A four-face array cross-array track sticking tracking method and system

Abstract

The application discloses a four-surface array cross-array track sticking tracking method and system, relates to the technical field of radar data processing, and comprises the following steps: receiving a track processing trigger signal, acquiring a calling mark iFlag and a to-be-processed track address; distributing to four types of association processing branches, i.e., CT track long-period point loss long-distance association, cross-array UT and CT track matching, same-area CT repeated track discrimination and removal, UT track conversion and regular state updating, according to the calling mark; after screening a unique matching track in each branch by combining partition search, multi-dimensional feature comparison and radial speed same-direction constraint, performing state updating and sticking merging, and performing weighted smoothing on track point coordinates and then encapsulating and sending. The application realizes scene self-adaptive scheduling through the calling mark, effectively solves the problems of track fracture and overlapping area repeated batch building in the cross-array track association of the four-surface array radar through a double anti-repetition mechanism of multi-feature exclusive association and batch starting limitation and post-merging, and improves the continuity and uniqueness of target track tracking.

Description

Technical Field

[0001] This invention relates to the field of radar data processing technology, and in particular to a four-sided array cross-array track adhesion tracking method and system. Background Technology

[0002] With the increasing prominence of threats from small, slow-moving targets and the continuous improvement of battlefield complexity, quad-array radars, with their all-solid-state, fully coherent, pulse-Doppler system and 360° all-space rapid search and multi-target tracking capabilities, have become core equipment for situational awareness and precise early warning. Compared to traditional mechanically scanned radars, quad-array radars form a fixed spliced ​​coverage in space through four two-dimensional phased array antennas, enabling rapid beam switching without relying on mechanical rotation, thus significantly improving the timeliness of detection of highly maneuverable targets and clustered targets. However, it is precisely this multi-array spatial splicing and time-division illumination working mechanism that brings more severe technical challenges to subsequent radar track data processing, especially the track correlation link, compared to single-array radars.

[0003] In practical engineering applications of four-array radars, the core challenges in track association processing lie in the two opposing aspects of breakage and repetition. On the one hand, when a target flies at the boundary of different array coverage areas, its radar cross-section (RCS) and echo characteristics fluctuate drastically due to sudden changes in viewing angle. Coupled with interference and obstruction in complex electromagnetic environments, this easily leads to the loss of target points during continuous tracking of the same target. Traditional association algorithms based on nearest neighbor or probabilistic data interconnection often fail to adapt to the target's maneuvering characteristics when faced with such cross-array point loss. They misjudge the rediscovered echoes as new targets, triggering incorrect batching logic and causing breakage of the track for the same physical target. Although there are existing track stitching methods based on dynamic extrapolation, they usually rely on long-term assumptions of stable motion. For sudden high-maneuvering events that may occur under the coverage of a four-array radar, the extrapolation error will diverge in a very short time, making it difficult to meet the real-time association requirements in cross-array scenarios.

[0004] On the other hand, the architecture of a four-array radar, where each array independently processes the front-end echo, makes the overlapping area a high-risk zone for duplicate batches. When a target is located in the beam overlap area of ​​two adjacent arrays, different arrays may simultaneously or sequentially acquire the target's echo and establish independent local tracks. Existing track management systems generally lack a globally unified identity allocation mechanism across arrays. If independent batching is based solely on local sensor measurements, multiple batches for a single target are highly likely to occur. This duplicate batching not only directly wastes valuable radar system resources but also leads to confusion in upper-level command and decision-making due to conflicting situational information reported by multiple batches of tracks to the fusion center.

[0005] Besides the specific anomalies caused by cross-array interference, four-faced radars also need to address the universal challenges of multi-target, densely packed combat scenarios. When multiple targets and multiple interference sources coexist, traditional correlation algorithms often simplify the matching dimension of the feature space in pursuit of real-time computation. For example, algorithms that rely solely on position residuals for correlation threshold decisions are prone to incorrectly interconnecting the tracks of different targets during target cross-maneuvering or formation flying, leading to track batch switching or mixing. Existing published literature and patent solutions mostly focus on general correlation models based on single sensors or multi-radar fusion, such as joint probability data interconnection or multi-hypothesis tracking. However, these algorithms lack a unified scheduling architecture and anomaly triggering mechanism when facing the unique heterogeneous correlation requirements of four-faced radars, such as correlation between current scan targets and historical tracks, correlation between cross-array historical tracks and current scan points, and mutual correlation between current scan targets on different arrays. Existing solutions are unable to dynamically adjust the correlation and discrimination logic according to the specific causes of track anomalies (maneuvering loss of points, cross-array loss of points, batch duplication, coexistence of multiple targets), resulting in a sharp drop in correlation accuracy in complex scenarios and failing to guarantee the high continuity and uniqueness of track tracking by four-array radar.

