Method for resolving multiple targets' trajectories, electronic device, and computer program

Abstract

The method for decomposing and observing trajectories of multiple targets includes the steps of acquiring sensing signals at a current time, and sensing position information and signal energy of each target among a plurality of targets based on the sensing signals at the current time; displaying sensing points of each target on a map according to the position information and signal energy of each target; determining a movement trajectory based on the plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period prior to the current time, wherein each movement trajectory is used to characterize one moving target; and decomposing and outputting the sensing information of the sensed one or more moving targets into one or more channels.

Description

[Technical Field]

[0001] (CROSS-REFERENCE TO RELATED APPLICATIONS) This application claims priority from a Chinese patent application bearing application number 202211338992.X, filed on October 28, 2022, the entire disclosure of which is incorporated herein by reference.

[0002] The present disclosure relates to the field of data processing technology, and in particular to a method for resolving trajectories of multiple targets, electronic equipment, and computer program Regarding. [Background technology]

[0003] Ubiquitous sensing is a new research direction at the intersection of many fields, including ubiquitous computing, mobile computing, human-machine interaction, the Internet of Things, and artificial intelligence. Ubiquitous sensing is a technology that uses sensors such as cameras, accelerometers, gyroscopes, Wireless communication devices (e.g., WIFI (Wireless fidelity) devices) It refers to multi-mode sensing of people and the environment through Long Term Evolution (LTE) devices, millimeter wave radar, and sonic transmitter and receiver devices, and then using signal processing and artificial intelligence methods to analyze the sensing information and obtain the status of the objects sensed in the environment. Summary of the Invention

[0004] In one aspect, an embodiment of the present disclosure provides a method for trajectory decomposition observation of multiple targets, the method including: acquiring sensed signals at a current time; and determining position information and signal energy of each target among a plurality of targets based on the sensed signals at the current time. value and detecting the position information and signal energy of each target. value Depending on the target, Multiple a step of displaying sensing points; and based on the plurality of sensing points displayed on the map at the current time and the plurality of historical sensing points displayed within a period prior to the current time, At least one determining a motion trajectory, At least one of the motion trajectories Each movement trajectory is Among multiple goalsa step used to characterize a moving target; Among multiple goals and decomposing the sensed information of the sensed one or more moving targets into one or more channels and outputting the same.

[0005] Based on the acquired sensing signals, each target is displayed on the map. Multiple It is understood that the detection points displayed on the map can intuitively indicate the location of each target, making it easier for the user to check. At least one of the motion trajectories Based on the movement trajectory, At least one of the motion trajectories The target of the movement indicated by the movement trajectory may be decomposed into one or more channels and output. This allows the trajectories of multiple targets to be output in a complex environment where multiple targets exist. Part of This can avoid the situation where the targets intersect and are difficult to check, effectively identify and distinguish the trajectories and other sensing information of each target, and further improve the accuracy of the appearance and identification of multiple target trajectories.

[0006] In some embodiments, the location information and signal energy of each target value Depending on the target, Multiple The step of displaying the sensing points includes: Multiple determining the location information of the pixel point that the sensing point occupies on the map; value Depending on the Multiple determining pixel values ​​of pixel points that the sensing points occupy on the map; Multiple The location information and pixel value of the pixel point that the sensing point occupies on the map are used to display each target on the map. Multiple and displaying the sensing points.

[0007] Target location and signal energy value of the target on the map based on Multiple The sensing points are displayed, and the sensing points are located at the corresponding positions of the target on the map. Through the sensing points, the position of the target on the map can be more intuitively shown, and the signal energy of the target can also be displayed. value It is understood that it is possible to show

[0008] In some embodiments, the location of each target is determined based on the target's location information. Multiple The step of determining the position information of the pixel point occupied by the sensing point on the map includes the steps of determining the position information of the center pixel point of the target on the map according to the position information of the target; Multiple targets for each goal Shape information of the sensing point, and Multiple targets for each goal Based on the dimensional information corresponding to the sensing point, Multiple targets for each goal Sensing points occupy a place on the map Multiple targets for each goal determining position information of the pixel points.

