A method and system for motorized association hysteresis backtracking aggregation display

Abstract

A kind of motor correlation hysteresis backtracking aggregation display method and system.Method includes: receiving multi-source air maneuvering target track point, speed vector, height, heading, timestamp, target type and detection confidence, generates target space-time state set;Based on spatial proximity, speed consistency, height layer proximity and heading coherence, construct maneuvering correlation graph, and generate maneuvering target aggregation cluster using hysteresis aggregation mechanism;According to aggregation cluster, generate cluster center, spatial envelope, motion trend, target number and target type composition, render aggregation display symbol in combination with display scale;When motion divergence, envelope expansion or user selected, expand display and backtrack source track point.The present application can improve the stability and traceability of situation display.

Description

Technical Field

[0001] This invention relates to the fields of aerial target situation display, multi-source track fusion, target aggregation display, human-computer interaction display, and aerial target situation awareness, and particularly to a maneuver-related hysteresis backtracking aggregation display method and system. Background Technology

[0002] In scenarios such as air situational surveillance, low-altitude security, airspace management, UAV swarm monitoring, air traffic surveillance, and emergency command, display systems typically need to simultaneously receive the status of numerous aerial maneuvering targets uploaded by radar, electro-optical detection, radio detection, ADS-B, ground stations, or multi-source fusion platforms. As the number of aerial targets increases, especially when multiple targets are in close proximity and maneuvering at high speeds, the display interface is prone to problems such as overlapping target symbols, label obstruction, intersecting flight paths, frequent changes in converged symbols, and difficulty in identifying local situations.

[0003] In existing technologies, solutions can simply aggregate targets based on distance, area range, number of targets, or display scale. They can also reduce interface complexity through target clustering, symbol filtering, label avoidance, or display de-crowding methods. However, the above solutions still have the following shortcomings.

[0004] First, existing target aggregation methods mainly rely on spatial distance or screen distance, and do not adequately consider the speed difference, altitude difference, heading coherence, detection consistency, and short-term predicted separation trend between targets. This can easily lead to the incorrect aggregation of aerial targets with different directions of motion, different altitude layers, or those that are about to separate.

[0005] Second, existing aggregation displays typically lack a hysteresis holding mechanism for maneuvering aerial targets. When the target is near the aggregation boundary or when the detection data fluctuates briefly, the aggregation display symbols tend to switch repeatedly between merging and splitting, causing display flickering and affecting the operator's judgment.

[0006] Third, existing aggregated display symbols usually only express the number of targets or their approximate location, making it difficult to simultaneously express the spatial envelope, movement trend, target type composition, and internal movement divergence of aggregated targets. As a result, although aggregation reduces display congestion, it also obscures key maneuver situation information.

[0007] Fourth, existing display expansion is usually based on the scale or user clicks, lacking expansion control coupled with internal motion divergence, spatial envelope expansion, and display congestion. This easily leads to problems such as failure to expand when it should, and causing new display congestion when it should not be fully expanded.

[0008] Fifth, existing aggregated displays, after expanding into sub-aggregate display symbols or single-target display symbols, typically lack stable source track indexes and versioned hierarchical mappings. This makes it difficult for users to trace back to the original track point from the display symbol level by level, and it is also not conducive to post-event verification of display operations and target sources.

[0009] Therefore, it is necessary to propose a maneuver-related hysteresis backtracking aggregation display method and system, which can perform stable aggregation based on the maneuver-related relationships between aerial maneuvering targets, reduce symbol overlap when displaying congestion, unfold in a timely manner when target motion differentiation occurs, and maintain the traceability relationship between aggregated display symbols, sub-aggregated display symbols, single target display symbols and source track points. Summary of the Invention

[0010] The purpose of this invention is to provide a maneuver-related hysteresis backtracking aggregation display method and system to solve the problems in existing air target situation displays, such as single target aggregation basis, easy error aggregation, frequent flashing of aggregation symbols, insufficient expression of maneuver trends after aggregation, mismatch between display deployment and actual motion differentiation, and difficulty in backtracking source track points.

[0011] This invention constructs a maneuvering correlation graph that includes spatial distance, speed difference, altitude difference, heading coherence, detection consistency, and predicted separation increment. It then generates stable maneuvering target clusters by combining correlation edge lifetime, acceptance threshold, hold threshold, and lifetime hold threshold. The aggregated display and expanded display are controlled according to spatial envelope, motion trend, display congestion, and internal motion divergence. The correspondence between the displayed objects and the original track points is maintained through source track index and hierarchical mapping, thereby improving the stability, readability, and traceability of dense aerial target display scenarios.

[0012] To achieve the above objectives, the present invention provides a method for displaying motor-related hysteresis backtracking aggregation, comprising: Receive the status of maneuvering aerial targets from multiple sources and generate a set of spatiotemporal states of the targets according to a unified time base. and source track index ; based on Spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment generation of side state vectors for target pairs. And combined with the lifetime of the related edge in the previous display cycle Generate a motion association graph ; according to Generate correlation strength ,by Accept new related edges, in order to or Maintain the existing related edges from the previous period, among which To form a set of edges that maintain their association , and by Generate maneuvering target clusters ;

[0013] based on Generate cluster center, spatial envelope, motion trend, number of targets, target type composition, and internal motion divergence. Among them, internal movement disagreements The cluster center, spatial envelope, and motion trend are generated simultaneously during the aggregation situation generation stage and serve as inputs for subsequent qualitative cluster scoring and expansion judgment. Display hierarchy is generated based on display scale, screen pixel density, spatial envelope projection size, and display crowding. and render aggregated display symbols; when When the limit is exceeded, the spatial envelope is expanded, or the user selects or the display scale is enlarged, only the corresponding The inner expansion is divided into sub-aggregate display symbols or single-target display symbols, and generated. Hierarchical mapping to display symbols ; This week's results will only be updated. Not included in this cycle Input, Only for input in the next display cycle.

[0014] The present invention also provides a motor-related hysteresis backtracking aggregation display system, comprising: The target state alignment module is used to receive the states of multi-source aerial maneuvering targets and generate a set of target spatiotemporal states. and source track index ; The mobility association diagram generation module is used to generate a graph based on... Spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment generation of side state vectors for target pairs. And combined with the associated edge lifetime of the previous display cycle Generate a motion association graph ; Hysteresis edge preservation module, used to determine the basis for... Generate correlation strength According to the aggregation acceptance threshold Aggregation retention threshold and lifetime retention threshold Form a set of edges that maintain association ,in , and by Output maneuvering target cluster ; The aggregation situation generation module is used to generate situations based on... Generate cluster center, spatial envelope, motion trend, number of targets, target type composition, and internal motion divergence. ; The display hierarchy rendering module is used to generate display hierarchy based on display scale, screen pixel density, spatial envelope projection size, and display crowding. and render aggregated display symbols; Expand the backtracking module, used to... When the limit is exceeded, the spatial envelope is expanded, or the user selects or the display scale is enlarged, only the corresponding Expand the display and generate the source track index. Hierarchical mapping to display symbols ; The output of the expansion backtracking module is not written back to the input of the current cycle's motion correlation diagram generation module.