[0006] To address the above problems, this invention proposes a four-sided array cross-array track adhesion tracking method and system. Summary of the Invention

[0007] The purpose of this section is to outline some aspects of the embodiments of the present invention and to briefly introduce some preferred embodiments. Some simplifications or omissions may be made in this section, as well as in the abstract and title of the present application, to avoid obscuring the purpose of this section, the abstract and title of the invention. Such simplifications or omissions shall not be used to limit the scope of the present invention.

[0008] In view of the common problems in existing four-array radars in cross-array track association processing, such as track breakage due to lack of adaptive discrimination capability for target maneuver characteristics, and duplicate batching of overlapping areas due to lack of a globally unified identity allocation mechanism, this invention is proposed.

[0009] Therefore, the problem to be solved by this invention is to address the different causes of track anomalies in four-array radars by dynamically matching the corresponding association discrimination logic with a unified scheduling flag, and combining multi-dimensional features and exclusive association judgment, so as to achieve stable and continuous cross-array track connection while effectively avoiding repeated batching in overlapping areas, thereby ensuring the uniqueness of target tracks and the continuity of tracking.

[0010] To solve the above-mentioned technical problems, the present invention provides the following technical solution: In a first aspect, embodiments of the present invention provide a four-sided array cross-array track adhesion tracking method, which includes, Receive the track processing trigger signal, and obtain the call flag iFlag and the track address rTrac to be processed; Based on the call flag iFlag, the call is distributed to the corresponding track association processing branch; Return the processing results of each branch to complete this trajectory association tracking.

[0011] Secondly, embodiments of the present invention provide a four-sided array cross-array track adhesion tracking system, comprising: The track receiving module is used to receive the track processing trigger scan signal and the track address rTrack to be processed, and to read the track data to be processed according to the track address rTrack; The track association scheduling module is used to generate a call flag iFlag based on the real-time acquisition status of the track, the continuous loss period, the track type, the array affiliation, and the same-source redundancy relationship, and to distribute the track to be processed to the corresponding track association processing branch according to the call flag iFlag. The legality verification module is used to verify the track type, track batch number, slant range, tracking period, continuous loss period and bearing partition number of the track to be processed; The partition search module is used to search for temporary tracks (UT) or confirmed tracks (CT) within the azimuth partition where the track to be processed is located and adjacent azimuth partitions, with the azimuth partition where the track to be processed is located as the center. The multi-feature matching module is used to calculate the absolute difference in slant range, azimuth, elevation, radial velocity, radar cross section (RCS), and three-dimensional Euclidean distance between the track to be processed and the searched track, and to filter the matching track according to the matching threshold of the corresponding track association processing branch. The track status update module is used to update the tracking cycle count, track confidence score, track loss flag, associated matching window flag, Kalman filter status, and local processing flag of the matching temporary track (UT). The track adhesion and merging module is used to merge the track attributes of confirmed track CTs into temporary track UTs, update the batching table and historical point sequence, perform weighted smoothing on the three-dimensional coordinates of historical tracks, and mark duplicate confirmed track CTs as to be eliminated. The track output module is used to convert the processed radar station center rectangular coordinates into spherical coordinates, encapsulate the processed track information and send it through the User Datagram Protocol (UDP), and also cache the processed track information.

[0012] Thirdly, embodiments of the present invention provide a computer device, including a memory and a processor, wherein the memory stores a computer program, and the processor executes the computer program to implement any step of the above-described four-sided array cross-array track adhesion tracking method.

[0013] Fourthly, embodiments of the present invention provide a computer-readable storage medium having a computer program stored thereon, wherein: when the computer program is executed by a processor, it implements any step of the above-described four-sided array cross-array track adhesion tracking method.

[0014] Compared with existing technologies, the advantages of this invention are as follows: First, scene adaptive scheduling distinguishes four abnormal scenarios by calling the flag iFlag: long-period CT point loss, cross-array UT-CT matching, repeated batching in overlapping areas, and CT-CT association merging. It dynamically matches the corresponding discrimination logic and threshold, avoiding the association inaccuracy caused by the one-size-fits-all discrimination of traditional algorithms. Second, multi-feature and exclusive association integrates five-dimensional features such as slant range, azimuth, elevation angle, radial velocity, and RCS, as well as radial velocity in the same direction constraint. It strictly limits the matching of only one track to perform adhesion merging, ensuring high confidence in cross-array stitching. Third, dual anti-duplicate and status maintenance combines batch restriction and post-merging mechanisms, and synchronously updates the health status of the track (period, score, missing flag, filtering status). While avoiding repeated batching of the same target, it ensures the uniqueness of the target track and the continuity of tracking. Attached Figure Description

[0015] To more clearly illustrate the technical solutions of the embodiments of the present invention, the drawings used in the description of the embodiments will be briefly introduced below. Obviously, the drawings described below are only some embodiments of the present invention. For those skilled in the art, other drawings can be obtained based on these drawings without creative effort. Wherein: Figure 1 A flowchart of a four-sided array cross-array track adhesion tracking method; Figure 2 This is a structural diagram of a four-sided array cross-array track adhesion tracking system. Detailed Implementation

[0016] To make the above-mentioned objects, features and advantages of the present invention more apparent and understandable, the specific embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Obviously, the described embodiments are only some embodiments of the present invention, and not all embodiments.

