A method and system for space object trajectory correlation

Abstract

The application discloses a space target trajectory correlation method and system, wherein the system comprises the following steps: obtaining target information detected by a detector in each calculation period; performing interframe trajectory correlation on the target according to the target information in each calculation period to obtain a trajectory correlation result, and storing the trajectory correlation in an interframe correlation target library; and obtaining target information of each frame from the interframe correlation target library, performing trajectory correlation on the target between frames, and obtaining target trajectory information of the current frame. The application effectively solves the problems of insufficient real-time performance, error accumulation and dimension explosion of traditional methods.

Description

Technical Field

[0001] This invention belongs to the field of space target monitoring technology, and in particular relates to a method and system for associating space target trajectories. Background Technology

[0002] With the surge in the number of spatial targets in low-Earth orbit and geostationary orbit, traditional trajectory association methods face challenges such as high computational complexity, insufficient real-time performance, and difficulties in fusing multi-source heterogeneous data. Existing technologies include kinematic model-based trajectory prediction methods susceptible to perturbation errors, statistical hypothesis testing methods facing the risk of dimensionality explosion in dense target scenarios, and feature matching methods relying on high-quality observation data with insufficient robustness. Furthermore, inconsistencies in spatiotemporal references during cross-sensor collaborative association further limit association accuracy. Therefore, a novel trajectory association method that balances real-time performance, accuracy, and adaptability to complex orbital environments is urgently needed. Summary of the Invention

[0003] The technical problem solved by this invention is to overcome the shortcomings of the prior art and provide a spatial target trajectory association method and system. By reducing computational complexity through a hierarchical processing mechanism and improving association accuracy by combining error constraints and dynamic prediction, this invention effectively solves the problems of insufficient real-time performance, error accumulation and dimensionality explosion in traditional methods.

[0004] The objective of this invention is achieved through the following technical solution: a spatial target trajectory association method, comprising: acquiring target information detected by the detector in each calculation cycle; performing inter-frame trajectory association on the target based on the target information in each calculation cycle to obtain the trajectory association result, and storing the trajectory association in an inter-frame associated target library; obtaining target information for each frame from the inter-frame associated target library, performing trajectory association on the targets between frames to obtain the target trajectory information for the current frame.

[0005] In the above spatial target trajectory association method, each calculation cycle is called a frame.

[0006] In the above spatial target trajectory association method, the time of one frame is no more than 100ms.

[0007] In the aforementioned spatial target trajectory association method, the target information includes the two-dimensional coordinate information of the spatial target image on the detector image plane, the gray level of the diffuse spot formed after the target is imaged on the detector image plane, and the number of pixels.

[0008] In the above spatial target trajectory association method, the inter-frame trajectory association of the target includes: defining the moving target; fitting the motion trajectory of the moving target between frames to obtain the trajectory association result.

[0009] In the above spatial target trajectory association method, the moving target is defined as follows: if the target's motion is uniform in a short period of time, then for three consecutive frames of imaging, the coordinates of the second frame image on the detector image plane are the midpoint of the coordinates of the first and third frames image on the detector image plane.

[0010] In the above spatial target trajectory association method, each frame contains 10 consecutive frames.

[0011] In the above spatial target trajectory association method, the motion trajectory fitting between frames adopts the method of planar coordinate linear fitting.

[0012] In the above-mentioned spatial target trajectory association method, the Kalman filter method is used to associate the trajectory of the target between frames.

[0013] A space target trajectory association system includes: a first module for acquiring target information detected by the detector in each calculation cycle; a second module for performing inter-frame trajectory association on the target based on the target information in each calculation cycle, obtaining trajectory association results, and storing the trajectory associations in an inter-frame associated target library; and a third module for obtaining target information for each frame from the inter-frame associated target library, performing trajectory association on the targets between frames, and obtaining the target trajectory information for the current frame.