[0015] Compared with the prior art, the present invention has at least the following beneficial effects.

[0016] First, the present invention generates edge state vectors based on the spatial distance, speed difference, altitude difference, heading coherence, detection consistency and predicted separation increment of target pairs, and generates a maneuver association graph accordingly. This makes target aggregation no longer dependent on spatial distance or screen distance, but simultaneously considers the current maneuver consistency and short-term predicted separation trend of aerial targets, which can reduce the situation where targets with different headings, different altitude layers or about to separate are incorrectly aggregated.

[0017] Second, this invention uses aggregated acceptance thresholds. Aggregation retention threshold and lifetime retention threshold Forming a hysteresis edge preservation mechanism, and enabling It can avoid frequent merging and splitting of aggregated display symbols when the target is in a critical association state, thereby reducing display flicker caused by rapid changes in aerial maneuvering targets.

[0018] Third, this invention introduces associated edge lifetime. This allows weak but historically stable associated edges to continue participating in cluster analysis within the current period, preventing clusters from being immediately destroyed by single detection errors, short-term occlusion, or track jitter, thus improving the temporal continuity of maneuvering target clusters.

[0019] Fourth, this invention maintains the set of associated edges. Generate maneuvering target clusters Furthermore, it generates cluster center, spatial envelope, motion trend, target quantity and target type composition, enabling the aggregated display symbols to express the overall spatial range, motion direction and target composition of the aerial target cluster, rather than just displaying simple quantity markers, thus improving the information carrying capacity of the aggregated display.

[0020] Fifth, this invention generates display layers based on display scale, screen pixel density, spatial envelope projection size, and display crowding. It can reduce symbol overlap when displaying a large area and restore the details of sub-aggregates or single targets when zooming in locally or relieving congestion, thus balancing display simplicity and target detail expression.

[0021] Sixth, the present invention has internal movement branching. When exceeding limits, spatial envelope expansion, or user selection or zooming in on the display scale, clustering only occurs for the corresponding maneuvering target. The internal expansion display can prevent targets from being forcibly aggregated when they have already moved and differentiated, and also prevent irrelevant areas from being expanded along with them, causing new display congestion.

[0022] Seventh, this invention utilizes source track indexing. and hierarchical mapping Record the correspondence between source waypoints, aerial maneuvering targets, single target display symbols, sub-aggregate display symbols, and aggregate display symbols, enabling users to trace back to the source waypoint step by step from the aggregate display symbols, thus improving the interpretability and verifiability of the aggregate display results.

[0023] Eighth, this invention explicitly limits the results of this cycle to updating only the hierarchical mapping. Not included in the current cycle's motion correlation diagram. Input, associated edge lifetime It is used only as input for the next display cycle, thereby avoiding the display expansion results from affecting the aggregation calculation of the current cycle, preventing data processing loop dependencies, empty loops or infinite loops, and improving the stability of system operation. Attached Figure Description

[0024] Figure 1 This is a schematic diagram of the overall process of the motor association hysteresis backtracking aggregation display method provided in the first embodiment of the present invention.

[0025] Figure 2 This is a schematic diagram of the overall structure of the motor association hysteresis backtracking aggregation display system provided in the second embodiment of the present invention. Detailed Implementation

[0026] The following detailed description, in conjunction with specific embodiments, illustrates a method and system for displaying maneuver-related hysteresis backtracking aggregation. In this embodiment, the aerial maneuvering target can be an airborne vehicle, drone, aircraft, low-altitude moving target, or other aerial target with a flight path; the multi-source aerial maneuvering target status can originate from radar, electro-optical detection equipment, radio detection equipment, ADS-B (Automatic Dependent Surveillance-Broadcast) receiving equipment, ground stations, or multi-source fusion platforms; the display period... The time cycle for the display system to perform a state reception, correlation calculation, aggregation generation, display rendering, and expansion backtracking process.

[0027] This implementation method employs a unidirectional data processing approach based on display cycles. In each display cycle... Inside, the system receives the status of maneuvering aerial targets from multiple sources and generates a set of spatiotemporal states of the targets. and source track index Then, based on the spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment of the target pair, a side state vector is generated. And combined with the lifetime of the related edge in the previous display cycle Generate a motion association graph Then, the system determines the correlation strength. Aggregation acceptance threshold Aggregation retention threshold and lifetime retention threshold Form a set of edges that maintain association By maintaining the set of associated edges Generate maneuvering target clusters Then generate cluster center, spatial envelope, motion trend, number of targets, target type composition, and internal motion divergence. Display hierarchy is generated based on display scale, screen pixel density, spatial envelope projection size, and display crowding. Render the aggregated display symbols. If the unfolding condition is triggered, it will only appear in the corresponding maneuvering target aggregate cluster. Expand the display and generate the source track index. Hierarchical mapping to display symbols This week's expansion results only update the hierarchical mapping. Not included in the current cycle's motion correlation diagram. Input, associated edge lifetime It is used only as input for the next display cycle, thereby avoiding a cyclic dependency between the display of the unfolded result and the generation of the motion relational graph.

[0028] The overall beneficial effects of this implementation are as follows: by introducing predicted separation increments and associated edge lifetimes into the maneuvering correlation graph, the system can distinguish between targets that are "currently close but about to separate" and targets that are "currently experiencing short-term disturbances but historically stable," thereby reducing erroneous aggregation and premature splitting; and by setting an aggregation acceptance threshold... Greater than the aggregation retention threshold This prevents aggregated display symbols from flickering frequently under critical conditions; it determines display hierarchy by combining display crowding and spatial envelope projection size, ensuring readability of display symbols in dense situations; and it utilizes internal motion branching... Spatial envelope expansion triggers unfolding, enabling the timely recovery of details from aggregated clusters undergoing motion differentiation; through source track indexing. and hierarchical mapping This ensures that the aggregated display symbols, sub-aggregated display symbols, single target display symbols, and source track points maintain a traceable relationship.

[0029] First Embodiment

[0030] like Figure 1 As shown, the first embodiment provides a method for displaying motor-related hysteresis backtracking aggregation, which includes the following steps.

[0031] Step 1: Receive the status of multi-source aerial maneuvering targets and generate a set of target spatiotemporal states and source track indices.

[0032] Receive the status of maneuvering aerial targets from multiple sources and generate a set of spatiotemporal status of the targets according to a unified time base. and source track index Target spatiotemporal state set Includes multiple target states Target state At least include the target location velocity vector ,high Heading angle Target type Detection confidence and detection source identification .

[0033] in, To display the cycle The target set of spatiotemporal states To display the cycle The source track index. To display the cycle No. The target status of an aerial maneuvering target. For the first The location of an aerial maneuvering target. For the first The velocity vector of an aerial maneuvering target For the first The altitude of an aerial maneuvering target For the first The heading angle of a maneuvering aerial target. For the first Target types of aerial maneuvering targets, For the first Detection confidence level of a single aerial maneuvering target. For the first Detection source identifier for an aerial maneuvering target. Indicates the serial number of the aerial maneuvering target.