[0017] Based on the embodiments of this invention, all other embodiments obtained by those skilled in the art without inventive effort should fall within the scope of protection of this invention.

[0018] Many specific details are set forth in the following description in order to provide a full understanding of the invention. However, the invention may also be practiced in other ways different from those described herein, and those skilled in the art can make similar extensions without departing from the spirit of the invention. Therefore, the invention is not limited to the specific embodiments disclosed below.

[0019] As mentioned in the background section, four-array radars, due to their multi-array spatial stitching and time-division illumination operation, are prone to track breakage caused by cross-array point loss and track duplication due to independent batching of overlapping areas during track association processing. Furthermore, existing association algorithms lack a unified scheduling architecture for various heterogeneous association requirements in multi-target dense scenarios. To address these issues, this invention provides a four-array radar cross-array track adhesion tracking method.

[0020] Reference Figures 1-2 , Figure 1 This is a flowchart of a four-sided array cross-array track adhesion tracking method according to an embodiment of the present invention. Figure 1 As shown, a four-sided array cross-array track adhesion tracking method includes: S1: Receive the track processing trigger signal, obtain the call flag iFlag and the track address rTrack to be processed; Specifically, the radar track scheduling module receives the track processing trigger scan signal, reads the real-time acquisition status, continuous loss period, track type, array affiliation and source redundancy relationship of each track in the current tracking period, and determines the track anomaly scenario corresponding to the track to be processed based on the reading results.

[0021] Specifically, a first call flag is generated when the confirmed track CT is continuously lost for a preset tracking period and a temporary track UT of the same origin as the confirmed track CT appears in the adjacent azimuth partition during the current tracking period; a second call flag is generated when the temporary track UT continuously obtains valid recorded points and there are continuously lost confirmed track CTs in the adjacent array; a third call flag is generated when the temporary track UT reaches the stage of track correction or new batch number determination and the temporary track UT is in the coverage overlap area of ​​the adjacent array; and a fourth call flag is generated when there are two confirmed track CTs corresponding to the same physical target in the adjacent azimuth partition.

[0022] In this embodiment, the first call flag, the second call flag, the third call flag, and the fourth call flag represent four scenarios, iFlag=1, iFlag=2, iFlag=3, and iFlag=4, respectively. The first call flag corresponds to the scenario of association processing of continuous loss of points in the confirmed track CT and the temporary track UT. The second call flag corresponds to the scenario of association processing of the cross-array temporary track UT and the confirmed track CT. The third call flag corresponds to the scenario of repeated batch restriction processing in the overlapping area. The fourth call flag corresponds to the scenario of association and merging of repeated tracks in the confirmed track CT.

[0023] Furthermore, the radar track scheduling module passes the address rTrack of the track to be processed while generating the call flag iFlag. The address rTrack is the array index address in the global track storage table. Based on the address rTrack, the module reads the track batch number, array number, azimuth partition number, slant range, azimuth angle, elevation angle, radial velocity, radar cross section (RCS), tracking period, continuous loss period, historical track coordinates, track extrapolation extraction flag extract, association matching window flag CorrWindow, local processing flag local, track confidence score, and Kalman filter parameters.

[0024] Preferably, the circumferential detection area of ​​the four-array radar is divided into multiple azimuth zones according to a preset angular interval, and each azimuth zone is numbered in circumferential order. The azimuth zones located in the boundary area between adjacent arrays are cyclically continuous in the index relationship, so that tracks located near the first and last numbers can search for adjacent azimuth zones that cross the array boundary.

[0025] S2: Based on the call flag iFlag, dispatch to the corresponding track association processing branch.

[0026] S2.1: When the call flag iFlag=1, perform the association processing of the continuous loss of points in the confirmation track CT and the temporary track UT.

[0027] S2.1.1: Read the confirmed track CT to be processed based on the track address rTrack to be processed, and verify the validity of the confirmed track CT to be processed.

[0028] In this embodiment, the track batch number of the confirmed track CT to be processed is not zero, the slant range of the confirmed track CT to be processed is greater than 1 kilometer, the continuous loss period of the confirmed track CT to be processed is greater than or equal to three tracking periods, and the azimuth zone number of the confirmed track CT to be processed is within the legal range cZoneNo∈[0,35]; false alarm tracks in the near range area are filtered by the condition that the slant range is greater than 1 kilometer.

[0029] S2.1.2: After the pending confirmation track CT passes the validity check, search for temporary tracks UT in the current azimuth partition, the left adjacent azimuth partition, and the right adjacent azimuth partition, with the azimuth partition where the pending confirmation track CT is located as the center.

[0030] It should be noted that the partitions are evenly divided into 35 sections according to 360° azimuth, and the partition indexes at the boundaries of cross arrays are cyclically continuous.

