the preset coordinate system according to the first coordinate origin information, the position data, the second coordinate origin information, and the second rotation matrix.

[0075] First, the position data is corrected according to the second rotation matrix. The specific formula is as follows:

[0076]

[0077] Then, the corrected position data is adjusted according to the first coordinate origin information and the second coordinate origin information, that is, the first coordinate data (x n ,y n ,z n )for:

[0078] (x n ,y n ,z n )=(x ′ nk +x k -x0,y ′ nk +y k -y0,z ′ nk +z k -z0)

[0079] Among them, (x0, y0, z0) is the first coordinate origin information, (x k ,y k ,z k ) is the second coordinate origin information.

[0080] Furthermore, in order to simplify the calculation, before determining the second rotation matrix, it is also possible to first determine whether the posture of the carrier coordinate system used by the detection device is the same as the posture of the preset coordinate system through the first coordinate axis information and the second coordinate axis information. Specifically, if the pitch angle, roll angle, and yaw angle in the first coordinate axis information and the second coordinate axis information are the same, then it is determined that the posture of the carrier coordinate system used by the detection device is the same as the posture of the preset coordinate system. In this case, there is no need to adjust the posture of the carrier coordinate system used by the detection device, that is, the step of determining the second rotation matrix according to the first coordinate axis information and the second coordinate axis information can be omitted, and the coordinates of the detection target can be directly translated to the preset coordinate system. That is, the first coordinate data of the detection target in the preset coordinate system is:

[0081] (x n ,y n ,z n )=(x nk +x k -x0,y nk +y k -y0,z nk +z k -z0)

[0082] In addition, when the position data is based on the distance-azimuth-pitch angle (r n ,θ n ,φ n ), before correcting the position data, the polar coordinate data of the detected target must be converted into rectangular coordinate data. The specific calculation formula is as follows:

[0083] (x nk ,y nk ,z nk )=(r n cosφ n cosθ n ,r n cosφ n sinθ n ,r n sinφ n )

[0084] Then, the converted position data (x nk ,y nk ,z nk ) to make corrections and determine the coordinate data of the detected target in the preset coordinate system.

[0085] Through steps S310b to S340b, the position data of the detected target is corrected to the preset coordinate system with known coordinate origin position and coordinate axis information, so that the user can accurately determine the position of the detected target based on the coordinate origin of the known specific position (that is, the origin of the preset coordinate system, usually the position of the control device). That is, the position of the detected target relative to the coordinate origin can be determined through the first coordinate data, and then the position of the detected target can be accurately determined.

[0086] After step S300 , step S400 is executed: determining a target track corresponding to the detected target according to the detection time, the state data and the first coordinate data.

[0087] The target track is used to represent the track of the detected target before the detection time. By calculating the similarity between the detection time, status data, and first coordinate data and the existing track, it is determined whether the detection time, status data, and first coordinate data need to be associated with the existing track. In other words, the target track corresponding to the detected target is determined from the existing track. Specifically, methods such as correlation gates can be used. The existing track includes the tracks of all targets detected by the target detection system before the detection time. These tracks can be detected by the detection device or by other detection devices. The type of other detection devices can be the same as or different from the type of the detection device.

[0088] Furthermore, since different types of detection devices detect different information, in order to accurately obtain the target track, step S400 may include the following steps (steps S410 to S420):

[0089] Step S410: Calculating cost values between the state data, the first coordinate data, and each track in the track database to obtain cost data, wherein the track database is used to store tracks corresponding to detected targets.

[0090] Step S420: Obtain the target track corresponding to the detected target from the track database according to the detection time and cost data.

[0091] The track database is used to store existing tracks, namely the tracks corresponding to each currently detected target. Using a cost function, the cost value between each data detected by the detection device and each track is calculated. This cost value is then used to determine the degree of match between the state data, the first coordinate data, and each track. Finally, the target track is retrieved from the track database based on the matching degree.

[0092] Specifically, first, a cost function is used to calculate the difference between different types of information included in the state data and each track in the track database. This means that the cost value between each type of information in the state data and each track is calculated. The cost function can be, for example, mean square error, cross entropy loss, or absolute error. The state data can include different types of information, such as the unique identifier of the data source, the speed, category, and radio frequency of the detected target. Similarly, a cost function is used to calculate the cost value between the first coordinate data and each track.