[0034] In practice, the system first converts the track points, velocity vectors, altitudes, heading angles, timestamps, target types, and detection confidence levels uploaded from different detection sources to a unified time reference. For the same aerial maneuvering target with track points uploaded from different detection sources, the system generates the same target state when the timestamp differences, spatial residuals, and velocity residuals between the different track points meet the fusion conditions. and in the source track index The corresponding source identifier, original track point time, original track point number, and fusion version number are written into it. Source track index. It does not directly participate in the correlation strength calculation, but is used for subsequent display of symbol expansion and source track point tracing.

[0035] When a maneuvering aerial target does not receive new waypoints within a short period, and the confidence level of the target's most recent detection is higher than the extrapolation confidence threshold, the system can generate a predicted extrapolation shadow symbol. The predicted extrapolation shadow symbol is used to indicate the target's short-term predicted position on the display interface, but it is not included in the maneuvering correlation diagram. The formal node does not participate in the edge state vector. Correlation strength and maintain the set of associated edges The calculation.

[0036] The predicted position of the extrapolated shadow symbol can be generated using the following formula: , in, For the first A maneuvering aerial target The predicted extrapolated position at a given time. For the first Aerial maneuvering targets during the display cycle Location, For the first Aerial maneuvering targets during the display cycle The velocity vector, For predicting time intervals, The number indicates the sequence number of the aerial maneuvering target, and the cap number indicates the predicted value rather than the measured value from the detection source.

[0037] When this step involves a model, a multi-source track fusion model can be used. The training samples for the multi-source track fusion model include historical multi-source track points, corresponding timestamps, spatial residuals, velocity residuals, detector source identifiers, detector confidence scores, and manually confirmed labeling results for the same target. During training, the time difference, spatial residual, velocity residual, and detector confidence scores of the track point pairs to be fused are input into the multi-source track fusion model, causing the model to output a judgment result on whether they belong to the same aerial maneuvering target, and the model parameters are adjusted based on the manually confirmed labels. After training, the multi-source track fusion model is used in the display cycle. Internally generate target state and source track index .

[0038] In this step, the states of multi-source aerial maneuvering targets are first unified into a set of target spatiotemporal states. Target spatiotemporal state set This is the subsequent maneuvering correlation diagram. Edge state vector Correlation strength Maneuvering target cluster and display hierarchy Basic input; source track index With the target state Generates synchronously, but only for subsequent hierarchical mapping. And source tracing, not participating in the current cycle's motion correlation diagram The reverse update; the predictive extrapolation shadow symbol is only used as an auxiliary display object and does not change The formal node relationships in the [system / mechanism].

[0039] This step transforms aerial maneuvering target data from different sources, with different time bases, and varying levels of confidence into a unified set of target spatiotemporal states. And simultaneously retain the source track index. Its beneficial effect is that it can reduce the impact of temporal inconsistencies and spatial errors in multi-source detection data on subsequent aggregation and display, while providing a source data foundation for subsequent backtracking.

[0040] Step 2: Generate edge state vectors and construct a motion association graph.

[0041] Based on the target spatiotemporal state set Spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment generation of side state vectors for target pairs. And combined with the lifetime of the related edge in the previous display cycle Generate a motion association graph Mobility Relationship Diagram Using aerial maneuvering targets as nodes, candidate associated edges represent the maneuvering relationships between aerial maneuvering targets.

[0042] For display cycle The The first aerial maneuvering target and the first A maneuvering aerial target, the edge state vector Predicting the separation increment and correlation strength Generate as follows: , , in, For a moment No. The first aerial maneuvering target and the first The edge state vector between aerial maneuvering targets For three-dimensional spatial distance, For the difference in speed, For height difference, The heading angle, To detect consistency, To predict the separation increment, and The first The and the first The location of an aerial maneuvering target. and The first The and the first The velocity vector of an aerial maneuvering target For predicting time intervals, For correlation strength, , , , , and These are weighting coefficients for spatial distance, velocity difference, altitude difference, heading angle, detection consistency, and predicted separation increment, respectively. , and These are the normalized scales for spatial distance, velocity difference, and height difference, respectively. It is a natural exponential function. It is a cosine function. For vector norm, It is an absolute value function. It is a function with maximum value. and These represent the serial numbers of different aerial maneuvering targets.

[0043] Among them, the predicted separation increment Used to indicate the target pair in the prediction time interval The trend of distance change afterward. When When the value is positive and large, it indicates that although two aerial maneuvering targets may be close at present, they will separate according to the current velocity vector prediction; at this time, the correlation strength is... pass This is reduced, thereby decreasing the likelihood of soon-to-be-separated targets being incorrectly aggregated. When When the value is less than or equal to 0, it indicates that the two aerial maneuvering targets have no predicted separation trend or have a tendency to approach each other, and the predicted separation increment does not penalize the correlation strength.

[0044] In specific implementation, it can be based on the first... Target location of the aerial maneuvering target and the Target location of the aerial maneuvering target Calculate three-dimensional spatial distance According to the velocity vector of an aerial maneuvering target and the velocity vector of an aerial maneuvering target Calculate the difference in speed Angle with heading According to the altitude of aerial maneuvering target and the altitude of aerial maneuvering target Calculate height difference According to the Detection source identifier of an aerial maneuvering target , No. Detection source identifier of an aerial maneuvering target , No. Detection confidence level of individual aerial maneuvering targets and the Detection confidence level of individual aerial maneuvering targets Calculate the consistency of detection When there are many targets, candidate target pairs can be filtered first using spatial proximity, and then the first target pair can be calculated. The first aerial maneuvering target and the first The edge state vector between aerial maneuvering targets This is to reduce the computation of invalid objectives.

[0045] This step can be implemented using an association strength model. The training samples for the association strength model include the spatial distance, velocity difference, altitude difference, heading angle, detection consistency, predicted separation increment, lifetime of the associated edge in the previous display period, and manually confirmed same-group or different-group labels for historical target pairs. During training, the historical edge state vectors are input into the association strength model, causing the model to output association strength or probability consistent with the manually labeled values, and the spatial distance weighting coefficient is adjusted based on the error. Weighting coefficient for speed difference Height difference weighting coefficient Weighting coefficient of heading angle Detection consistency weighting coefficient and prediction separation incremental weighting coefficient When not employing a machine learning model, the weighting coefficients can also be pre-configured based on the airspace type, target velocity range, and display task.

[0046] In this step, the target spatiotemporal state set edge state vector Provides target position, velocity vector, altitude, heading angle, target type, detection confidence level, and detection source identifier; edge state vector. Further generate correlation strength The previous display cycle associated edge lifetime. Only used as historical stability input in the motion correlation graph The generation of the [data] is not directly updated by the results of the current cycle; [the data] is related to the [data] motion. The output is then processed by the subsequent hysteresis edge holding process.

[0047] This step uses a graph structure to represent the maneuvering relationships between aerial targets. Compared to aggregating targets solely by spatial distance, this step can simultaneously consider speed, altitude, heading, detection consistency, and predicted separation trends, reducing the erroneous aggregation of targets with different maneuvering intentions.