[0009] In some embodiments, the target signal energy value Depending on the Multiple The step of determining the pixel values ​​of the pixel points that the sensing points occupy on the map includes: Multiple Based on the position information of the pixel point that the sensing point occupies on the map, Multiple targets for each goal obtaining a first pixel value of a pixel point occupied by the sensing point; Multiple targets for each goal Performing an opponent color process on the first pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal obtaining a second pixel value of the pixel point occupied by the sensing point; and value Based on Multiple targets for each goal performing a fusion process on the first pixel value and the second pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal obtaining pixel values ​​of pixel points occupied by the sensing points.

[0010] It can be understood that in this embodiment, the image display effect of the image block corresponding to the pixel value obtained by the opponent color processing is obviously different from the display effect of the image block before processing. For image blocks The image block corresponding to the finally determined sensing point by the fusion process is Image block It can be adjusted to be different from the map background at the location.

[0011] In some embodiments, According to the signal energy value of the target, a fusion process is performed on the first pixel value and the second pixel value of the pixel point occupied by the sensing point to obtain the pixel value of the pixel point occupied by the sensing point. The step is the target signal energy value determining a first weight corresponding to the first pixel value and a second weight corresponding to the second pixel value based on the target signal energy value has a positive correlation with the second weight, and the target signal energy value The method includes: a step of: the first weight has a negative correlation with the first weight; and a step of performing a weighting process on the first pixel value and the second pixel value of each pixel point in the image block corresponding to the sensing point based on the first weight and the second weight, to obtain the pixel value of each pixel point in the image block corresponding to the sensing point.

[0012] In this embodiment, it is possible to simultaneously display a large number of sensing points for multiple targets on a map, and the display effect of the sensing points is correlated with the energy value of the target, and the energy value determines the degree of difference between the display effect of the sensing points on the map and the display effect of the map background where the sensing points are not displayed. On the other hand, for targets with high energy, i.e., targets that may be in a state of movement, the sensing points of the target can be clearly displayed at a certain time, and further, sensing points near multiple positions of the target can be clearly displayed within a certain period of time, making it easier to observe the movement trajectory. On the other hand, for targets with low energy, the display effect of the sensing points may be similar to the map background at a certain time, and thus the presence of the sensing points on the map can be reduced, making it possible to more intuitively display the movement trajectory of a moving target on the map.

[0013] In some embodiments, the target signal energy value determining a first weight corresponding to the first pixel value and a second weight corresponding to the second pixel value based on the signal energies of the plurality of targets; value The maximum and minimum signal energy values signal determining an energy value; determining a target signal energy; value to minimum signal The difference between the maximum signal energy and the minimum signal energy signalThe method includes determining a ratio of the difference value obtained by subtracting the energy value as a second weight, and determining a first weight according to the second weight.

[0014] In some embodiments, based on a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period prior to the current time, At least one After the step of determining the motion trajectory, the method further comprises: At least one In the movement trajectory Multiple By increasing the second weight of the sensing point, At least one In the movement trajectory Multiple The method further includes adjusting pixel values ​​of pixel points that the sensing points occupy in the map.

[0015] The relevant At least one The second weight of each sensing point in the motion trajectory is increased, and At least one The pixel values ​​of the pixels at the sensing points that make up the movement trajectory are readjusted to make the display effect of the sensing points and the display effect of the map background where the sensing points are not displayed more distinct, thereby making it easier to see the target. At least one Displaying movement trajectories on a map effect It is understood that making the

[0016] In some embodiments, The step of determining at least one movement trajectory based on a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period before the current time includes: determining a plurality of sets of sensing points according to a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period prior to the current time; Among the plurality of sets of sensing points, The number of sensing points in one set is greater than the preset number, Among multiple sets of sensing points The time interval between any two adjacent sensing points in any one pair of sensing points is less than a predetermined time length, and the distance between the two sensing points is less than a predetermined distance. Steps and Each set of sensing points among the plurality of sets of sensing points is determined as one motion trajectory. and .