[0093] The cost data is then processed using a matching algorithm, such as the Hungarian algorithm, to retrieve the optimal matching target track from the track database. This target track is the track of the detected target before the detection time. For example, the matching degree between the state data, the first coordinate data, and each track can be determined based on the cost data. A larger cost indicates a lower matching degree between the state data, the first coordinate data, and the track, while a smaller cost indicates a higher matching degree between the state data, the first coordinate data, and the track.

[0094] Through steps S410 to S420, the cost values corresponding to different types of data are calculated, and the target track corresponding to the detected target is obtained from the track database based on the cost values, fully considering the correlation between different types of data and each track in the track database. This can avoid the difference in detection capability and accuracy of different detection devices for the detected target, which may affect the accuracy of obtaining the target track.

[0095] After step S400 , step S500 is executed: determining a data extraction condition according to the type of the detection device, and extracting target status data from the status data according to the data extraction condition.

[0096] State data refers to the attributes of the target detected by the detection device and typically includes multiple types of data. However, due to the varying detection capabilities of different detection devices, some state data may contain highly accurate state data, while others may contain less accurate state data. Specifically, taking drone detection as an example, while visual detection devices can accurately identify the type of target and payload information, they are generally unable to accurately measure distance and flight speed using images. Therefore, for visual detection devices, the type of target and payload information in the state data are reliable state data, while flight speed is less accurate. For another example, while radar detection devices have high accuracy in ranging and speed measurement, they have poor accuracy in drone classification and identification. Therefore, for radar detection devices, data such as drone flight speed is reliable state data, while the category of the target is less accurate.

[0097] Data extraction conditions are used to extract reliable status data (i.e., highly accurate status data) from the status data detected by the detection device. The target status data is considered reliable status data. Due to the varying detection capabilities of different types of detection devices, different data extraction conditions apply to each type. If the detection device is a visual detection device, the data extraction conditions are used to extract the target drone's type and payload information from the status data detected by the device. This allows for discarding or assigning a lower weight to less accurate data such as flight speed when updating the drone's track. If the detection device is a radar detection device, the data extraction conditions are used to extract data such as the drone's flight speed from the status data detected by the device. This allows for discarding or assigning a lower weight to less accurate data such as the target's category when updating the drone's track. Furthermore, protocol detection devices can provide target status data such as pilot coordinates and home point coordinates. Spectrum detection devices can provide target status data such as the frequency and protocol information of the remote control and image transmission signals.

[0098] Step S600: updating the target track according to the target state data, the first coordinate data and the detection time.

[0099] When updating the target track, the target status data can be obtained from the status data based on the type of detection device to update the target track. This improves the comprehensiveness of the information while also improving the accuracy of the target track. The target track can be a track detected by the detection device or other detection devices of the same type as the detection device, or a track detected by other detection devices of a different type than the detection device, or a track formed by the fusion of data from multiple detection devices. By fusing the target status data and the first coordinate data into the target track, the target track is updated, improving the comprehensiveness of the information in the target track.

[0100] Specifically, taking drone detection as an example, when updating the target track, assuming that the target track already includes status data and coordinate data corresponding to the detection time, when the detection device is a radar detection device, and the status data and coordinate data in the target track are data detected by a visual detection device, since the visual detection device has a lower accuracy in detecting the drone's position, distance, and flight speed, while the radar detection device has a higher accuracy in detecting the drone's position, distance, and flight speed, the first coordinate data can be updated to the coordinate data in the target track corresponding to the detection time. In addition, target status data such as flight speed are updated to the status data in the target track corresponding to the detection time to enrich the information in the status data. If the status data in the target track corresponding to the detection time includes flight speed, the target status data such as flight speed and the status data in the target track corresponding to the detection time can be fused according to a certain weight to improve the accuracy of the status data.

[0101] For another example, when the detection device is a visual detection device, and the state data and coordinate data in the target track are data detected by a radar detection device, the accuracy of the first coordinate data is relatively low. In this case, the first coordinate data can be discarded, and the coordinate data corresponding to the detection time in the target track can be left unupdated, thereby retaining the more accurate coordinate data in the target track and ensuring the accuracy of the target track. In addition, target state data such as the type and payload information of the target drone can be updated to the state data corresponding to the detection time in the target track to enrich the information in the state data. If the state data corresponding to the detection time in the target track includes the type and payload information of the target drone, the target state data such as the type and payload information of the target drone can be fused with the state data corresponding to the detection time in the target track according to a certain weight to improve the accuracy of the state data.