[0031] S2.1.3: Convert the radar polar coordinates of the confirmed track (CT) and the searched temporary tracks (UT) from radar polar coordinates to the radar station-centered rectangular coordinate system, and compare the multi-dimensional features of the last lost point of the track CT with the current period measured points of each temporary track UT to obtain a candidate matching temporary track set, specifically: Select the last valid filter point before continuous loss from the historical points of the confirmed track CT, and select the measured points of the current tracking cycle from each temporary track UT; perform time alignment on the last valid filter point and the measured points according to the scan cycle, and only perform feature comparison on point pairs whose time interval is within one scan cycle plus or minus 1 scan cycle. The absolute differences in slant range, azimuth, elevation, radial velocity, radar cross section (RCS), and three-dimensional Euclidean distance between each pair of points are calculated separately. The absolute difference in azimuth is normalized before calculation to eliminate numerical jumps caused when the azimuth crosses angular boundaries. When the absolute difference in slant range is less than 100 meters, the absolute difference in azimuth is less than 3 degrees, the absolute difference in elevation is less than 3 degrees, the absolute difference in radial velocity is less than 30 meters per second, the absolute difference in radar cross section (RCS) is less than 20 dB, and the three-dimensional Euclidean distance is less than 200 meters, the corresponding temporary track (UT) will be added to the candidate matching temporary track set.

[0032] It should be noted that the radar station's rectangular coordinate system adopts the East-North-Sky coordinate system.

[0033] S2.1.4: When the candidate set of matching temporary tracks contains only one temporary track UT, the temporary track UT is determined as the matching temporary track UT. The track status of the matching temporary track UT is updated first, and then the confirmed track CT to be processed is attached to the matching temporary track UT (that is, the CT track is attached to the UT track, the batch table is updated and the track point coordinates are smoothed before output).

[0034] Preferably, when the candidate matching temporary track set is empty, no temporary track UT that meets the matching conditions is obtained, and the pending confirmation track CT remains in its original lost state; when the candidate matching temporary track set includes more than two temporary tracks UT, the current matching relationship is not unique, each track remains in its original running state, and the partition search and multi-feature matching are re-executed in the next tracking cycle.

[0035] It should be noted that updating the track status of the matching temporary track (UT) includes: clearing the extraction flag, incrementing the period by 1, accumulating the score and limiting the amplitude, resetting the lost flag, and updating the filter. In the iFlag=1 scenario, duplicate processing is avoided through relevant window flags, and the local processing flag is used to distinguish whether the UT track has been processed.

[0036] S2.2: When the calling flag iFlag=2, perform the association processing of cross-array real-time track UT and acknowledgment track CT.

[0037] S2.2.1: Read the temporary track UT to be processed based on the track address rTrack to be processed, and verify the validity of the temporary track UT to be processed.

[0038] In this embodiment of the application, the temporary track to be processed (UT) has not yet been converted into a confirmed track (CT), the temporary track to be processed (UT) has valid recorded points for two consecutive tracking cycles, and the azimuth partition number of the temporary track to be processed (UT) is within the legal range.

[0039] S2.2.2: Using the azimuth partition where the temporary track UT is located as the center, search for confirmed tracks CT in the current azimuth partition and adjacent azimuth partitions, and filter the searched confirmed tracks CT in sequence according to the array number, radial velocity direction and continuous loss period.

[0040] Specifically, confirmed tracks (CTs) belonging to different arrays from the temporary track (UT) to be processed are retained; the radial velocity signs of the temporary track (UT) to be processed and the confirmed tracks (CTs) are compared. When the radial velocity signs are the same, it is determined that the radial velocity directions are the same. When the radial velocity is close to zero, it is also determined that the radial velocity directions are the same. Furthermore, confirmed tracks (CTs) that have been lost for three consecutive tracking cycles are retained.

[0041] S2.2.3: Calculate the absolute differences in slant range, azimuth, elevation, radial velocity, and radar cross section (RCS) between the temporary track to be processed (UT) and the confirmed track (CT) after filtering, and add the confirmed track (CT) that meets the corresponding conditions to the candidate matching confirmed track set.

[0042] Furthermore, when the absolute difference in slant range is less than 100 meters, the absolute difference in azimuth is less than 2 degrees, the absolute difference in elevation is less than 3 degrees, the absolute difference in radial velocity is less than 5 meters per second, and the absolute difference in radar cross section (RCS) is less than 20 dB, the corresponding confirmed track (CT) will be added to the candidate matching confirmed track set.

[0043] S2.2.4: When the candidate matching confirmed track set includes only one confirmed track CT, the confirmed track CT is determined as the matching confirmed track CT, and the track status update of the temporary track UT to be processed and the merging of the matching confirmed track CT and the temporary track UT to be processed are performed in sequence to realize cross-array track continuity.

[0044] Furthermore, when the candidate matching confirmed track set is empty or includes two or more confirmed tracks (CTs), the pending temporary track (UT) and each confirmed track (CT) maintain their original operating state. Track merging is not performed in the current tracking cycle, and the search and matching are re-executed in the next tracking cycle.