[0017] In some embodiments, the sensed information may include location information, signal energy, value, motion parameters, and a motion trajectory within a period prior to the current time.

[0018] In some embodiments, one or multiple A channel is used to output the sensing information of one moving target. or multiple The channels are used to output sensing information of multiple moving targets.

[0019] In another aspect, a multi-target trajectory resolved observation apparatus is provided, the apparatus comprising:

[0020] A sensing signal at a current time is acquired, and position information and signal energy of each target among the plurality of targets are acquired based on the sensing signal at the current time. value a communication module for sensing the

[0021] Position information and signal energy of each target value Depending on the target, Multiple Displaying sensing points, and based on a plurality of sensing points displayed at the current time on the map and a plurality of historical sensing points displayed within a period prior to the current time, At least one a processing module for determining a motion trajectory, At least one of the motion trajectories Each movement trajectory is Among multiple goals a processing module used to characterize a moving target;

[0022] Among multiple goals and an output module for decomposing and outputting sensory information of the sensed one or more moving targets into one or more channels.

[0023] In another aspect, an electronic device is provided, the electronic device comprising: a memory and a processor, the memory coupled to the processor, the memory being adapted to store a computer program, the processor, when executing the computer program, implementing the method for multi-target trajectory decomposition observation according to any of the above embodiments.

[0024] In another aspect, a computer-readable storage medium is provided, having computer instructions stored thereon that, when executed by a processor, implements the method for multi-target trajectory decomposition observation according to any of the above embodiments.

[0025] In another aspect, a computer program product is provided, the computer program product including computer instructions that, when executed by a processor, implement the method for multi-target trajectory resolved observation according to any of the above embodiments. [Brief explanation of the drawings]

[0026] [Figure 1] 1 is a schematic diagram of a multi-target sensing system according to some embodiments. [Figure 2] 1 is a schematic diagram of a flowchart of a trajectory decomposition observation method according to some embodiments; [Figure 3] FIG. 1 is a diagram of a map display screen according to some embodiments. [Figure 4] FIG. 10 is a diagram of another map display screen according to some embodiments. [Figure 5] FIG. 10 is a diagrammatic illustration of yet another map display screen according to some embodiments. [Figure 6] FIG. 1 is a schematic diagram of a flowchart of another trajectory decomposition observation method according to some embodiments. [Figure 7] FIG. 1 is a schematic diagram of a multi-target motion trajectory according to some embodiments. [Figure 8] FIG. 10 is a schematic diagram of a motion trajectory output according to some embodiments. [Figure 9] FIG. 1 is a schematic diagram of a flowchart of another trajectory decomposition observation method according to some embodiments. [Figure 10] FIG. 2 is a schematic diagram of a sensing point according to some embodiments. [Figure 11] FIG. 1 is a schematic diagram of a trajectory decomposition device architecture according to some embodiments. [Figure 12] 1 is a schematic diagram of the structure of an electronic device according to some embodiments. DETAILED DESCRIPTION OF THE INVENTION

[0027] DETAILED DESCRIPTION OF THE INVENTION In order to enable those skilled in the art to better understand the technical solutions of the embodiments of the present disclosure, the technical solutions in the present disclosure will be clearly and completely described below with reference to the accompanying drawings.

[0028] Of course, the embodiments described herein are only a part of the embodiments of the present disclosure, and are not all of the embodiments, and all other embodiments that can be conceived by a person skilled in the art based on the embodiments of the present disclosure are intended to be included in the scope of protection of the present disclosure.

[0029] It should be noted that in this disclosure, terms such as "exemplary" or "for example" are used to indicate as an example, illustration, or explanation. In this disclosure, any embodiment or design solution described as "exemplary" or "for example" may be The present disclosure It should not be construed as preferred or advantageous over other embodiments or design solutions. In particular, use of terms such as "exemplary" or "for example" is intended to specifically present the associated concept.

[0030] Hereinafter, the terms "first" and "second" are for descriptive purposes only and should not be understood as indicating or implying the relative importance or quantity of the indicated technical features, whereby a feature defined as "first" or "second" may explicitly or implicitly include one or more of said features.

