Data fusion processing method and device, equipment and medium

Abstract

The invention relates to a data fusion processing method, device, equipment and medium, and is based on a land-based Ku wave band four-surface array low-altitude monitoring radar, and the method comprises the steps: employing the land-based Ku wave band four-surface array low-altitude monitoring radar to measure a target, and forming a plot; performing association processing on adjacent trace points to form a temporary track; performing association processing on the temporary track and the current trace point to obtain a stable track; if the associated trace points of the temporary track or the stable track are not continuously searched within the specified times, the temporary track or the stable track disappears, the radar performs fusion processing on the data measured by the area arrays, the angle measurement precision can be effectively improved, and therefore the target tracking capacity is improved.

Description

Technical Field

[0001] This invention belongs to the field of radar data processing, and specifically relates to a data fusion processing method, apparatus, device, and medium. Background Technology

[0002] With the rapid development of small drone technology, incidents such as illegal reconnaissance and "black flights" are occurring frequently, posing an increasing threat to public safety. Radar, as an important means of detecting drones, plays a vital role in defending against drone threats.

[0003] UAV detection radars typically employ azimuth-dimensional mechanical scanning and elevation-dimensional phase scanning to search for targets. However, the limited data rate in mechanical scanning mode makes it difficult to effectively detect and track highly maneuverable UAV targets. Therefore, phase scanning is used in both azimuth and elevation dimensions to improve the radar's data rate. To address the limited detection airspace of single-array radars, a four-array radar structure is adopted to achieve 360° azimuth coverage. Simultaneously, a data fusion processing method is urgently needed to further enhance the detection performance against UAVs. Summary of the Invention

[0004] In order to solve the existing problems, the present invention provides a data fusion processing method, apparatus, device and medium to address the aforementioned issues in the prior art.

[0005] A data fusion processing method, based on a land-based Ku-band four-sided array low-altitude surveillance radar, includes the following steps: S1. A land-based Ku-band four-sided array low-altitude surveillance radar is used to measure targets and form point tracks; S2. Perform correlation processing on adjacent points to form a temporary track; S3. Associate the temporary track with the current point track to obtain a stable track. The current point track is the next point track that is consecutively adjacent to two adjacent points. S4. If a temporary or stable track fails to find any associated points within a specified number of searches, the temporary or stable track will be terminated.

[0006] In addition to the aspects described above and any possible implementation, a further implementation is provided in which the trace includes four parameters of the measured target: distance, altitude, azimuth, and velocity, or five parameters of the measured target: distance, altitude, azimuth, velocity, and RCS value.

[0007] In addition to the aspects and any possible implementations described above, an implementation is further provided in which S2 includes: S21. When the first and second traces of adjacent traces are both four-parameter traces, perform association processing according to the four-parameter threshold to generate a four-parameter temporary track; or, S22. If either the first or second adjacent track has five parameters, assign the RCS value of the five-parameter track to the four-parameter track to generate a temporary five-parameter track; or, S23. When the first and second points of adjacent points are both five-parameter points, perform association processing according to the five-parameter threshold to generate a five-parameter temporary track.

[0008] In addition to the aspects and any possible implementations described above, an implementation is further provided, wherein S3 includes: S31. When the temporary track is a four-parameter track and the current point track is a five-parameter track, perform correlation processing according to the four-parameter threshold, set the RCS prediction value of the temporary track to the RCS value of the current point track, and generate a five-parameter stable track; S32. When the temporary track is a five-parameter track and the current point track is a four-parameter track, perform association processing according to the four-parameter threshold, assign the RCS prediction value of the five-parameter track to the current point track, and use the temporary track as a five-parameter stable track.

[0009] In addition to the aspects and any possible implementations described above, a further implementation is provided, wherein S3 further includes: S33. When the temporary track is a four-parameter track and the current point track is a four-parameter point track, perform association processing according to the four-parameter threshold and use the four-parameter track as a stable track; 34. When the temporary track is a five-parameter track and the current point track is also a five-parameter track, perform correlation processing according to the five-parameter threshold and treat the five-parameter track as a stable track.