[0045] S2.3: When the flag iFlag=3 is called, the overlapping area repetition batching limit processing is performed.

[0046] S2.3.1: When the temporary track UT to be processed reaches the stage of track conversion or new batch number determination, take the bearing partition where the temporary track UT to be processed is located as the center and search for the confirmed track CT in the current bearing partition and the adjacent bearing partition.

[0047] S2.3.2: Filter the confirmed track CTs found based on the array number and radial velocity direction, and retain the confirmed track CTs that belong to different arrays and have the same radial velocity direction as the temporary track UT to be processed.

[0048] S2.3.4: Calculate the absolute difference in slant range, absolute difference in azimuth, absolute difference in elevation, and absolute difference in radial velocity between the temporary track to be processed (UT) and the confirmed track (CT) after filtering. Then, determine the corresponding confirmed track (CT) as the same source confirmed track (CT) and determine the confirmed track (CT) that meets the corresponding conditions as the same source confirmed track (CT).

[0049] Specifically, when the absolute difference in slant range is less than 50 meters, the absolute difference in azimuth is less than 1 degree, the absolute difference in elevation is less than 1 degree, and the absolute difference in radial velocity is less than 5 meters per second, the corresponding confirmed track CT will be determined as a same-source confirmed track CT; when no same-source confirmed track CT is obtained, the temporary track UT to be processed will be processed according to the original track conversion and batching process.

[0050] Furthermore, after obtaining the same-source confirmed track CT, the temporary track UT to be processed is restricted from performing the new batch number operation; the temporary track UT to be processed is not deleted in the current tracking period and is not directly merged with the same-source confirmed track CT. The temporary track UT to be processed continues to retain the temporary track attributes and basic tracking status, and the repeated batch determination is performed again in the next tracking period; when the conditions for the adhesion and merging of the confirmed track CT and the temporary track UT are met in the future, the temporary track UT to be processed is merged into the track processing link corresponding to the same-source confirmed track CT.

[0051] S2.4: When the call flag iFlag=4, perform the confirmation track CT duplicate track association merging process.

[0052] S2.4.1: Using the azimuth partition where the confirmed track CT to be processed is located as the center, search for other confirmed track CTs in the current azimuth partition and adjacent azimuth partitions, excluding the confirmed track CT to be processed, and retain other confirmed track CTs with the same radial velocity direction as the confirmed track CT to be processed.

[0053] S2.4.2: Calculate the absolute difference in slant range, the absolute difference in azimuth after angle normalization, the absolute difference in elevation, the absolute difference in radial velocity, and the absolute difference in radar cross section (RCS) between the confirmed track CT to be processed and each other confirmed track CT, and determine the other confirmed track CTs that meet the corresponding conditions as the same source confirmed track CTs.

[0054] Specifically, when the absolute difference in slant range is less than 100 meters, the absolute difference in azimuth is less than 2 degrees, the absolute difference in elevation is less than 3 degrees, the absolute difference in radial velocity is less than 3 meters per second, and the absolute difference in radar cross section (RCS) is less than 20 dB, the corresponding other confirmed track CTs will be identified as the same source confirmed track CTs.

[0055] Furthermore, the tracking periods of the confirmed track CT to be processed and the same source confirmed track CT are compared; when the tracking period of the confirmed track CT to be processed is less than the tracking period of the same source confirmed track CT, the confirmed track CT to be processed is marked as a track to be eliminated; when the tracking periods of the two confirmed track CTs are equal or the tracking period of the confirmed track CT to be processed is longer, the confirmed track CT to be processed is not marked as a track to be eliminated, and the two confirmed track CTs continue to maintain independent tracking status.

[0056] Furthermore, for confirmed tracks (CTs) marked as pending elimination, the track extrapolation extraction flag (extract) and the correlation matching window flag (CorrWindow) for the tracks to be eliminated are turned off. Reporting of the tracks to be eliminated to external devices is stopped, and track filtering and point correlation are no longer performed on the tracks to be eliminated. Track entries for the tracks to be eliminated are retained in the cache for a preset clearing period and deleted from the global track storage table after the preset clearing period is reached.

[0057] S3: Return the processing results of each branch and complete the current trajectory association tracking.

[0058] In the branch for processing the continuous loss of points in the confirmed track CT and the association of temporary track UT or the branch for processing the association of temporary track UT and confirmed track CT across arrays, when a unique matching track is obtained, the track status of the matching temporary track UT is updated.

[0059] Specifically, the track status update includes: clearing the track extrapolation extraction flag of the matching temporary track UT; increasing the tracking cycle count of the matching temporary track UT by one tracking cycle; increasing the track confidence score of the matching temporary track UT by 2 and limiting the track confidence score to no more than 10; resetting the track loss flag of the matching temporary track UT and clearing the track loss count to zero; enabling the association matching window flag CorrWindow of the matching temporary track UT; performing Kalman filter update on the matching temporary track UT before confirming the adhesion and merging of the track CT and the temporary track UT; the Kalman filter uses track position and track velocity as state variables, and radar measured slant range, azimuth angle and elevation angle of the current tracking cycle as measurements, and performs state prediction and measurement correction based on the effective associated measured points of the current tracking cycle; after completing the Kalman filter update, setting the local processing flag of the matching temporary track UT to 1, so that the matching temporary track UT will not enter other associated processing branches in the current tracking cycle.