[0048] Step 3: Form a set of edges that maintain their association based on the acceptance threshold, the retention threshold, and the lifetime of the associated edges.

[0049] Based on the edge state vector generated correlation strength ,by Accept new related edges, in order to or Maintain the existing related edges from the previous period, among which To form a set of edges that maintain their association .

[0050] Associated edge lifetime and maintain the set of associated edges Generate as follows: , , in, To display the cycle No. The first aerial maneuvering target and the first The correlation lifetime between aerial maneuvering targets For the previous display cycle The first aerial maneuvering target and the first The correlation lifetime between aerial maneuvering targets This is the historical smoothing coefficient. This is an indicator function that takes the value 1 when the condition is true and takes the value 0 when the condition is false. For the first The first aerial maneuvering target and the first The correlation strength between individual aerial maneuvering targets To display the cycle The set of edges that remain connected For the set of edges that remain connected in the previous display cycle, This is the aggregation acceptance threshold. To maintain a threshold for aggregation, To maintain a lifespan threshold, Represents logical OR, This represents logical AND. and These represent the serial numbers of different aerial maneuvering targets.

[0051] In practice, if a target pair did not belong to the set of edges that maintain association in the previous display period... Then only if its correlation strength in this period is Not lower than the aggregation acceptance threshold Only when a target pair already belongs to the set of edges that maintain association is it accepted as a new edge. Then, when its correlation strength in this period Not lower than the aggregation retention threshold or its associated edge lifetime Not lower than the lifetime retention threshold At that time, continue to retain the set of edges that maintain association. middle.

[0052] when and When this happens, the corresponding associated edge is marked as a short-term weakened edge. Short-term weakened edges only participate in the cluster retention judgment for the current period and are not used as the basis for accepting new clusters. If a short-term weakened edge still fails to meet the cluster retention threshold in subsequent consecutive display periods... And the lifetime of the associated edge Gradually decrease to below the lifespan retention threshold Then the associated edge will no longer be included in the set of edges that are kept as associated edges. .

[0053] This step can be implemented using a threshold adaptive model. The training samples for the threshold adaptive model include historical association strength sequences, association edge lifetime sequences, display blink counts, manually confirmed aggregation and retention results, and user deployment operation records. During training, historical samples under different spatial densities, target velocity ranges, and detection stability conditions are input into the threshold adaptive model, allowing the model to output an aggregation and acceptance threshold suitable for the current scenario. Aggregation retention threshold and lifetime retention threshold The training objectives are to reduce error aggregation, error splitting, and display flicker. After training, the threshold adaptive model can adjust the threshold according to the spatial scene, target density, and detection stability, but always maintains a consistent threshold. .

[0054] In this step, the correlation strength From step two, the set of associated edges maintained in the previous display cycle. The lifespan associated with the previous display cycle Input is the historical state; this step outputs the current display cycle associated edge lifetime. and maintain the set of associated edges Maintain the set of associated edges Used to generate clusters of maneuvering targets The current display cycle is associated with the lifespan of the edge. It is only saved as input for the next display cycle and is not repeatedly updated within the current cycle.

[0055] This step will generate the motion association diagram. Candidate associations are transformed into a set of association-preserving edges with hysteresis preservation capability. It can avoid repeated merging and splitting of aggregation symbols when the target correlation strength fluctuates critically, and can also improve the correlation edge lifetime. Suppress premature splitting caused by short-term detection errors.

[0056] Step 4: Generate a cluster of maneuvering targets from the set of edges that maintain association and calculate the cluster stability score.

[0057] By maintaining the set of associated edges Generate maneuver target clusters from connected subgraphs Each maneuvering target cluster Corresponding to the set of associated edges The set of aerial maneuvering targets contained in a connected subgraph. For isolated nodes, if the aerial maneuvering target does not have any connecting edges with other targets, it can be treated as a single target object.

[0058] To further determine whether the cluster is stable, the current maneuvering target cluster can be obtained. Subsequently, the internal motion divergences generated simultaneously during the convergence state generation phase were considered. The polymerization stability score is generated according to the following formula: , in, To display the cycle No. Aggregation stability score of individual maneuvering target clusters. Clustering of maneuvering targets Maintain the average association strength of associated edges within the region. Clustering of maneuvering targets Maintain the average lifetime of associated edges within the context of associated edges. Clustering of maneuvering targets The number of times members change within a preset time window. The internal movement divergences that have already emerged during the current stage of convergence formation, , , and These are weighting coefficients for average association strength, average association edge lifetime, number of membership changes, and internal motion divergence, respectively. This is the cluster number of the maneuvering target.

[0059] In specific implementation, if Above the stability threshold and internal motion divergence If there are no consecutive limit violations, then even if the maneuvering targets are clustered together... Memory weakens edges briefly, which also delays the splitting of the maneuvering target cluster. If Below the stability threshold, or internal motion divergence If the limit is exceeded continuously, subsequent backtracking steps are allowed to display the maneuvering target cluster as a sub-aggregate or as a single target.

[0060] This step can be implemented using an aggregation stability evaluation model. The training samples for this model include the average association strength, average associated edge lifetime, number of member changes, internal motion divergences, manually verified stable aggregation results, and user expansion operation records of historical aggregation clusters. During training, the aggregation stability score output by the model is made consistent with the manually verified stability label, and the weighting coefficients are adjusted based on erroneous aggregations, erroneous splits, and display flickering. , , and .

[0061] In this step, the set of associated edges is maintained. It is a cluster of maneuvering targets. Direct input; correlation strength and associated edge lifetime Summarized into and Number of member changes It is derived from the changes in historical aggregated members within the current display cycle and preset time window; internal motion divergence. This is generated synchronously in step five during the convergence situation generation phase and serves as the input for the convergence stability score in this step; maneuvering target convergence cluster. This serves as input for subsequent aggregation state generation and display hierarchy rendering.

[0062] This step will maintain the set of associated edges. Convert into a displayable and evaluable cluster of maneuvering targets. This enables the system to identify which clusters have historical stability, thus preventing stable clusters from being prematurely split due to short-term edge weakening.

[0063] Step 5: Generate cluster center, spatial envelope, motion trend, number of targets, target type composition, and internal motion divergence.

[0064] Based on maneuvering target clusters Generate cluster center Spatial envelope Movement trends Number of targets, composition of target types, and internal movement divergences .

[0065] Cluster center and sports trends Generate using the following formula: , , in, To display the cycle No. The cluster center of a cluster of maneuvering targets. To display the cycle No. The movement trend of individual maneuvering target clusters To display the cycle No. The set of aerial maneuvering targets in a cluster of maneuvering targets For the first The display weight of each aerial maneuvering target is determined by the target type, detection confidence level, and display priority. For the first The location of an aerial maneuvering target. For the first The velocity vector of an aerial maneuvering target Indicates the serial number of the aerial maneuvering target. This indicates the cluster number of the maneuvering target.