[0010] In addition to the aspects described above and any possible implementation, a further implementation is provided, wherein S3 further includes: after the point track and stable track interconnection is successful, using a Kalman filter to perform track filtering, and performing track prediction before the next successful interconnection of point track and track.

[0011] In addition to the aspects and any possible implementations described above, an implementation is further provided, wherein S4 specifically includes: if the temporary track fails to find any associated points three or more times consecutively, the temporary track is terminated; If a stable track fails to find any associated points for 5 or more consecutive times, the stable track will be terminated.

[0012] The present invention also provides a data fusion processing apparatus for implementing the method, the apparatus comprising the following modules: The dot formation module is used to measure targets and form dot patterns using a land-based Ku-band four-sided array low-altitude surveillance radar. The first association processing module is used to perform association processing on adjacent points to form temporary tracks; The second association processing module is used to associate the temporary track with the current point track to obtain a stable track. The current point track is the next point track that is continuously adjacent to two adjacent point tracks. The judgment module is used to determine if a temporary or stable track fails to find any associated points within a specified number of consecutive searches, in which case the temporary or stable track is terminated.

[0013] The present invention also provides a computer storage medium storing a computer program, the computer program being executed by a processor to implement the method described.

[0014] The present invention also provides an electronic device, the electronic device comprising: a memory storing executable instructions; A processor that executes the executable instructions in the memory to implement the method.

[0015] Beneficial effects of the present invention This invention discloses a data fusion processing method based on a land-based Ku-band four-sided array low-altitude surveillance radar, comprising: measuring targets using the land-based Ku-band four-sided array low-altitude surveillance radar to form point tracks; performing correlation processing on adjacent point tracks to form temporary tracks; performing correlation processing on the temporary tracks and the current point tracks to obtain stable tracks; if the temporary track or stable track fails to find any associated point tracks within a specified number of consecutive searches, the temporary track or stable track is terminated, achieving the following effects: (1) This radar system adopts electronic scanning mode in both azimuth and elevation dimensions, and improves the data rate by forming a multi-array with four three-coordinate isomorphic arrays, while keeping the cost under control.

[0016] (2) By fusing the data measured by each array, this radar system can effectively improve the angle measurement accuracy, thereby enhancing the target tracking capability. Attached Figure Description

[0017] Figure 1 This is a general block diagram of the data fusion processing method for a land-based Ku-band four-sided array low-altitude surveillance radar; Figure 2 This is a schematic diagram of the initial flight path process; Figure 3 This is a schematic diagram illustrating the process of associating points and tracks. Detailed Implementation

[0018] To better understand the technical solution of this invention, the content of this invention includes, but is not limited to, the specific embodiments described below. Similar technologies and methods should be considered within the scope of protection of this invention. To make the technical problems to be solved, the technical solutions, and advantages of this invention clearer, a detailed description will be provided below in conjunction with the accompanying drawings and specific embodiments.

[0019] It should be understood that the embodiments described in this invention are merely some, not all, of the embodiments of this invention. All other embodiments obtained by those skilled in the art based on the embodiments of this invention without inventive effort are within the scope of protection of this invention.

[0020] The terminology used in the embodiments of this invention is for the purpose of describing particular embodiments only and is not intended to limit the invention. The singular forms “a,” “the,” and “the” as used in the embodiments of this invention and the appended claims are also intended to include the plural forms unless the context clearly indicates otherwise.

[0021] This invention provides a data fusion processing method based on a land-based Ku-band four-array low-altitude surveillance radar. The antenna array of this radar comprises four three-coordinate arrays, each capable of measuring four parameters of the target: range, altitude, azimuth, and velocity. Due to the complex electromagnetic environment and target characteristics, the target's RCS value is difficult to measure; it can only be detected under extremely favorable electromagnetic conditions. In this case, the target's parameters include range, altitude, azimuth, velocity, and RCS value. The RCS value, or Radar Cross Section, is a quantified value and a core physical quantity measuring a target's ability to reflect electromagnetic waves under radar illumination; its magnitude directly determines the difficulty of radar detection. By combining information from five dimensions (range, altitude, azimuth, velocity, and RCS value), data association rules, and tracking methods, the target's trajectory information is obtained.