[0060] Furthermore, the merging of track CTs and temporary track UTs specifically includes: performing a merging of confirmed track CTs and temporary track UTs, merging the track batch number, array source, historical track status, and corresponding track attributes of the confirmed track CTs into the matching temporary track UTs, and clearing the track table entries corresponding to the original confirmed track CTs or setting the original confirmed track CTs to a state of stopping participation in subsequent track processing; updating the tracking cycle count and historical track sequence in the batching table, arranging the merged track points in chronological order from newest to oldest, and using the three-dimensional X, Y, and Z coordinates of the historical track points as weighted smoothing objects; for the latest endpoint track point, selecting the current latest track point, the second newest adjacent historical track point, and the second-order historical track point from the previous position, weighting them according to a weight ratio of 5:2:-1, and then processing the weighted results. The results are normalized. For track points located in the middle of the historical track sequence, the track point to be smoothed, the new track point adjacent to the rear, and the old track point adjacent to the front are selected and weighted according to a weight ratio of 0.5:0.25:0.25. The above weighted smoothing process is performed on the three-dimensional X, Y, and Z coordinates of each track point to obtain the smoothed three-dimensional coordinate sequence of the historical track. The smoothed three-dimensional coordinates of the historical track are converted from the radar station-centered rectangular coordinate system to spherical coordinates including slant range, azimuth, and elevation. The processed track batch number, array number, track position, track speed, radar cross section (RCS), tracking period, track status, and historical track information are encapsulated and sent to the external track-using equipment via User Datagram Protocol (UDP). At the same time, the processed track information is written to the track cache.

[0061] In summary, this invention distinguishes abnormal track scenarios of a four-array radar by calling the iFlag flag, and assigns the following to different track association processing branches: continuous loss of confirmed track CT points, continuation of cross-array temporary track UT with confirmed track CT, repeated batching in overlapping areas, and coexistence of repeated confirmed track CT points. It narrows the candidate track range through azimuth partitioning search, performs multi-feature matching using slant range, azimuth angle, elevation angle, radial velocity, and radar cross section (RCS), and restricts the merging of uncertain tracks through unique matching constraints. It processes repeated tracks in stages by limiting the batching of temporary track UTs and marking confirmed track CTs to be eliminated. It maintains the continuity of track status and track point sequence after cross-array continuation by updating track status and weighted smoothing of historical track 3D coordinates.

[0062] Based on the teachings of the above embodiments, other aspects of the present invention also propose a four-sided array cross-array track adhesion tracking system, such as... Figure 2 As shown, it includes: The track receiving module is used to receive the track processing trigger scan signal and the track address rTrack to be processed, and to read the track data to be processed according to the track address rTrack; The track association scheduling module is used to generate a call flag iFlag based on the real-time acquisition status of the track, the continuous loss period, the track type, the array affiliation, and the same-source redundancy relationship, and to distribute the track to be processed to the corresponding track association processing branch according to the call flag iFlag. The legality verification module is used to verify the track type, track batch number, slant range, tracking period, continuous loss period and bearing partition number of the track to be processed; The partition search module is used to search for temporary tracks (UT) or confirmed tracks (CT) within the azimuth partition where the track to be processed is located and adjacent azimuth partitions, with the azimuth partition where the track to be processed is located as the center. The multi-feature matching module is used to calculate the absolute difference in slant range, azimuth, elevation, radial velocity, radar cross section (RCS), and three-dimensional Euclidean distance between the track to be processed and the searched track, and to filter the matching track according to the matching threshold of the corresponding track association processing branch. The track status update module is used to update the tracking cycle count, track confidence score, track loss flag, associated matching window flag, Kalman filter status, and local processing flag of the matching temporary track (UT). The track adhesion and merging module is used to merge the track attributes of confirmed track CTs into temporary track UTs, update the batching table and historical point sequence, perform weighted smoothing on the three-dimensional coordinates of historical tracks, and mark duplicate confirmed track CTs as to be eliminated. The track output module is used to convert the processed radar station center rectangular coordinates into spherical coordinates, encapsulate the processed track information and send it through the User Datagram Protocol (UDP), and also cache the processed track information.

[0063] This embodiment also provides a computer device applicable to the four-sided array cross-array track adhesion tracking method, including a memory and a processor; the memory is used to store computer-executable instructions, and the processor is used to execute the computer-executable instructions to implement the four-sided array cross-array track adhesion tracking method proposed in the above embodiment.