[0066] Spatial envelope Cluster of maneuvering targets The position projections of each aerial maneuvering target are generated, and can be represented using bounded polygons, bounded ellipses, bounded rectangles, or three-dimensional envelopes. The number of targets is a cluster of maneuvering targets. The number of maneuvering targets in the air. Target types are composed of clusters of maneuvering targets. Target types of various aerial maneuvering targets Statistical generation is used to display target composition information in aggregated display symbols.

[0067] Display weights Based on target type Detection confidence And display priority generation. When a target type has a higher display priority, higher detection confidence, or is locked in by the user, the corresponding display weight is adjusted. It can be improved to make it more relevant to the cluster center. and sports trends The impact is increasing.

[0068] Internal movement divergence Generate during the aggregation state generation stage according to the following formula: , in, To display the cycle No. Internal motion divergence of individual maneuvering target clusters Clustering of maneuvering targets The dispersion of the speed of a maneuvering target in the interior air. Clustering of maneuvering targets The dispersion of the heading angle of a maneuvering target in the interior air. Clustering of maneuvering targets The dispersion of altitude of maneuvering targets in the interior air. spatial envelope Spatial envelope relative to the previous display period The expansion rate, , , and These are the weighting coefficients for velocity dispersion, heading dispersion, altitude dispersion, and spatial envelope expansion, respectively. This is the cluster number of the maneuvering target.

[0069] Spatial envelope expansion rate Based on the current spatial envelope and the spatial envelope of the previous display period The change in projected area or envelope volume is determined. When maneuvering targets aggregate... When a cluster can be matched with the corresponding cluster from the previous display cycle, the spatial envelope of the previous display cycle is used. As a benchmark for expansion rate calculation; when maneuvering targets cluster together If the cluster is newly generated in this period, or if a corresponding cluster could not be matched in the previous display period, then... Set to 0, or use the current spatial envelope As a baseline envelope, it does not trigger expansion caused solely by envelope expansion rate.

[0070] This step can be implemented using an explicit weight allocation model. The training samples for the explicit weight allocation model include target type, probe confidence, historical user attention actions, task priority, and manually confirmed explicit weight results. During training, these samples are input into the explicit weight allocation model, causing the model to output explicit weights. The model parameters are adjusted based on manually confirmed weight labels or user feedback. After training, the display weight allocation model is used to assign display weights to the target in different task scenarios.

[0071] In this step, the maneuvering target cluster... Provides the set of targets within the cluster, and the target locations. and display weight Jointly determine the cluster center velocity vector and display weight Together they determine the trend of the movement The set of target locations determines the spatial envelope. Target type The target type composition is determined; this aggregated situational data is further input into the display hierarchy. The generation and aggregation of display symbols are rendered. Cluster center. Spatial envelope Movement trends Number of targets, composition of target types, and internal movement divergences Together, they constitute the aggregated situational data for this period; among them, internal movement divergences This is further used as input for aggregation stability scoring and expansion judgment.

[0072] This step will cluster maneuvering targets. Convert the aggregated situational information required for airborne situational display so that the aggregated display symbols can express the center position, spatial range, direction of movement, number of targets, and composition of target types of target clusters, rather than just displaying simple quantity markers.

[0073] Step 6: Generate display congestion level and determine display hierarchy.

[0074] Display hierarchy is generated based on display scale, screen pixel density, spatial envelope projection size, and display crowding. And render aggregate display symbols.

[0075] The display interface can be divided into multiple screen areas. For the first... The display congestion level for each screen area is generated according to the following formula: , in, To display the cycle No. Display congestion in each screen area For the first The number of symbols displayed in each screen area. For the first The number of tabs displayed in each screen area. To display the weighting factor for the number of labels, For the first The area of ​​each screen region Screen area number, superscript Indicates objects related to display symbols, superscript This indicates that the object related to the label is being displayed.

[0076] In practical implementation, spatial envelope Project onto the current display interface, and calculate the spatial envelope projection size based on the display scale and screen pixel density. When the spatial envelope... The screen projection size is smaller than the pixel separation threshold and the number of targets is greater than the number threshold, or the display crowding of the corresponding screen area is high. When the crowding level exceeds the threshold, the hierarchy will be displayed. Set as an aggregated display level and render an aggregated display symbol comprising the cluster center, spatial envelope outline, motion trend arrows, target quantity, and target type. This applies when the screen projection size is not less than the pixel separation threshold and the display crowding is... When the level is below the release threshold, the hierarchy will be displayed. Set it to a sub-aggregate display level or a single-target display level.

[0077] The congestion threshold can be greater than the release threshold to avoid frequent switching of display levels around the congestion threshold. Aggregated display levels are used to reduce symbol overlap in dense display environments; sub-aggregated display levels are used to display some details while maintaining overall readability; single-target display levels are used to display a single aerial maneuvering target when the display scale is sufficiently magnified or the display congestion is low.

[0078] This step can be implemented using a display hierarchy control model. The training samples for the display hierarchy control model include historical display scales, screen pixel densities, spatial envelope projection sizes, number of targets, display congestion levels, user zoom operations, user expand operations, and manually confirmed display hierarchies. During training, the display hierarchy control model learns the appropriate display hierarchies for different display scales and congestion levels, with the training objectives being to reduce symbol overlap, reduce label occlusion, and preserve key situational information. After training, the display hierarchy control model is used to assist in generating display hierarchies. .

[0079] In this step, the spatial envelope Cluster center Movement trends The number and type of targets are derived from step five; the display scale and screen pixel density are derived from the current interface state of the display system; the number of displayed symbols... and display the number of tags The display hierarchy is determined based on the rendered interface from the previous display cycle, or based on the statistical results of the pre-layout candidate displays for this cycle, and is not ultimately determined in this step. Reverse generation; the above data together determine the display hierarchy. The rendering method for aggregated display symbols. Display hierarchy. Further developments will be made regarding backtracking and hierarchical mapping. Input.

[0080] This step adaptively determines the display method based on the target aggregation situation and the congestion of the display interface. It can reduce the overlap of display symbols and the occlusion of labels in large-scale, dense target scenes, while restoring target details when zoomed in locally or when congestion is reduced.

[0081] Step 7: Determine the deployment conditions and trigger deployment based on the internal motion divergence.

[0082] Based on the internal motion divergence generated in step five Determine the corresponding maneuvering target cluster. Should the display be expanded?

[0083] when The value is greater than the motion divergence threshold, or in the presence of a reference envelope from the previous cycle. When the value exceeds the envelope expansion threshold, it indicates that the consistency of target movement within the maneuvering target cluster has decreased or the spatial range has significantly expanded. Continuing to represent it with a single cluster display symbol may obscure the true maneuvering situation, thus triggering the expansion of the corresponding cluster display symbol.

[0084] In specific implementation, if Exceeding limits but displaying congestion level If the value is still high, then the aggregated display symbol will be expanded into sub-aggregated display symbols first; if Exceeding limits and displaying congestion level If the target is below the release threshold, it can expand into a single target display symbol; expansion can also be triggered if the user selects a clustered display symbol or zooms in to meet the single target display conditions. The expansion range is limited to the corresponding maneuvering target cluster. Within the cluster, no additional deployment will be performed on other maneuvering target clusters that have not triggered deployment conditions.