[0022] Therefore, the method of the present invention includes the following steps: S1. A land-based Ku-band four-sided array low-altitude surveillance radar is used to measure targets and form point tracks; S2. Perform correlation processing on adjacent points to form a temporary track; S3. Associate the temporary track with the current point track to obtain a stable track. The current point track is the next point track that is consecutively adjacent to two adjacent points. S4. If a temporary or stable track fails to find any associated points within a specified number of searches, the temporary or stable track will be terminated.

[0023] Specifically, such as Figure 1 As shown: UAV detection radars typically employ azimuth-based mechanical scanning and elevation-based phase scanning to search for targets. However, the limited data rate in mechanical scanning mode makes it difficult to effectively detect and track highly maneuverable UAV targets. Therefore, phase scanning is used in both azimuth and elevation dimensions to improve the radar's data rate. To address the limited detection airspace of single-array radars, this invention uses a four-array radar structure to achieve 360° azimuth coverage. The radar's four antenna arrays are deployed in the east, west, south, and north directions, respectively, on a land-based fixed platform. Each array is responsible for an azimuth sector of approximately 90°-120°, with a 5°-10° overlap between each azimuth sector to ensure seamless coverage and beam junctions.

[0024] The antenna array amplifies the received echo signal via a T / R module and then sends it to the feeder network to synthesize a sum-difference beam. The sum-difference beam is then sent via RF cables to the RF module for amplification, filtering, and down-conversion before being sent to the signal processing module. The signal processing module performs AD sampling, pulse compression, moving target indication, moving target detection, and constant false alarm rate (CFAR) detection on the received intermediate frequency (IF) signal before sending it to the data processing module. The data processing module then performs a series of processing steps on the received signal, including point preprocessing, data association, track initiation, track filtering, track fusion, track prediction, and track output.

[0025] Radar spot formation process: The received radar echo signal is processed (including AD sampling, down-conversion to intermediate frequency signal, pulse compression, moving target indication, moving target detection, and constant false alarm rate detection). Then, the processed signal is measured for parameters such as range, velocity, azimuth, elevation, and RCS, and finally a spot data packet containing parameters such as range, velocity, azimuth, elevation, and / or RCS is formed.

[0026] Radar track formation process: A track refers to the continuous, stable and accurate estimation of the motion state (distance, speed, altitude, angle) and identity (track number) of a real target from a series of points. The process includes point input, track initiation, track confirmation, point and track association, track update and filtering, track prediction, track maintenance and management.

[0027] Temporary tracks and stable tracks: Temporary tracks refer to tracks in the present and a very short future period, characterized by being dynamic, temporary, and constantly changing; stable tracks refer to tracks over a longer future period, characterized by being stable, predictable, and relatively unchanging.

[0028] Track initiation: This refers to observing whether there is reasonable motion continuity between multiple data points using continuously scanned point data. Track initiation here involves calculating the track from a single point and has a random element. Track initiation includes the following four cases, such as... Figure 2 As shown: (1) The first point is a four-parameter track. The first point is random and can be one of two adjacent points or any one of two non-adjacent points. The second point is also a four-parameter track and can be adjacent to or not adjacent to the first point. The four-parameter threshold is used for association processing to generate a four-parameter temporary track. The temporary track is generated by connecting the two points. The four-parameter temporary track includes four parameters: distance, speed, azimuth, and pitch. The specific process for the four-parameter threshold correlation processing is as follows: The values ​​of distance, velocity, azimuth, and pitch of the first point are compared and filtered with their respective set thresholds. Points with values ​​less than the thresholds are retained as the predicted positions of the first point. Then, the predicted positions of the newly detected second point are compared with those of the first point. The differences in distance, velocity, azimuth, and pitch are calculated, and it is checked whether these differences are within their respective set thresholds. If they are all within their respective set thresholds, the two points, the first and second points, are considered to be correlated, thus obtaining a temporary point. This method can be used for the calculation of all points with four parameters. The five-parameter threshold below is also performed using the same method.