[0102] Furthermore, when the detection device is a radar detection device, and the state data and coordinate data in the target track are also data detected by the radar detection device, the first coordinate data and the coordinate data in the target track can be fused according to a certain weight. For example, the average value between the first coordinate data and the coordinate data in the target track corresponding to the detection time can be updated as the coordinate data in the target track corresponding to the detection time. Furthermore, the target state data can also be updated to the state data in the target track corresponding to the detection time according to a certain weight to improve the accuracy of the state data in the target track.

[0103] Furthermore, since a detected target has only one accurate position data at each time point, in order to accurately update the track corresponding to the detected target, before updating the target track, it is also possible to first determine whether the target track already has data corresponding to the detection time. Specifically, the target track includes at least one track point data, and the track point data includes the elapsed time, coordinate data, and status data. Step S600 may further include the following steps (steps S610 to S630):

[0104] Step S610: Determine whether there is track point data in the target track with the same passing time as the detection time.

[0105] If there is track point data with the same elapsed time as the detection time in the target track, it means that the target was detected by multiple detection devices at the detection time, and the data obtained by at least one detection device has been updated to the target track. Step S620 is executed to merge the first coordinate data and the target status data into the track point data with the same elapsed time as the detection time, thereby improving the comprehensiveness of the information.

[0106] If there is no track point data in the target track with the same elapsed time as the detection time, step S630 is executed to update the track point data in the target track to the detection time.

[0107] Step S620: determining the track point data in the target track with the same elapsed time as the detection time as the target track point data, and updating the coordinate data and status data of the target track point data according to the first coordinate data and the target status data.

[0108] There are multiple ways to update the target track point data. The first coordinate data and target status data can be directly updated to the target track point data. Alternatively, the coordinate data of the first coordinate data and the target track point data can be calculated separately according to preset weights, and the target status data and the status data of the target track point data can be calculated to generate new coordinate data and status data, thereby updating the coordinate data and status data of the target track point data. Furthermore, the status data can be characterized according to its actual characteristics through algorithms such as Kalman filtering and particle filtering, and then the status data can be fused. This effectively integrates different detection devices and different types of status data, thereby improving detection accuracy.

[0109] Furthermore, since different types of detection devices have different detection capabilities and accuracy for detecting targets, in order to improve detection accuracy, step S620 may specifically include the following steps (steps S621 to S623):

[0110] Step S621: determining first weight information corresponding to the first coordinate data and second weight information corresponding to the target state data according to the type of the detection device.

[0111] Step S622: updating the coordinate data of the target track point data according to the first weight information and the first coordinate data.

[0112] Step S623: Update the status data of the target track point data according to the second weight information and the target status data.

[0113] Among them, the first weight information and the second weight information are used to characterize the importance of the data, that is, the higher the data accuracy, the higher the weight, and the lower the data accuracy, the lower the weight. For example, radar detection equipment can achieve high-precision ranging and measure radial velocity, that is, it can obtain high-precision position data, while visual detection equipment has low capabilities for ranging and speed measurement, that is, the accuracy of the acquired position data is low. Therefore, if the detection device is a radar detection device, the first weight information corresponding to the first coordinate data can be appropriately increased. If the detection device is a visual detection device, the first weight information corresponding to the first coordinate data can be appropriately reduced. Various types of data in the target state data can also be set with corresponding second weight information according to the accuracy of various types of data. Taking drone detection as an example, if the detection device is a visual detection device, the weight information corresponding to the target type and the mount information can be appropriately increased, and the weight information corresponding to the flight data can be reduced.

[0114] Furthermore, when determining the first weight information and the second weight information, the sources of the coordinate data and status data of the track point data can also be combined. Taking the first weight information as an example, if the detection device is a visual detection device, and the source of the target track point data is a radar detection device, then the first weight information is lowered so that the first weight information corresponding to the first coordinate data is lower than the weight information corresponding to the coordinate data of the target track point data; if the detection device is a visual detection device, and the source of the target track point data is also a visual detection device, then the same weight can be set for the coordinate data of the first coordinate data and the target track point data, that is, the average value between the coordinate data of the first coordinate data and the coordinate data of the target track point data is calculated, and the average value is used as the new coordinate data to update the target track point data.