[0031] In the description of this disclosure, unless otherwise specified, " / " means "or," for example, A / B may represent A or B. The term "and / or" includes any and all combinations of one or more of the associated listed items. For example, A and / or B and / or C are A only, B only, C only, a combination of A and B, a combination of A and C, a combination of B and C, and a combination of A, B, and C. express Also, "at least one" refers to one or more, and "plurality" refers to two or more than two.

[0032] In some embodiments, ubiquitous sensing is generally applied to simpler usage scenarios, such as target detection using radar signals, where radar signals emitted from radar equipment located at an airport may be used to detect aircraft in the air, and vehicle-mounted radar may be used to detect targets within short distances, where both the target and the environment in which the sensing occurs are the same.

[0033] In some embodiments, there is a need to perform ubiquitous sensing in complex scenarios where multiple sensing targets exist, such as an indoor multipath environment, a ground-based multi-building environment, an outdoor multi-vehicle environment, a shopping mall multi-person environment, etc. In complex scenarios, there may be multiple types of sensing targets in the environment, such as cars, people, and animals. However, in complex scenarios, there may be many interfering objects, such as leaves and fans, and the trajectories of multiple moving sensing targets may be difficult to accurately measure. Part of At present, sensing technology in simple environments is disadvantageous for detecting multiple targets in complex scenarios, so how to effectively identify and display multiple target trajectories in complex environments is a problem that needs to be solved urgently.

[0034] To solve the above problem, an embodiment of the present disclosure provides a method for decomposing and observing the trajectories of multiple targets, by which the trajectories of multiple targets are decomposed and observed. Part of This can avoid the situation where the targets intersect and are difficult to check, effectively identify and distinguish the trajectories and other sensing information of each target, and further improve the accuracy of the appearance and identification of multiple target trajectories.

[0035] 1, an embodiment of the present disclosure provides a multi-target sensing system 100. The multi-target sensing system 100 includes a signal transmitting device 10, a signal collecting device 20, and a signal processing device 30. The signal transmitting device 10 and the signal collecting device 20 are each connected to the signal processing device 30.

[0036] It should be understood that the connection method between the signal transmitting device 10 and the signal processing device 30, or the connection method between the signal collecting device 20 and the signal processing device 30, may be a wireless connection such as a Bluetooth (registered trademark) connection or a Wi-Fi connection, or the connection method may be a wired connection such as an optical fiber connection, and the present disclosure is not limited thereto.

[0037] Illustratively, the multi-target sensing system 100 is a WiFi signal , long range radio (LoRa) signal , the 4th generation mobile communication technology (4G) signal / 5th generation mobile communication technology (5G) signal , Bluetooth signal By utilizing radio frequency (RF) signals, which are widely present in the environment, such as those in the ubiquitous wireless sensing, it is possible to support wireless communication functions while simultaneously sensing people and the environment. Ubiquitous wireless sensing has the advantages of low cost, non-intrusiveness, high pervasiveness, and high privacy.

[0038] The signal transmitting device 10 is used to transmit sensing signal beams in different directions in a sensing scenario. That is, the signal transmitting device 10 is a device that initiates sensing, and may also be called an initiator. Exemplarily, the signal transmitting device 10 may be a network device or a terminal device in a wireless network system.

[0039] For example, the signal transmission device 10 may be a network device or a device having the function of a network device. The signal transmission device 10 may be used to realize functions such as resource scheduling, radio resource management, and radio access control of a terminal device. signal transmission equipment10 may be any network device such as a small base station, a wireless access point, a transmission receive point (TRP), a transmission point (TP), or other types of access nodes such as a WiFi access point (WiFi AP).

[0040] For example, the signal transmission device 10 may be a terminal device or a device having the function of a terminal device. The terminal device may also be called a terminal, user equipment (UE), mobile station, mobile terminal, etc. The terminal device may be a mobile phone, a tablet computer, a computer with wireless transmission and reception capabilities, a virtual reality terminal device, an augmented reality terminal device, a wireless terminal for industrial control, a wireless terminal for unmanned driving, a wireless terminal for remote surgery, a wireless terminal for transportation safety, a wireless terminal for smart cities, a wireless terminal for smart homes, etc. The embodiments of the present disclosure are not limited to the form of the device used as the terminal device.