[0029] (2) The first point is a four-parameter track and the second point is a five-parameter track. The association is performed according to the four-parameter threshold to generate a five-parameter temporary track. This temporary track is generated by connecting the two points. The five-parameter temporary track includes five parameters: distance, speed, azimuth, pitch and RCS. The RCS value of the temporary track is set to the RCS value of the five-parameter track. (3) The first point is a five-parameter point and the second point is a four-parameter point. The association is performed according to the four-parameter threshold, and the RCS value of the five-parameter point is assigned to the four-parameter point to generate a five-parameter temporary track. This temporary track is generated by connecting the two points. The five-parameter temporary track includes five parameters: distance, speed, azimuth, pitch and RCS value. (4) The first point has five parameters, and the second point has five parameters. The association process is performed according to the five-parameter threshold to generate a five-parameter temporary track. This temporary track is generated by connecting the two points. The five-parameter temporary track includes five parameters: distance, speed, azimuth, pitch, and RCS value. The specific process of the association process for the five-parameter threshold is the same as that for the four-parameter threshold, except that there is an additional RCS value processing process.

[0030] Interconnection between point traces and flight paths: such as Figure 3 As shown, there are four possible scenarios: (1) When the temporary track is four parameters and the current track is four parameters, the current track is an adjacent or connected track after the second track. That is, the new track after the temporary track is formed is associated with the aforementioned four parameter threshold to generate a four-parameter stable track. (2) When the temporary track is four parameters and the current track is five parameters, the correlation processing is performed according to the four-parameter threshold. The RCS value does not participate in the threshold discrimination. The RCS prediction value of the four-parameter track is set as the RCS value of the five-parameter track to generate a five-parameter stable track. (3) When the temporary track is five parameters and the current track is four parameters, the correlation processing is performed according to the four-parameter threshold, and the RCS prediction value of the five-parameter track is assigned to the four-parameter track to generate a five-parameter stable track. (4) When the temporary track is a five-parameter track and the current track is a five-parameter track, the five-parameter threshold is used for correlation processing to generate a five-parameter stable track.

[0031] Track filtering and track prediction: After generating a stable track, a Kalman filter is used to filter the stable track, and track prediction is performed before the next successful interconnection between the point track and the stable track. Radar track prediction refers to using historical data of radar targets, such as range, velocity, and angle, to estimate the target's motion state and trajectory over a future period through corresponding algorithms. For stable tracks, it is also necessary to predict the target's future motion state and trajectory to ensure the coherence and consistency of the stable track.

[0032] Track Demise: If a temporary track fails to find a related point after three or more consecutive searches, the temporary track will be destroyed. The related point refers to the next point after the temporary track is generated. After a temporary track is generated, due to various factors, it may also fail to find a next related point. If it fails to find a point after three consecutive searches, it indicates that the target is lost, and the temporary track will be destroyed. If a stable track fails to find a related point for 5 or more consecutive times, the related point refers to the next point after the stable track is generated. After a stable track is generated, due to various factors, it may also fail to find the next related point. If it fails to find the next point for 5 or more consecutive times, it proves that the target is lost. At this time, the stable track disappears. The entire process from track start to track disappearance is a complete data fusion process. That is, the complete data fusion process includes track start, point and track interconnection, track filtering, track prediction and track disappearance.

[0033] There are many reasons why radar tracks disappear, such as the target suddenly making a high-speed maneuver (such as a sharp turn or dive) and leaving the beam coverage area, signal loss due to interference from complex electromagnetic environment, or malfunction of the radar system itself. When a track disappears, it may be an individual disappearance or multiple disappearances, and specific situations need to be analyzed. After the track disappears, the strategy should be adjusted in time to search for the target again. After the target is acquired, the data fusion process should be carried out again according to the above process.

[0034] As an embodiment of the present invention, the present invention also provides a data fusion processing device based on a land-based Ku-band four-sided array low-altitude surveillance radar. The device is used to implement the method and includes the following modules: a spot formation module, used to measure targets using a land-based Ku-band four-sided array low-altitude surveillance radar and form spot patterns. The first association processing module is used to perform association processing on adjacent points to form temporary tracks; The second association processing module is used to associate the temporary track with the current point track to obtain a stable track. The judgment module is used to determine if a temporary or stable track fails to find any associated points within a specified number of consecutive searches, in which case the temporary or stable track is terminated.

[0035] As an embodiment of the present invention, the present invention also provides a computer storage medium storing a computer program, the computer program being executed by a processor to implement the method described herein.