[0115] Through steps S621 to S623, the weights of the first coordinate data and the status data are determined by the type of detection device, and then the data are fused according to the weights. During the data fusion process, the differences in detection capabilities and accuracy of different types of detection devices for detection targets are fully considered. The high-precision data collected by different detection devices are fused to overcome the defects of the detection devices themselves and improve data accuracy.

[0116] After step S620 , step S630 is executed: determining new track point data according to the detection time, the target state data and the first coordinate data, and updating the new track point data into the target track.

[0117] First, new track point data is created, and the detection time is determined as the elapsed time of the new track point data. The target state data is determined as the state data of the new track point data. The first coordinate data is determined as the coordinate data of the new track point data. Finally, the new track point data is updated to the target track. In addition, to increase data diversity, in addition to determining the target state data as the state data of the new track point data, other less accurate state data obtained by the detection device can also be determined as the state data of the new track point data. When other detection devices subsequently obtain more accurate data, these less accurate state data can be updated.

[0118] Through steps S610 to S630, on the one hand, when the target track already has track point data corresponding to the detection time, the first coordinate data and the target status data are integrated into the track point data corresponding to the detection time to improve the comprehensiveness of the track point data, overcome the incompleteness of the information of a single data source and the limitations of various types of detection equipment themselves, and enhance the ability to accurately detect and identify the detected target; on the other hand, when the target track has not yet been updated to the detection time, new track point data is generated in the target track according to the detection time, the target status data and the first coordinate data to ensure the real-time performance of the target detection system.

[0119] In the above-described embodiment, by correcting the position data in the detection information and determining the coordinate data of the detected target in a preset coordinate system, the position data received from different types of detection devices can be converted into a unified coordinate system, thereby improving the correlation between the data of different types of detection devices and thereby increasing the probability that the detection information of different detection devices for the same detection target will be integrated into the same target track. Furthermore, reliable status data is obtained from the status data based on the type of detection device and updated into the target track. This not only improves the accuracy and reliability of the track through reliable status data, but also enables information to be supplemented and comprehensive when multiple types of detection devices are included in the target detection system. This is particularly true in complex detection environments or those unfavorable to certain types of detection devices. The track update algorithm can achieve information supplementation, thereby improving the robustness and stability of the target detection system.

[0120] Furthermore, for status data from different detection devices, when the data volume is small, that is, when the number of track point data is small, it may be difficult to quickly and correctly determine whether these status data come from the same detection target. Therefore, in order to improve the data fusion effect, in some embodiments, the track can be checked for consistency at intervals, and the coordinate data and status data of each track point data in the track (including but not limited to flight speed, detection target category, radar cross-section RCS (Radar Cross-Section), radio frequency, etc.) are used to determine the correlation between the tracks.

[0121] Specifically, if Figure 3 As shown, Figure 3 A flow chart of a track updating method provided in a second embodiment of the present application is shown, and the method includes the following steps:

[0122] Step S710: Obtain any two tracks from the track database to obtain a first track and a second track.

[0123] Step S720: Calculate the similarity between the first track and the second track.

[0124] Among them, the first track and the second track both include multiple track point data. Specifically, the similarity of the coordinate data and the state data of the track point data can be calculated one by one according to the passing time of the track point data, that is, the similarity of the track point data with the same passing time in the first track and the second track is calculated respectively, and then the similarity of the first track and the second track is obtained by integration; the similarity of the first track and the second track can also be calculated by algorithms such as Euclidean distance, Manhattan distance, and cosine similarity; or, the probability that the first track and the second track come from the same detected target can also be calculated by algorithms such as Bayesian inference and Kalman filtering.

[0125] Step S730: Determine whether the detected target corresponding to the first track and the detected target corresponding to the second track are the same based on the similarity.

[0126] If so, it indicates that the first track and the second track are both related attributes of the same detected target, and the first track and the second track need to be merged and data fused to optimize the accuracy and completeness of the data of each track point in the track, and step S740 is executed;

[0127] If not, it means that the first track and the second track come from different detection targets, and there is no need to merge and fuse the first track and the second track. Step S750 is executed to perform consistency check on other tracks in the track database.