[0041] In some embodiments, the signal transmission device 10 may provide target sensing for a sensing area where target sensing is required by placing the signal transmission device 10 in the sensing area.

[0042] The signal collecting device 20 is used to receive sensing signal beams from different directions reflected by a sensing target in a sensing scenario. Exemplarily, the signal collecting device 20 may be a network device or a terminal device in a wireless network system.

[0043] In some embodiments, the signal collection device 20 and the signal transmission device 10 may be the same device, or the signal collection device 20 and the signal transmission device 10 may be two different and independent devices.

[0044] The signal processing device 30 may be used to control the signal transmitting device 10 to transmit the sensed signal or to control the signal collecting device 20 to collect the sensed signal. The signal processing device 30 may further be used to process the received signal to obtain sensed information and analyze the sensed information to obtain the state of things sensed in the environment.

[0045] In some embodiments, the multi-target sensing system 100 may further include a display device. The display device is a user device having video or image playback capabilities. The display device may be used by the signal processing device 30 to analyze the sensing information and show the status of things sensed in the environment to a user. For example, the display device may be used to display a map of a complex scenario, or to display information such as the movement trajectories or sensing points of one or more sensing targets sensed by the multi-target sensing system 100.

[0046] Some embodiments of the present disclosure further provide a multi-target trajectory decomposition observation device 200 (hereinafter, for convenience of explanation, abbreviated as trajectory decomposition device 200). The trajectory decomposition device 200 is an entity that executes a multi-target trajectory decomposition observation method. The trajectory decomposition device 200 may be the signal processing device 30, may be a functional module in the signal processing device 30, or may be any computing device connected to the signal processing device 30. Some embodiments of the present disclosure are not limited thereto.

[0047] As shown in FIG. 2, in an embodiment of the present disclosure, a multi-target trajectory decomposition observation method is provided, and illustratively, the method is applied to a trajectory decomposition device 200, and the method includes S101 to S104.

[0048] S101: The trajectory decomposition device 200 acquires a sensing signal at a current time, and based on the sensing signal at the current time, calculates position information and signal energy of each target among a plurality of targets. value Sense.

[0049] The targets sensed by the sensing signals may be vehicles, animals, human bodies, fallen leaves, or other objects that may be sensed, and may include targets in motion as well as targets that are relatively stationary.

[0050] In some embodiments, the trajectory decomposition apparatus 200 may control the signal transmitting device 10 to periodically start target sensing at a preset frequency, and further acquire the sensing signal collected by the signal collecting device 20. The preset frequency may be 50 milliseconds / time, 0.5 seconds / time, 1 second / time, or other possible frequencies, but the present disclosure is not limited thereto.

[0051] It should be noted that the sensing signal at a certain time may be used to sense multiple targets in the sensing area at that time. The sensing area may be an area where multiple target sensing is required, such as a shopping mall or supermarket with multiple moving people, an outdoor area with multiple buildings, etc. It should be understood that when there are multiple sensing targets in the detection area, the sensing signals collected at a certain time are multiple signals from different targets.

[0052] In some embodiments, the trajectory decomposition device 200 may determine a time delay angle of arrival spectrum at the current time in response to the sensed signal at the current time. Further, the trajectory decomposition device 200 may determine position information and signal energy of each target among the plurality of targets in response to the time delay angle of arrival spectrum. value may be determined.

[0053] The time delay angle of arrival spectrum is a signal time delay, angle of arrival, and signal energy of multiple targets in the sensing target area at the current time. value is used to reflect

[0054] Signal time delay refers to the total length of time that elapses from the start of a sensed signal being transmitted from the signal transmitting device 10 to the end of the sensed signal being received by the signal collecting device 20, i.e., the length of time it takes the sensed signal to propagate through the transmission medium. It should be understood that the signal time delay for different targets may be different, and that due to the constant propagation speed of electrical frequency signals through air, the signal time delay is used to indicate the distance between the target and the signal collecting device 20.