[0036] As an embodiment of the present invention, the present invention also provides an electronic device, the electronic device comprising: a memory storing executable instructions; A processor that executes the executable instructions in the memory to implement the method.

[0037] The foregoing description illustrates and describes several preferred embodiments of the present invention. However, as previously stated, it should be understood that the present invention is not limited to the forms disclosed herein and should not be construed as excluding other embodiments. It can be used in various other combinations, modifications, and environments, and can be altered within the scope of the inventive concept described herein through the foregoing teachings or techniques or knowledge in related fields. Any modifications and variations made by those skilled in the art that do not depart from the spirit and scope of the present invention should be within the protection scope of the appended claims.

Claims

1. A data fusion processing method, characterized in that, The method is based on a land-based Ku-band four-sided array low-altitude surveillance radar and includes the following steps: S1. A land-based Ku-band four-sided array low-altitude surveillance radar is used to measure targets and form point tracks; S2. Perform correlation processing on adjacent points to form a temporary track; S3. Associate the temporary track with the current point track to obtain a stable track. The current point track is the next point track that is consecutively adjacent to two adjacent points. S4. If a temporary or stable track fails to find any associated points within a specified number of searches, the temporary or stable track will be terminated.

2. The method according to claim 1, characterized in that, The measured data includes four parameters: distance, altitude, azimuth, and velocity of the target; or five parameters: distance, altitude, azimuth, velocity, and RCS value of the target.

3. The method according to claim 1, characterized in that, S2 includes: S21. When the first and second traces of adjacent traces are both four-parameter traces, perform association processing according to the four-parameter threshold to generate a four-parameter temporary track; or, S22. If either the first or second adjacent track has five parameters, assign the RCS value of the five-parameter track to the four-parameter track to generate a temporary five-parameter track; or, S23. When the first and second points of adjacent points are both five-parameter points, perform association processing according to the five-parameter threshold to generate a five-parameter temporary track.

4. The method according to claim 1, characterized in that, S3 includes: S31. When the temporary track is a four-parameter track and the current point track is a five-parameter track, perform correlation processing according to the four-parameter threshold, set the RCS prediction value of the temporary track to the RCS value of the current point track, and generate a five-parameter stable track. S32. When the temporary track is a five-parameter track and the current point track is a four-parameter track, perform association processing according to the four-parameter threshold, assign the RCS prediction value of the five-parameter track to the current point track, and use the temporary track as a five-parameter stable track.

5. The method according to claim 4, characterized in that, S3 further includes: S33. When the temporary track is a four-parameter track and the current point is a four-parameter point, perform association processing according to the four-parameter threshold and treat the four-parameter track as a stable track.

34. When the temporary track is a five-parameter track and the current point track is also a five-parameter track, perform correlation processing according to the five-parameter threshold and treat the five-parameter track as a stable track.

6. The method according to claim 1, characterized in that, S3 also includes: after the point track and stable track are successfully interconnected, a Kalman filter is used for track filtering, and track prediction is performed before the next successful interconnection of point track and track.

7. The method according to claim 1, characterized in that, S4 specifically includes: if a temporary track fails to find any associated points for three or more consecutive times, the temporary track will be terminated. If a stable track fails to find any associated points for 5 or more consecutive times, the stable track will be terminated.

8. A data fusion processing apparatus, characterized in that, The apparatus is used to implement the method according to any one of claims 1-7, and includes the following modules: The dot formation module is used to measure targets and form dot patterns using a land-based Ku-band four-sided array low-altitude surveillance radar. The first association processing module is used to perform association processing on adjacent points to form temporary tracks; The second association processing module is used to associate the temporary track with the current point track to obtain a stable track. The current point track is the next point track that is continuously adjacent to two adjacent point tracks. The judgment module is used to determine if a temporary or stable track fails to find any associated points within a specified number of consecutive searches, in which case the temporary or stable track is terminated.

9. A computer storage medium, characterized in that, The medium stores a computer program, which is executed by a processor to implement the method according to any one of claims 1-7.

10. An electronic device, characterized in that, The electronic device includes: Memory, which stores executable instructions; A processor that executes the executable instructions in the memory to implement the method of any one of claims 1-7.

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