[0128] In addition, it should be noted that in addition to the above-mentioned method of determining whether the first track and the second track come from the same detection target by similarity, a pre-trained model (for example, a random forest, a neural network, a clustering model) can also be used to directly determine whether the detection target of the first track and the detection target of the second track are the same.

[0129] Step S740: Update the track point data in the second track to the first track, and delete the second track from the track database.

[0130] Specifically, the first track may be updated one by one according to the data of each track point in the second track. The specific process is similar to the process from step S610 to step S630 and will not be repeated here.

[0131] Step S750: Determine whether all combinations have been traversed.

[0132] If yes, it means that all the tracks from the same detection target in the track database have been merged, and the remaining tracks are from different detection targets, and the track merging process can be ended;

[0133] If not, it means that there may be tracks from the same detected target in the track database, and it is necessary to continue to perform consistency check on the tracks in the track database, and jump to step S710 to re-acquire two sets of tracks for consistency check.

[0134] In the above embodiment, the accuracy and completeness of the tracks in the track database are optimized by performing consistency check on the tracks in the track database, merging and data fusion on the tracks from the same detected target in the track database.

[0135] In addition, in addition to consistency verification of the tracks in the track database, when the track point data in the track fails to obtain any new data detected by any detection equipment for a long period of time, the track can also be deleted from the track database (that is, the process of track extinction), and the track will no longer be recorded, managed and tracked to ensure the real-time and accuracy of each track in the track database and avoid users obtaining too outdated information from the track database.

[0136] Furthermore, since the detection information sent by the detection device may be affected by the network signal and does not reach the control device in the order of the detection time in the detection information, if the control device updates the track according to the time when the detection information is received, it may be necessary to adjust the time axis back and forth according to the detection time in the detection information to ensure that the data of each track point in the track can be arranged in the order of the elapsed time, thereby ensuring the accuracy of the moving path displayed by the display device.

[0137] For example, the control device first receives detection information with a detection time of 0.5 seconds ago, then receives detection information with a detection time of 1 second ago, and then receives detection information with a detection time of 0.3 seconds ago. At this time, the control device needs to first adjust the time axis to 0.5 seconds ago to update the track point data in the track with a passing time of 0.5 seconds ago, and then adjust the time axis to 1 second ago to update the track point data in the track with a passing time of 1 second ago, and finally adjust the time axis to 0.3 seconds ago to update the track point data in the track with a passing time of 0.3 seconds ago.

[0138] Therefore, in order to avoid repeatedly adjusting the time axis, in some embodiments, after step S300, the method further includes:

[0139] Step S301: Correspond the detection time, state data and first coordinate data to each other and store them in a buffer database.

[0140] Among them, the buffer database is used to temporarily store the detection time, status data and first coordinate data, and a timer is set and triggered by the timer to uniformly process the status data and first coordinate data whose detection time is within a preset time range, that is, the status data and first coordinate data are processed one by one in the order of detection time to avoid adjusting the time axis back and forth.

[0141] Specifically, step S400 includes the following steps:

[0142] At preset intervals, the following steps are performed periodically:

[0143] Step S401: acquiring detection time within a preset time range and its corresponding state data and first coordinate data from a buffer database to obtain detection data to be updated.

[0144] Step S402: determining the target track corresponding to the detected target according to the detection time, status data and first coordinate data in the detection data to be updated in the order of the detection time in the detection data to be updated.

[0145] Among them, first, the validity of the data in the buffer database is judged, that is, whether the detection in the buffer database is within the preset time range is checked in turn, and the status data and first coordinate data with too old detection time are avoided to update the track, so as to ensure the real-time and validity of the data.

[0146] Then, for detection data whose detection time is within the preset time range, i.e., the detection data to be updated, the target track is determined based on the detection time, status data, and first coordinate data in the detection data in order of detection time, and the target track is updated. For example, if the detection data to be updated includes detection data with detection times of 1 second, 0.5 seconds, and 0.3 seconds, respectively, the control device first determines the target track based on the detection data with a detection time of 1 second, and updates the target track. It then determines the target track based on the detection data with a detection time of 0.5 seconds, and updates the target track. Finally, it determines the target track based on the detection data with a detection time of 0.3 seconds, and updates the target track.