[0014] Compared with the prior art, the present invention has the following advantages:

[0015] This invention reduces computational complexity through a hierarchical processing mechanism and improves correlation accuracy by combining error constraints and dynamic prediction. It is suitable for high-density, multi-source heterogeneous observation scenarios and effectively solves the problems of insufficient real-time performance, error accumulation and dimensionality explosion in traditional methods. Attached Figure Description

[0016] Various other advantages and benefits will become apparent to those skilled in the art upon reading the following detailed description of preferred embodiments. The accompanying drawings are for illustrative purposes only and are not intended to limit the invention. Furthermore, the same reference numerals denote the same parts throughout the drawings. In the drawings: Figure 1 This is a schematic diagram of moving target imaging provided in an embodiment of the present invention; Figure 2 This is a flowchart of the spatial target trajectory association method provided in the embodiments of the present invention. Detailed Implementation

[0017] Exemplary embodiments of the present disclosure will now be described in more detail with reference to the accompanying drawings. While exemplary embodiments of the present disclosure are shown in the drawings, it should be understood that the present disclosure may be implemented in various forms and should not be limited to the embodiments set forth herein. Rather, these embodiments are provided to enable a more thorough understanding of the present disclosure and to fully convey the scope of the disclosure to those skilled in the art. It should be noted that, unless otherwise specified, the embodiments and features described herein can be combined with each other. The present invention will now be described in detail with reference to the accompanying drawings and embodiments.

[0018] This embodiment provides a method for associating spatial target trajectories. The method includes: acquiring target information detected by the detector within each calculation cycle; performing inter-frame trajectory association on the targets based on the target information within each calculation cycle to obtain trajectory association results, and storing the trajectory associations in an inter-frame associated target library; obtaining target information for each frame from the inter-frame associated target library, and performing trajectory association on the targets between frames to obtain the target trajectory information for the current frame. Each calculation cycle is called a frame. The duration of a frame is no greater than 100ms.

[0019] The target information includes the two-dimensional coordinates of the space target as it is imaged on the detector's image plane, the grayscale of the diffuse spot formed after the target is imaged on the detector's image plane, and the number of pixels.

[0020] Inter-frame trajectory association for a target includes: defining the moving target; fitting the moving target's motion trajectory between frames to obtain the trajectory association result.

[0021] The definition of a moving target is: if the target's motion is uniform in a short period of time, then for three consecutive frames of imaging, the coordinates of the second frame image on the detector image plane are the midpoint of the coordinates of the first and third frames image on the detector image plane.

[0022] Each frame consists of 10 consecutive frames. The motion trajectory fitting between frames is performed using linear fitting of planar coordinates. The trajectory association of the target between frames is performed using the Kalman filter method.

[0023] Specifically, the spatial target trajectory association method includes the following steps: (1) Within each calculation cycle (each calculation cycle is called a frame), the target information detected by the detector is obtained through calculation; (2) Based on the target information calculated in each frame, perform inter-frame trajectory association for the target. The specific steps are as follows: S1. Define the motion target; S2. Fit the motion trajectory of each selected moving target and store the fitting results in the inter-frame associated target library; (3) For each frame (including 10 consecutive frames), output the target information from the inter-frame associated target library, perform trajectory association between targets in the frame, and predict the target trajectory for the next frame; (4) Output the target trajectory information captured in the current shot.

[0024] A frame time is no more than 100ms; target information includes the two-dimensional coordinate information (x, y) of the space target image on the detector image plane, the gray level of the diffuse spot formed after the target is imaged on the detector image plane, and the number of pixels.

[0025] A moving target is defined as follows: assuming the target's motion is uniform for a short period, then for three consecutive frames of imaging, the coordinates of the second frame image on the detector's image plane are the midpoint between the coordinates of the first and third frames image on the detector's image plane. The short period is 100ms.

[0026] The method used for fitting the target motion trajectory between frames is linear fitting of planar coordinates.

[0027] The Kalman filter method is used to fit the target motion trajectory between frames, which calculates the target trajectory in the current frame and predicts the target trajectory in the next frame.

[0028] like Figure 1 As shown, a moving target is defined as follows: if the target's motion is uniform in a short period of time, then for three consecutive frames of imaging, the coordinates of the second frame image on the detector image plane are the midpoint of the coordinates of the first and third frames image on the detector image plane.