[0064] The computer device can be a terminal, comprising a processor, memory, communication interface, display screen, and input devices connected via a system bus. The processor provides computing and control capabilities. The memory includes non-volatile storage media and internal memory. The non-volatile storage media stores the operating system and computer programs. The internal memory provides an environment for the operation of the operating system and computer programs stored in the non-volatile storage media. The communication interface is used for wired or wireless communication with external terminals; wireless communication can be achieved through Wi-Fi, carrier networks, NFC (Near Field Communication), or other technologies. The display screen can be an LCD screen or an e-ink screen. The input devices can be a touch layer covering the display screen, buttons, a trackball, or a touchpad on the computer device's casing, or an external keyboard, touchpad, or mouse.

[0065] This embodiment also provides a storage medium storing a computer program that, when executed by a processor, implements the four-sided array cross-array track adhesion tracking method proposed in the above embodiments.

[0066] The storage medium proposed in this embodiment and the data storage method proposed in the above embodiments belong to the same inventive concept. Technical details not described in detail in this embodiment can be found in the above embodiments, and this embodiment has the same beneficial effects as the above embodiments.

[0067] It should be noted that the above embodiments are only used to illustrate the technical solutions of the present invention and are not intended to limit it. Although the present invention has been described in detail with reference to preferred embodiments, those skilled in the art should understand that modifications or equivalent substitutions can be made to the technical solutions of the present invention without departing from the spirit and scope of the technical solutions of the present invention, and all such modifications or substitutions should be covered within the scope of the claims of the present invention.

Claims

1. A method for tracking cross-array tracks using a four-sided array, characterized in that, include: Receive the track processing trigger signal, and obtain the call flag iFlag and the track address rTrac to be processed; Based on the invocation flag iFlag, the call is distributed to the corresponding track association processing branch; Return the processing results of each branch to complete this trajectory association tracking.

2. The four-sided array cross-array track adhesion tracking method as described in claim 1, characterized in that, The method for obtaining the iFlag call flag includes: When the confirmed track CT is continuously lost for a preset tracking period and a temporary track UT of the same origin as the confirmed track CT appears in the adjacent azimuth partition within the current tracking period, a first call flag is generated. When the temporary track UT continuously obtains valid admitted points and there are consecutive lost confirmed tracks CT on adjacent surfaces, a second call flag is generated; When the temporary track UT reaches the stage of track conversion or new batch number determination and the temporary track UT is in the overlapping area of ​​adjacent arrays, a third call flag is generated; When two confirmed track (CT) paths corresponding to the same physical target exist in adjacent azimuth partitions, a fourth call flag is generated.

3. The four-sided array cross-array track adhesion tracking method as described in claim 2, characterized in that, The first call flag, the second call flag, the third call flag, and the fourth call flag represent four scenarios with call flag iFlag=1, call flag iFlag=2, call flag iFlag=3, and call flag iFlag=4, respectively; The first call flag corresponds to the scenario of associated processing of continuous loss of points in the confirmed track CT and the temporary track UT. The second call flag corresponds to the scenario of associated processing of the temporary track UT and the confirmed track CT across the array. The third call flag corresponds to the scenario of repeated batch restriction processing in the overlapping area. The fourth call flag corresponds to the scenario of associated merging of repeated tracks in the confirmed track CT.

4. The four-sided array cross-array track adhesion tracking method as described in claim 3, characterized in that, Perform the association processing between the continuous loss of points on the confirmed track CT and the temporary track UT, including: Read the pending confirmation track CT based on the pending track address rTrack, and verify the legality of the pending confirmation track CT; After the pending confirmation track CT passes the legality verification, the temporary track UT is searched in the current azimuth partition, the left adjacent azimuth partition, and the right adjacent azimuth partition, with the azimuth partition where the pending confirmation track CT is located as the center. The radar polar coordinates of the confirmed track CT and the searched temporary tracks UT are converted to the radar station center rectangular coordinate system. The multi-dimensional features of the last lost point of the track CT and the current period measured point of each temporary track UT are compared to obtain a candidate matching temporary track set. When the candidate set of matching temporary tracks includes only one temporary track UT, the temporary track UT is determined as the matching temporary track UT. The track status of the matching temporary track UT is updated first, and then the confirmed track CT to be processed is attached to the matching temporary track UT.

5. The four-sided array cross-array track adhesion tracking method as described in claim 3, characterized in that, Perform the association processing of cross-array real-time track UT and confirmed track CT, including: Read the temporary track UT to be processed based on the track address rTrack, and verify the legality of the temporary track UT to be processed; Centered on the azimuth partition where the temporary track UT is located, search for confirmed tracks CT in the current azimuth partition and adjacent azimuth partitions, and filter the searched confirmed tracks CT according to the array number, radial velocity direction and continuous loss period. Calculate the absolute differences in slant range, azimuth, elevation, radial velocity, and radar cross section (RCS) between the temporary track to be processed (UT) and the screened confirmed track (CT), and add the confirmed track (CT) that meets the corresponding conditions to the candidate matching confirmed track set. When the candidate matching confirmed track set includes only one confirmed track CT, the confirmed track CT is determined as the matching confirmed track CT, and the track status update of the temporary track UT to be processed and the adhesion and merging of the matching confirmed track CT and the temporary track UT to be processed are performed in sequence to realize cross-array track continuity. When the candidate matching confirmed track set is empty or includes two or more confirmed tracks CT, the temporary track UT to be processed and each confirmed track CT maintain their original operating state. Track merging is not performed in the current tracking cycle, and the search and matching are re-executed in the next tracking cycle.