[0085] This step can be implemented using a deployment strategy model. The training samples for the deployment strategy model include the velocity dispersion, heading dispersion, altitude dispersion, spatial envelope expansion rate, display congestion, user selection operations, display scale changes, and manually confirmed deployment levels for historical maneuvering target clusters. During training, the deployment strategy model outputs aggregated display levels, sub-aggregated display levels, or single-target display levels, with the training objectives being to avoid over-aggregation, avoid over-deployment, and reduce display congestion.

[0086] In this step, the maneuvering target cluster... Spatial envelope The previous display periodic spatial envelope Display congestion level The display scale and user operation jointly determine whether to expand and to what level; internal motion divergence. As a score for polymerization stability The common input for both the display and expansion judgments; the expansion result only enters the hierarchical mapping. And the display rendering process, without reverse changing the set of related edges in this cycle. Or motor association diagram .

[0087] This step restores target details when motion differentiation occurs within the target cluster or when the display scale allows it. This avoids targets that have already undergone motion differentiation from being forcibly displayed as a single aggregate symbol, and also avoids causing new occlusions by displaying too many single targets at once in crowded display areas.

[0088] Step 8: Generate hierarchical mapping and implement source track backtracking.

[0089] When the aggregated display symbol is expanded into a sub-aggregated display symbol or a single target display symbol, a source track index is generated. Hierarchical mapping to display symbols Hierarchical mapping Record source track index Versioned correspondence between aerial maneuvering targets, single target display symbols, sub-aggregate display symbols, and aggregate display symbols.

[0090] In practical implementation, the aggregated display symbol corresponds to the first... Individual maneuvering target clusters The sub-aggregate display symbol corresponds to the first Individual maneuvering target clusters Internally based on maintaining the set of associated edges Spatial distribution or movement trend The resulting subclusters, where a single target display symbol corresponds to one maneuvering aerial target, are derived from the track index. This corresponds to the original waypoints and probe source information. The system displays the current display cycle level mapping. The system records the parent-child relationships between the above objects, displays the version number, the expansion time, and the corresponding source track point list.

[0091] When the user selects any aggregate display symbol, sub-aggregate display symbol, or single-target display symbol, the system maps according to the hierarchy. Displays the corresponding number of targets, target type composition, spatial envelope, motion trend, and a list of source waypoints. The list of source waypoints may include the detection source identifier, original waypoint time, target position, altitude, velocity vector, heading angle, target type, and detection confidence level.

[0092] To record expand and backtrack operations, expand and backtrack audit logs can be generated using the following formula: , in, For the first The current audit record generated by the next expansion or backtracking operation. For the first The previous audit record generated by the next expansion or backtracking operation. For the first This operation involves displaying a summary of the objects. For the first Secondary user operation summary For the first A summary of the display hierarchy before and after the operation. For the first Summary of the time of occurrence of this operation To display the cycle Hierarchical mapping, For hash digest function, This is the sequence number for either the expansion or backtracking operation.

[0093] Among them, display object summary It can be generated from aggregated display symbols, sub-aggregated display symbols, single target display symbols, or identifiers of source waypoints; User operation summary It can display operations such as expand, select, scroll back, lock on or unfollow; and show hierarchical summaries. It can indicate changes in display hierarchy before and after an operation; operation time summary It can represent the first The time information of this operation.

[0094] This step can be implemented using a user attention prediction model. The training samples for this model include historical user selections, user browsing paths, viewing duration, lock-on actions, target types, internal motion divergences, and display levels. During training, the user attention prediction model outputs aggregated display symbols, sub-aggregated display symbols, or single-target display symbols that the user might focus on, thus without altering the motion relation graph. In this case, the auxiliary display shows the sorting of the backtrack entry point and the source track point list.

[0095] In this step, the source track index From step one, maneuvering target cluster Display hierarchy The aggregate display symbol, sub-aggregate display symbol, and single-target display symbol are derived from steps four through seven; hierarchical mapping. Establish versioned correspondences for the above data; expand the backtracking audit records. Record user actions and display hierarchy changes. Hierarchy mapping. and expand the audit record Do not rewrite as the current cycle's motion correlation diagram The input is so that a loop is not formed where the user expands the operation to drive the aggregation calculation in this cycle.

[0096] This step maintains the traceability between the displayed object and the source track point after the aggregated display symbol is expanded, allowing users to trace back from the aggregated display symbol to the single target display symbol and the source track point step by step, thereby improving the interpretability, source verifiability, and operational reproducibility of the aggregated display results.

[0097] Step 9: Display periodic updates and exception handling.

[0098] After completing the current display cycle Aggregated display, expanded backtracking, and expanded backtracking audit logs Then, the system will display the current display cycle number. The first aerial maneuvering target and the first The correlation lifetime between aerial maneuvering targets Save as historical input for the next display cycle, and maintain the associated edge set for the current display cycle. Save the historical input for the next display cycle to determine if there are already associated edges, and map the current display cycle level. Save as a display backtracking record. Next display period. At the start, the system re-receives the multi-source aerial maneuvering target status and generates the target spatiotemporal status set for the next display cycle. Then, based on the target spatiotemporal state set for the next display cycle Current display cycle associated edge lifespan The set of edges that remain associated with the current display cycle A new round of processing will be carried out.

[0099] When the target spatiotemporal state set When the target spatiotemporal state set is empty, the system does not perform edge state vector calculation and cluster generation, and displays an empty state or maintains the user interface prompt; when the target spatiotemporal state set is empty... When there is only one maneuvering aerial target, the system does not generate target-side state vectors, but directly generates a single-target display symbol; when maintaining the set of associated edges... When empty, the system displays each aerial maneuvering target as a single target or performs non-associative low-priority display control according to the display congestion, but does not form a cluster of maneuvering targets; when the user does not trigger the deployment operation and the internal motion divergence does not exceed the limit, the system maintains the current display level and does not perform empty deployment processing.

[0100] In this step, the current display cycle number is... The first aerial maneuvering target and the first The correlation lifetime between aerial maneuvering targets The set of edges that remain associated with the current display cycle Hierarchical mapping serves as historical input for the next display cycle. and expand the audit record This data is saved for display backtracking and operation review; the expanded results of the current display cycle are not included in the motion correlation diagram of this cycle. Correlation strength Maintain the set of associated edges or clusters of maneuvering targets The system recalculates. Within each display cycle, it executes the process in a unidirectional sequence: "state reception, association generation, hysteresis retention, aggregation generation, situation generation, display rendering, unfolding backtracking, and cycle saving." The system avoids repeatedly triggering the maneuver association diagram due to unfolding results within the same display cycle. Update. This step clearly displays the data transfer boundaries between cycles and the exception handling methods, which can prevent data processing from getting stuck in infinite loops, empty loops, or loop dependencies between display expansion and aggregation calculations, thus improving system stability.