[0147] Furthermore, if the detection data to be updated includes multiple detection data with the same detection time, all of the detection data with the same detection time must be processed before processing the detection data with the next detection time. For example, if the detection data to be updated includes two detection data with a detection time of 1 second ago and one detection data with a detection time of 0.5 seconds ago, the control device first determines the target track based on one of the two detection data with a detection time of 1 second ago and updates the target track, then determines the target track based on the other detection data with a detection time of 1 second ago and updates the target track, and finally determines the target track based on the detection data with a detection time of 0.5 seconds ago and updates the target track.

[0148] In the above embodiment, the detection data acquired by the detection device is first stored in a buffer database, and then the timer is triggered to update the detection data in sequence according to the order of the detection time of each detection data in the buffer database to update the track, thereby effectively avoiding the need to adjust the time axis back and forth when updating the track, thereby improving the efficiency of the track update.

[0149] In addition, each time the track is updated based on the detection data, the information of the detection data has been integrated into the track, so the corresponding detection time, status data and first coordinate data can be deleted from the buffer database. This not only effectively reduces the space occupied by the buffer database, but also shortens the time spent on checking whether the detection time in the buffer database is within the preset time range, thereby improving the efficiency of track updates.

[0150] Furthermore, in order to ensure clock synchronization between the detection device and the control device, in some embodiments, as Figure 4 As shown, Figure 4 A flow chart of a track updating method provided in the third embodiment of the present application is shown, and the method further includes the following steps:

[0151] Step S001: In response to a clock synchronization request sent by a detection device, clock data on a control device is acquired.

[0152] Step S002: Send the clock data to the detection device, so that the detection device adjusts its clock according to the clock data.

[0153] When connected to the target detection system, each detection device actively sends a clock synchronization request to the control device to adjust its own clock to the same as that of the control device. Clock synchronization protocols such as Network Time Protocol (NTP), Precision Time Protocol (PTP), and Simple Network Time Protocol (SNTP) can be used. Clock synchronization can also be combined with GPS clocks (referring to devices or systems that use high-precision time signals provided by the Global Positioning System (GPS) to synchronize or calibrate local clocks). This ensures that the time of the detection devices in the target detection system and the time of the control devices are synchronized with high precision to ensure the accuracy of track updates.

[0154] According to another aspect of the embodiment of the present application, a track updating device is provided, such as Figure 5 As shown, Figure 5 1 shows a schematic structural diagram of a track updating device provided in an embodiment of the present application. The track updating device 4 includes: a receiving module 41 , a first determining module 42 , a correcting module 43 , a second determining module 44 , an extracting module 45 and an updating module 46 .

[0155] The receiving module 41 is used to receive detection information for the detection target sent by the detection device, wherein the detection information includes position data, detection time and status data. The first determination module 42 is used to determine the coordinate system type of the detection device according to the type of the detection device. The correction module 43 is used to correct the position data according to the coordinate system type and determine the first coordinate data of the detection target in the preset coordinate system, wherein the preset coordinate system is the coordinate system used by the track updating device 4. The second determination module 44 is used to determine the target track corresponding to the detection target based on the detection time, status data and first coordinate data. The extraction module 45 is used to determine the data extraction conditions according to the type of the detection device, and extract the target status data from the status data according to the data extraction conditions. The update module 46 is used to update the target track based on the target status data, the first coordinate data and the detection time.

[0156] In the above-described embodiment, by correcting the position data in the detection information and determining the coordinate data of the detected target in a preset coordinate system, the position data received from different types of detection devices can be converted into a unified coordinate system, thereby improving the correlation between the data of different types of detection devices and thereby increasing the probability that the detection information of different detection devices for the same detection target will be integrated into the same target track. Furthermore, reliable status data is obtained from the status data based on the type of detection device and updated into the target track. This not only improves the accuracy and reliability of the track through reliable status data, but also enables information to be supplemented and comprehensive when multiple types of detection devices are included in the target detection system. This is particularly true in complex detection environments or those unfavorable to certain types of detection devices. The track update algorithm can achieve information supplementation, thereby improving the robustness and stability of the target detection system.

[0157] According to another aspect of the embodiment of the present application, a control device is also provided, such as Figure 6 As shown, Figure 6 A schematic diagram of the structure of the control device provided in an embodiment of the present application is shown. The specific embodiment of the present application does not limit the specific implementation of the control device.