6. The four-sided array cross-array track adhesion tracking method as described in claim 3, characterized in that, Perform batch restriction processing for overlapping regions, including: When the pending temporary track UT reaches the stage of track conversion or new batch number determination, the confirmed track CT in the current azimuth partition and adjacent azimuth partitions is searched with the azimuth partition where the pending temporary track UT is located as the center. The confirmed track CTs found are filtered according to the array number and radial velocity direction, and the confirmed track CTs that belong to different arrays and have the same radial velocity direction as the temporary track UT to be processed are retained. Calculate the absolute difference in slant range, absolute difference in azimuth, absolute difference in elevation, and absolute difference in radial velocity between the temporary track to be processed (UT) and the confirmed track (CT) after filtering, and determine the confirmed track (CT) that meets the corresponding conditions as the same source confirmed track (CT); After obtaining the same source confirmed track CT, restrict the pending temporary track UT from performing the new batch number operation.

7. The four-sided array cross-array track adhesion tracking method as described in claim 3, characterized in that, Perform confirmation track CT duplicate track association merging processing, including: Centered on the azimuth partition where the confirmed track CT to be processed is located, search for other confirmed track CTs other than the confirmed track CT to be processed in the current azimuth partition and adjacent azimuth partitions, and retain other confirmed track CTs with the same radial velocity direction as the confirmed track CT to be processed. The absolute difference in slant range, the absolute difference in azimuth after angle normalization, the absolute difference in elevation, the absolute difference in radial velocity, and the absolute difference in radar cross section (RCS) between the confirmed track CT to be processed and each other confirmed track CT are calculated respectively, and other confirmed track CTs that meet the corresponding conditions are identified as confirmed track CTs from the same source. The tracking periods of the pending confirmed track CT and the same source confirmed track CT are compared; when the tracking period of the pending confirmed track CT is less than the tracking period of the same source confirmed track CT, the pending confirmed track CT is marked as a track to be eliminated; when the tracking periods of the two confirmed track CTs are equal or the tracking period of the pending confirmed track CT is longer, the two confirmed track CTs continue to maintain independent tracking. For confirmed tracks (CTs) marked as tracks to be eliminated, disable the track extrapolation extraction flag (extract) and the association matching window flag (CorrWindow) for the tracks to be eliminated, stop reporting the tracks to be eliminated to external devices, and no longer perform track filtering and point association on the tracks to be eliminated.

8. A four-sided array cross-array track adhesion tracking system, based on the four-sided array cross-array track adhesion tracking method according to any one of claims 1 to 7, characterized in that, include: The track receiving module is used to receive the track processing trigger scan signal and the track address rTrack to be processed, and to read the track data to be processed according to the track address rTrack; The track association scheduling module is used to generate a call flag iFlag based on the real-time acquisition status of the track, the continuous loss period, the track type, the array affiliation, and the same-source redundancy relationship, and to distribute the track to be processed to the corresponding track association processing branch according to the call flag iFlag. The legality verification module is used to verify the track type, track batch number, slant range, tracking period, continuous loss period and bearing partition number of the track to be processed; The partition search module is used to search for temporary tracks (UT) or confirmed tracks (CT) within the azimuth partition where the track to be processed is located and adjacent azimuth partitions, with the azimuth partition where the track to be processed is located as the center. The multi-feature matching module is used to calculate the absolute difference in slant range, azimuth, elevation, radial velocity, radar cross section (RCS), and three-dimensional Euclidean distance between the track to be processed and the searched track, and to filter the matching track according to the matching threshold of the corresponding track association processing branch. The track status update module is used to update the tracking cycle count, track confidence score, track loss flag, associated matching window flag, Kalman filter status, and local processing flag of the matching temporary track (UT). The track adhesion and merging module is used to merge the track attributes of confirmed track CTs into temporary track UTs, update the batching table and historical point sequence, perform weighted smoothing on the three-dimensional coordinates of historical tracks, and mark duplicate confirmed track CTs as to be eliminated. The track output module is used to convert the processed radar station center rectangular coordinates into spherical coordinates, encapsulate the processed track information and send it through the User Datagram Protocol (UDP), and cache the processed track information.

9. A computer device comprising a memory and a processor, wherein the memory stores a computer program, characterized in that: When the processor executes the computer program, it implements the steps of the four-sided array cross-array track adhesion tracking method according to any one of claims 1 to 7.

10. A computer-readable storage medium having a computer program stored thereon, characterized in that: When the computer program is executed by the processor, it implements the steps of the four-sided array cross-array track adhesion tracking method according to any one of claims 1 to 7.

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