[0101] Second Embodiment

[0102] The second embodiment provides a maneuver association hysteresis backtracking aggregation display system, including a target state alignment module, a maneuver association graph generation module, a hysteresis edge preservation module, an aggregation situation generation module, a display level rendering module, and an unfolding backtracking module.

[0103] The target state alignment module is used to receive the states of multi-source aerial maneuvering targets and generate a set of target spatiotemporal states. and source track index The target state alignment module performs unified time reference alignment on data from radar, electro-optical detection equipment, radio detection equipment, ADS-B (Automatic Dependent Surveillance-Broadcast) receivers, ground stations, or multi-source fusion platforms, and generates the same target state when fusion conditions are met. The output of the target state alignment module includes the target spatiotemporal state set. and source track index ,in Output to the motion correlation diagram generation module. Output to the expanded backtracking module.

[0104] The mobility association diagram generation module is used to generate a graph based on... Spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment generation of side state vectors for target pairs. And combined with the associated edge lifetime of the previous display cycle Generate a motion association graph The output of the motion association graph generation module includes edge state vectors. Correlation strength And the relationship diagram of maneuver It is then output to the hysteresis edge holding module.

[0105] The hysteresis edge preservation module is used to determine the basis for... Generate correlation strength According to the aggregation acceptance threshold Aggregation retention threshold and lifetime retention threshold Form a set of edges that maintain association ,in And by maintaining the set of associated edges Output maneuvering target cluster The hysteresis edge-keeping module simultaneously updates the current display cycle. The first aerial maneuvering target and the first The correlation lifetime between aerial maneuvering targets And associate the current display cycle with the edge lifetime. Save as historical input for the next display cycle.

[0106] The aggregated situation generation module is used to aggregate clusters based on maneuvering targets. Generate cluster center Spatial envelope Movement trends Number of targets, composition of target types, and internal movement divergences The output of the aggregated situation generation module serves as the common input for both the display hierarchy rendering module and the unfolded backtracking module.

[0107] The display hierarchy rendering module is used to generate display hierarchy based on display scale, screen pixel density, spatial envelope projection size, and display crowding. And according to the display hierarchy Render aggregated display symbols, sub-aggregated display symbols, or single-target display symbols. The display hierarchy rendering module outputs the display symbols and their display hierarchy to the expand and backtrack module.

[0108] The unfolded backtracking module is used to navigate internal motion divergences. When exceeding limits, spatial envelope expansion, or user selection or zooming in on the display scale, clustering only occurs for the corresponding maneuvering target. Expand the display and generate the source track index. Hierarchical mapping to display symbols The expanded backtracking module can also generate expanded backtracking audit records. The output of the backtracking module is not written back as the input to the current cycle's motion correlation diagram generation module.

[0109] In this system, the target state alignment module outputs a set of target spatiotemporal states. and source track index Among them, the target spatiotemporal state set Used for generating maneuver correlation maps, source track index Used for source tracing; the maneuver association graph generation module is based on the target spatiotemporal state set. The lifespan associated with the previous display cycle Output the maneuver correlation diagram Edge state vector and correlation strength The hysteresis edge preservation module is based on correlation strength. Aggregation acceptance threshold Aggregation retention threshold Lifetime retention threshold The lifespan of the associated edge in the previous display cycle The set of edges that remain associated with the previous display cycle Output the set of edges that remain connected during the current display period. Current display cycle associated edge lifespan and maneuvering target clusters The aggregated situation generation module is based on maneuvering target aggregation clusters. The output includes cluster centers. Spatial envelope Movement trends Number of targets, composition of target types, and internal movement divergences The aggregated situational data; the display layer rendering module, based on the aggregated situational data and the display interface status, outputs the display layer. and display symbols; the expanded backtracking module is based on the display symbols and the source track index. and display hierarchy Output hierarchy mapping and expand the audit record .

[0110] This system modularizes each data processing step in the maneuver-related hysteresis backtracking aggregation display method, making it easy to deploy and expand in airborne situation display systems, low-altitude security platforms, airspace monitoring platforms, UAV swarm monitoring systems, or command and control systems. It can maintain stable display, clear situation, and traceable source even under conditions of dense multi-source flight paths, high-speed target maneuvering, and frequent changes in display scale.

[0111] The above description is merely a preferred embodiment of the present invention and is not intended to limit the scope of protection of the present invention. For those skilled in the art, without departing from the technical concept of the present invention, equivalent substitutions or conventional modifications can be made to the detection source type, target state fusion method, edge state vector generation method, prediction separation increment calculation method, association strength calculation method, association edge lifetime update method, hysteresis edge preservation method, maneuvering target cluster generation method, aggregation stability scoring method, spatial envelope generation method, display congestion calculation method, display hierarchy rendering method, internal motion divergence detection method, unfolding backtracking method, and audit log generation method. All equivalent changes made based on the maneuvering association graph generation, hysteresis edge preservation, association edge lifetime, prediction separation increment, display hierarchy control, internal motion divergence unfolding, source track index, and hierarchy mapping backtracking of the present invention should fall within the scope of protection of the present invention.

Claims

1. A method for displaying motor-related hysteresis backtracking aggregation, characterized in that, include: Receive the status of maneuvering aerial targets from multiple sources and generate a set of spatiotemporal states of the targets according to a unified time base. and source track index ; based on Spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment generation of side state vectors for target pairs. And combined with the lifetime of the related edge in the previous display cycle Generate a motion association graph ; according to Generate correlation strength ,by Accept new related edges, in order to or Maintain the existing related edges from the previous period, among which To form a set of edges that maintain their association , and by Generate maneuvering target clusters ; based on Generate cluster center, spatial envelope, motion trend, number of targets, target type composition, and internal motion divergence. Among them, internal movement disagreements The cluster center, spatial envelope, and motion trend are generated simultaneously during the aggregation situation generation stage and serve as inputs for subsequent aggregation stability scoring and unfolding judgment; Display hierarchy is generated based on display scale, screen pixel density, spatial envelope projection size, and display crowding. and render aggregated display symbols; when When the limit is exceeded, the spatial envelope is expanded, or the user selects or the display scale is enlarged, only the corresponding The inner expansion is divided into sub-aggregate display symbols or single-target display symbols, and generated. Hierarchical mapping to display symbols ; This week's results will only be updated. Not included in this cycle Input, Only for input in the next display cycle.

2. The method for displaying motion-related hysteresis backtracking aggregation according to claim 1, characterized in that, The target spatiotemporal state set Includes multiple target states The target state At least include the target location Velocity vector ,high Heading angle Target type Detection confidence and detection source identification ; When the track points of the same aerial maneuvering target uploaded by different detection sources meet the fusion conditions of timestamp difference, spatial residual, and velocity residual, the same target state is generated. and in the source track index The corresponding detection source identifier, original track point time, and fusion version number are written into it; When an aerial maneuvering target has not been updated for a short period and the detection confidence level is higher than the extrapolation confidence threshold, only a predicted extrapolation shadow symbol is generated. This predicted extrapolation shadow symbol is not used as part of the maneuvering correlation graph. The official node.