[0158] like Figure 6 As shown, the control device 2 may include: a processor (processor) 21 and a memory (memory) 22.

[0159] The memory 22 is used to store a computer program 23. The memory 22 may include a high-speed RAM memory, or may also include a non-volatile memory, such as at least one disk memory. The computer program 23 may include computer-executable instructions.

[0160] The processor 21 is configured to execute the computer program 23 to implement the above-mentioned track updating method embodiment.

[0161] The processor 21 may be a central processing unit (CPU), an application-specific integrated circuit (ASIC), or one or more integrated circuits configured to implement the embodiments of the present application. The one or more processors included in the control device 2 may be processors of the same type, such as one or more CPUs, or may be processors of different types, such as one or more CPUs and one or more ASICs.

[0162] An embodiment of the present application provides a computer-readable storage medium, wherein the storage medium stores a computer program, and when the computer program is executed by a processor, the above-mentioned track updating method embodiment is implemented.

[0163] An embodiment of the present application provides a computer program, which can be executed by a processor to implement the above-mentioned track updating method embodiment.

[0164] An embodiment of the present application provides a computer program product, which includes a computer program. When the computer program is executed by a processor, the computer program implements the above-mentioned track updating method embodiment.

[0165] In the several embodiments provided in this application, if any function is implemented in the form of a software function module / unit and sold or used as an independent product, it can be stored in a computer-readable storage medium. Based on this understanding, part or all of the technical solution of this application can be embodied in the form of a software product, and the computer software product is stored in a storage medium, including a number of instructions for enabling a computer device (which can be a personal computer, server or other electronic device) to execute all or part of the steps of the method described in each embodiment of this application. The aforementioned storage medium includes: U disk, mobile hard disk, read-only memory (ROM), random access memory (RAM), magnetic disk or optical disk, and other media that can store computer program code.

[0166] The algorithm or demonstration provided here are not inherently relevant to any particular computer, virtual system or other equipment. Various general purpose systems can also be used together with the teachings based on this. According to the above description, it is obvious that the structure required for constructing this type of system. In addition, the present application embodiment is not directed to any specific programming language yet. It should be understood that various programming languages can be utilized to realize the content of the present application described here, and the above description of specific languages is for the purpose of disclosing the best mode of implementation of the present application.

[0167] It should be noted that the above embodiments illustrate rather than limit the present application, and that a person skilled in the art may devise alternative embodiments without departing from the scope of the appended claims. In the claims, any reference signs placed between brackets should not be construed as limiting the claims. The word "comprising" does not exclude the presence of elements or steps not listed in the claims. The word "a" or "an" preceding an element does not exclude the presence of a plurality of such elements. The present application may be implemented by means of hardware comprising several different elements and by means of a suitably programmed computer. In claims that list several means, several units or modules of these means may be embodied by the same item of hardware. The use of the words first, second, and third etc. does not indicate any order. These words may be interpreted as names. The steps in the above embodiments should not be understood as limiting the order of execution unless otherwise specified.

[0168] The above-described embodiments merely represent several implementation methods of the present application. While the descriptions are relatively specific and detailed, they should not be construed as limiting the scope of the present application. It should be noted that a person of ordinary skill in the art may make various modifications and improvements without departing from the spirit of the present application, and these modifications and improvements fall within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be determined by the appended claims.

Claims

1. A track updating method, characterized in that: Applied to a control device, the method includes: Receiving detection information for a detection target sent by a detection device, wherein the detection information includes location data, detection time, and status data; Determining the coordinate system type of the detection device according to the type of the detection device; Correcting the position data according to the coordinate system type to determine first coordinate data of the detected target in a preset coordinate system, wherein the preset coordinate system is a coordinate system used by the control device; Determining a target track corresponding to the detected target according to the detection time, the status data and the first coordinate data; determining a data extraction condition according to the type of the detection device, and extracting target state data from the state data according to the data extraction condition; The target track is updated according to the target status data, the first coordinate data and the detection time.