[0029] like Figure 2 As shown, the processing flow of the spatial target trajectory association method is as follows: 1. Data preprocessing: In each calculation cycle (each calculation cycle is called a frame), the target information detected by the detector is obtained through calculation; 2. Inter-frame matching: Based on the target information calculated in each frame, the trajectory of the target is associated between frames; 3. Inter-frame matching and target recursion: In each frame (containing 10 consecutive frames), the target information is output from the inter-frame associated target library, and the trajectory association of the targets between frames is performed based on Kalman filtering, and the target trajectory of the next frame is predicted and recursively inferred; 4. Target output.

[0030] This embodiment also provides a space target trajectory association system, which includes: a first module for acquiring target information detected by the detector in each calculation cycle; a second module for performing inter-frame trajectory association on the target based on the target information in each calculation cycle, obtaining trajectory association results, and storing the trajectory associations in an inter-frame associated target library; and a third module for obtaining target information for each frame from the inter-frame associated target library, performing trajectory association on the targets between frames, and obtaining the target trajectory information for the current frame.

[0031] This embodiment reduces computational complexity through a hierarchical processing mechanism and improves correlation accuracy by combining error constraints and dynamic prediction. It is suitable for high-density, multi-source heterogeneous observation scenarios and effectively solves the problems of insufficient real-time performance, error accumulation and dimensionality explosion in traditional methods.

[0032] Although the present invention has been disclosed above with reference to preferred embodiments, it is not intended to limit the present invention. Any person skilled in the art can make possible changes and modifications to the technical solutions of the present invention by utilizing the methods and techniques disclosed above without departing from the spirit and scope of the present invention. Therefore, any simple modifications, equivalent changes and alterations made to the above embodiments based on the technical essence of the present invention without departing from the content of the technical solutions of the present invention shall fall within the protection scope of the technical solutions of the present invention.

Claims

1. A method for associating spatial target trajectories, characterized in that... include: Within each calculation cycle, acquire the target information detected by the detector; Based on the target information within each calculation cycle, the trajectory association between frames is performed on the target to obtain the trajectory association results, and the trajectory associations are stored in the inter-frame associated target library. The target information for each frame is obtained from the inter-frame associated target library. The targets between frames are associated with each other to obtain the target trajectory information for the current frame.

2. The spatial target trajectory association method according to claim 1, characterized in that: Each calculation cycle is called a frame.

3. The spatial target trajectory association method according to claim 2, characterized in that: One frame should not exceed 100ms.

4. The spatial target trajectory association method according to claim 1, characterized in that: The target information includes the two-dimensional coordinates of the space target as it is imaged on the detector's image plane, the grayscale of the diffuse spot formed after the target is imaged on the detector's image plane, and the number of pixels.

5. The spatial target trajectory association method according to claim 1, characterized in that: Inter-frame trajectory association for the target includes: Define the motion target; The motion trajectory of the moving target is fitted between frames to obtain the trajectory association result.

6. The spatial target trajectory association method according to claim 5, characterized in that: The definition of a moving target is: if the target's motion is uniform in a short period of time, then for three consecutive frames of imaging, the coordinates of the second frame image on the detector image plane are the midpoint of the coordinates of the first and third frames image on the detector image plane.

7. The spatial target trajectory association method according to claim 1, characterized in that: Each beat consists of 10 consecutive frames.

8. The spatial target trajectory association method according to claim 5, characterized in that: The method used for fitting the motion trajectory between frames is linear fitting of planar coordinates.

9. The spatial target trajectory association method according to claim 1, characterized in that: The Kalman filter method was used to correlate the trajectory of the target between frames.

10. A spatial target trajectory association system, characterized in that... include: The first module is used to acquire target information detected by the detector in each calculation cycle; The second module is used to perform inter-frame trajectory association on the target based on the target information in each calculation cycle, obtain the trajectory association results, and store the trajectory association in the inter-frame associated target library. The third module is used to obtain target information for each frame from the inter-frame associated target library, perform trajectory association between targets in different frames, and obtain the target trajectory information for the current frame.

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