3. The method for displaying motion-related hysteresis backtracking aggregation according to claim 1, characterized in that, The edge state vector Predicting the separation increment and correlation strength Generate as follows: ， in, For a moment No. The first aerial maneuvering target and the first The edge state vector between aerial maneuvering targets For three-dimensional spatial distance, For the difference in speed, For height difference, The heading angle, To detect consistency, To predict the separation increment, and The first The and the first The location of an aerial maneuvering target. and The first The and the first The velocity vector of an aerial maneuvering target For predicting time intervals, For correlation strength, , , , , and These are weighting coefficients for spatial distance, velocity difference, altitude difference, heading angle, detection consistency, and predicted separation increment, respectively. , and These are the normalized scales for spatial distance, velocity difference, and height difference, respectively. It is a natural exponential function. It is a cosine function. For vector norm, It is an absolute value function. It is a function with maximum value. and These represent the serial numbers of different aerial maneuvering targets.

4. The method for displaying motion-related hysteresis backtracking aggregation according to claim 3, characterized in that, The associated edge lifetime and maintain the set of associated edges Generate as follows: ， in, For a moment No. The first aerial maneuvering target and the first The correlation lifetime between aerial maneuvering targets The lifetime of the associated edge in the previous display cycle, This is the historical smoothing coefficient. This is an indicator function that takes the value 1 when the condition is true and takes the value 0 when the condition is false. For a moment The set of edges that remain connected For the set of edges that remain connected in the previous display cycle, This is the aggregation acceptance threshold. To maintain a threshold for aggregation, To maintain a lifespan threshold, Represents logical OR, This indicates logical AND; when and When the time is right, the corresponding associated edge is marked as a short-term weakened edge, and the short-term weakened edge only participates in the cluster maintenance judgment in this cycle.

5. The method for displaying motion-related hysteresis backtracking aggregation according to claim 4, characterized in that, By maintaining the set of associated edges Generate maneuver target clusters from connected subgraphs And generate the aggregation stability score according to the following formula: ， in, For a moment No. Aggregation stability score of individual maneuvering target clusters. for Maintain the average association strength of associated edges within the region. for Maintain the average lifetime of associated edges within the context of associated edges. for The number of times members change within a preset time window. for Internal movement divergence, , , and These are weighting coefficients for average association strength, average association edge lifetime, number of membership changes, and internal motion divergence, respectively. For the cluster number of the maneuvering target; when Above the stability threshold and When there is no continuous limit violation, the cluster of maneuvering targets corresponding to the short-term weakened edge is delayed and split.

6. The method for displaying motion-related hysteresis backtracking aggregation according to claim 1, characterized in that, The cluster center and sports trends Generate using the following formula: ， in, For a moment No. The cluster center of a cluster of maneuvering targets. For a moment No. The movement trend of individual maneuvering target clusters For a moment No. The set of aerial maneuvering targets in a cluster of maneuvering targets For the first The display weight of each aerial maneuvering target is determined by the target type, detection confidence level, and display priority. For the first The location of an aerial maneuvering target. For the first Velocity vector of a maneuvering aerial target; spatial envelope Depend on The position projections of each aerial maneuvering target within the target area are generated, and the target types are composed of... Target type statistics for all maneuvering aerial targets within the area are generated.

7. The method for displaying motion-related hysteresis backtracking aggregation according to claim 6, characterized in that, The displayed congestion level is generated according to the following formula: ， in, For a moment No. Display congestion in each screen area For the first The number of symbols displayed in each screen area. For the first The number of tabs displayed in each screen area. To display the weighting factor for the number of labels, For the first The area of ​​each screen region For screen region index; when spatial envelope The screen projection size is smaller than the pixel separation threshold and the number of targets is greater than the number threshold, or When the congestion threshold is exceeded, the hierarchy will be displayed. Set as an aggregated display level; when the screen projection size is not less than the pixel separation threshold and When the level is below the release threshold, the hierarchy will be displayed. Set it to a sub-aggregate display level or a single-target display level.

8. The method for displaying motion-related hysteresis backtracking aggregation according to claim 6, characterized in that, The internal motion divergence Generate using the following formula: ， in, For a moment No. Internal motion divergence of individual maneuvering target clusters for The dispersion of the speed of a maneuvering target in the interior air. for The dispersion of the heading angle of a maneuvering target in the interior air. for The dispersion of altitude of maneuvering targets in the interior air. For spatial envelope expansion rate, , , and These are the weighting coefficients for velocity dispersion, heading dispersion, altitude dispersion, and spatial envelope expansion rate, respectively; when maneuvering targets cluster together... When it can match the corresponding cluster from the previous display cycle, Based on the current spatial envelope Spatial envelope relative to the previous display period The change in projected area or envelope volume is determined; when If the target cluster is a newly generated cluster in this period, or if a corresponding cluster could not be matched in the previous display period, then... Set to 0, or use the current spatial envelope As a reference envelope.

9. The method for displaying motion-related hysteresis backtracking aggregation according to claim 1, characterized in that, The hierarchical mapping Record source track index The versioned correspondence between aerial maneuvering targets, single target display symbols, sub-aggregate display symbols, and aggregate display symbols; when the user selects any aggregate display symbol, sub-aggregate display symbol, or single target display symbol, according to... Display the corresponding number of targets, target type composition, spatial envelope, motion trend, and source waypoint list, and generate expanded backtracking audit records according to the following formula: ， in, For the first The current audit record generated by the next expansion or backtracking operation. For the first The previous audit record generated by the next expansion or backtracking operation. For the first This operation involves displaying a summary of the objects. For the first Secondary user operation summary For the first A summary of the display hierarchy before and after the operation. For the first Summary of the time of occurrence of this operation To display the cycle Hierarchical mapping, For hash digest function, This is the sequence number for either the expansion or backtracking operation.

10. A motor-related hysteresis backtracking aggregation display system, characterized in that, include: The target state alignment module is used to receive the states of multi-source aerial maneuvering targets and generate a set of target spatiotemporal states. and source track index ; The mobility association diagram generation module is used to generate a graph based on... Spatial distance, velocity difference, altitude difference, heading coherence, detection consistency, and prediction separation increment generation of side state vectors for target pairs. And combined with the associated edge lifetime of the previous display cycle Generate a motion association graph ; Hysteresis edge preservation module, used to determine the basis for... Generate correlation strength According to the aggregation acceptance threshold Aggregation retention threshold and lifetime retention threshold Form a set of edges that maintain association ,in , and by Output maneuvering target cluster ; The aggregation situation generation module is used to generate a situation based on... Generate cluster center, spatial envelope, motion trend, number of targets, target type composition, and internal motion divergence. ; The display hierarchy rendering module is used to generate display hierarchy based on display scale, screen pixel density, spatial envelope projection size, and display crowding. and render aggregated display symbols; Expand the backtracking module, used to... When the limit is exceeded, the spatial envelope is expanded, or the user selects or the display scale is enlarged, only the corresponding Expand the display and generate the source track index. Hierarchical mapping to display symbols ; The output of the expansion backtracking module is not written back to the input of the current cycle's motion correlation diagram generation module.

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