2. The track updating method according to claim 1, characterized in that: The correcting the position data according to the coordinate system type to determine the first coordinate data of the detected target in the preset coordinate system specifically includes: If the coordinate system type is a geographic coordinate system, the position data is corrected to determine second coordinate data of the detected target in the geocentric coordinate system; Acquire the first coordinate origin information of the preset coordinate system and the geographic location data of the coordinate origin of the preset coordinate system in the geographic coordinate system; determining a first rotation matrix between the preset coordinate system and the geocentric coordinate system according to the geographic location data; The first coordinate data of the detection target in the preset coordinate system is determined according to the second coordinate data, the first coordinate origin information and the first rotation matrix.

3. The track updating method according to claim 1, wherein: The correcting the position data according to the coordinate system type to determine the first coordinate data of the detected target in the preset coordinate system specifically includes: If the coordinate system type is a carrier coordinate system, obtaining second coordinate origin information and second coordinate axis information of the carrier coordinate system used by the detection device; Obtaining first coordinate origin information and first coordinate axis information of the preset coordinate system; Determine a second rotation matrix between the preset coordinate system and the carrier coordinate system used by the detection device according to the first coordinate axis information and the second coordinate axis information; First coordinate data of the detection target in the preset coordinate system is determined according to the first coordinate origin information, the position data, the second coordinate origin information, and the second rotation matrix.

4. The track updating method according to claim 1, wherein: Determining the target track corresponding to the detected target according to the detection time, the status data, and the first coordinate data specifically includes: respectively calculating cost values between the state data, the first coordinate data, and each track in a track database to obtain cost data, wherein the track database is used to store tracks corresponding to detected targets; The target track corresponding to the detected target is acquired from the track database according to the detection time and the cost data.

5. The track updating method according to claim 4, characterized in that: The method further comprises: Acquire any two tracks from the track database to obtain a first track and a second track; Calculating the similarity between the first track and the second track; Determining whether the detected target corresponding to the first track and the detected target corresponding to the second track are the same based on the similarity; If they are the same, updating the track point data in the second track to the first track, and deleting the second track from the track database; Jump to the step of obtaining any two tracks from the track database to obtain the first track and the second track until all combinations are traversed.

6. The track updating method according to claim 1, characterized in that: The target track includes at least one track point data, and the track point data includes elapsed time, coordinate data and status data; The updating of the target track according to the target state data, the first coordinate data and the detection time specifically includes: Determine whether there is track point data in the target track with the same elapsed time as the detection time; If there is track point data in the target track whose elapsed time is the same as the detection time, the track point data in the target track whose elapsed time is the same as the detection time is determined as the target track point data, and the coordinate data and the status data of the target track point data are updated according to the first coordinate data and the target status data; Otherwise, new track point data is determined according to the detection time, the target state data and the first coordinate data, and the new track point data is updated to the target track.

7. The track updating method according to claim 6, characterized in that: The updating of the coordinate data and the status data of the target track point data according to the first coordinate data and the target status data specifically includes: determining first weight information corresponding to the first coordinate data and second weight information corresponding to the target state data according to the type of the detection device; Updating the coordinate data of the target track point data according to the first weight information and the first coordinate data; The status data of the target track point data is updated according to the second weight information and the target status data.

8. The track updating method according to claim 1, wherein: After correcting the position data according to the coordinate system type and determining the first coordinate data of the detected target in the preset coordinate system, the method further includes: Corresponding the detection time, the state data and the first coordinate data to each other, and storing them in a buffer database; Determining the target track corresponding to the detected target according to the detection time, the status data, and the first coordinate data specifically includes: At preset intervals, the following steps are performed periodically: Acquire the detection time within a preset time range and its corresponding state data and first coordinate data from the buffer database to obtain the detection data to be updated; According to the order of the detection time in the detection data to be updated, the target track corresponding to the detected target is determined in sequence according to the detection time, the state data and the first coordinate data in the detection data to be updated.

9. The track updating method according to claim 1, characterized in that: The method further comprises: Responding to a clock synchronization request sent by the detection device, obtaining clock data on the control device; The clock data is sent to the detection device, so that the detection device adjusts its clock according to the clock data.

10. A control device comprising a memory, a processor, and a computer program stored in the memory, characterized in that: The processor executes the computer program to implement the track updating method according to any one of claims 1 to 9.

11. A target detection system, characterized in that: The system comprises a detection device and a control device as claimed in claim 10, wherein the detection device is signal-connected to the control device; The detection device is used to obtain position data and status data of a detection target, and generate detection information for the detection target, thereby sending the detection information to the control device.

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