[0055] The angle of arrival refers to the included angle between the direction of signal transmission received by the signal collecting device 20 and reflected by the target and a predetermined direction (e.g., a horizontal plane or a horizontal plane normal). The angle of arrival is used to indicate the relative orientation between the target and the signal collecting device 20.

[0056] Additionally, the trajectory decomposition unit 200 may determine the target's position information within the sensing region based on the signal time delay and angle of arrival.

[0057] For example, the trajectory decomposition device 200 may represent the position information of each target using a planar Cartesian coordinate system, a geocentric coordinate system, a geographic coordinate system, or the like.

[0058] For example, the trajectory decomposition device 200 may establish a planar Cartesian coordinate system with any fixed point in the sensing target area as the origin, and further determine the position coordinates of each target in the planar Cartesian coordinate system.

[0059] A geocentric coordinate system is a spatial Cartesian coordinate system established with the Earth's center of gravity as its origin. A geographic coordinate system defines the Earth's surface using a three-dimensional sphere, thereby realizing a coordinate system that references points on the Earth's surface via latitude and longitude. Of course, the location information of each target may be expressed in other possible formats, but the present disclosure is not limited thereto.

[0060] It should be understood that the trajectory decomposition unit 200 determines the location of each target on the map based on the location coordinates of each target in the coordinate system.

[0061] Signal Energy value is the amplitude of the sensed signal of the sensed target at the current time, and is used to characterize the signal strength of the sensed signal of the target.

[0062] S102, the trajectory decomposition device 200 calculates the position information and signal energy of each target. value Depending on the target, Multiple Shows the sensing points.

[0063] In some embodiments of the present disclosure, the map may be an electronic map of the sensed area. Illustratively, the map may be a two-dimensional map for showing planar geographic data of the sensed area, or the map may be a three-dimensional spatial map for showing spatial geographic data of the sensed area.

[0064] A sensing point refers to an image block where a target displays on a map. The image block occupies one or more pixel points on the map, and the position of the image block on the map is used to reflect the position of the target indicated by the sensing point in the sensing area. The pixel value displayed on the map of the image block reflects the position of the target. The sensing signal corresponding to signal energy of value is used to reflect

[0065] In some embodiments, the trajectory decomposition unit 200 may decompose the position of each target according to the position information of each target. Multiple The position information of the pixel point that the sensing point occupies on the map may be determined.

[0066] For example, the trajectory decomposition device 200 determines the position information of the center pixel point of the target in the map according to the position information of the target, and Multiple targets for each goal Shape information of the sensing point, and Multiple targets for each goal Based on the dimensional information corresponding to the sensing point, Multiple targets for each goal The position information of the pixel point that the sensing point occupies on the map may be determined.

[0067] The position information of the sensing point may represent the pixel coordinates of each pixel point occupied by the sensing point on the display screen of the map. Alternatively, the trajectory decomposition device 200 may establish a plane Cartesian coordinate system with the position of any pixel point in the sensing target area on the map as the origin, and in this case, the position information of the sensing point may further represent the plane coordinates in the plane Cartesian coordinate system of each pixel point occupied by the sensing point.

[0068] For example, any one pixel point of the sensing point is (X i ,Y i ) may be represented. However, X i represents the horizontal coordinate of the pixel point on the map display screen, and Y i represents the vertical coordinate of the pixel point on the map display screen.

[0069] The shape information refers to the shape of the image block that the sensing point displays on the map, and may be a circle, a square, a rectangle, or any other possible shape. The dimension information refers to the dimensions of the image block corresponding to the sensing point. For example, if the image block corresponding to the sensing point is a circle, the dimension information may include the radius of the circle. For example, if the image block corresponding to the sensing point is a rectangle, the dimension information may include the length and width of the rectangle.

[0070] It should be understood that the shape information and dimension information of the sensing point may both be set in advance, for example, as default parameters pre-stored in the trajectory decomposition device 200, or, for example, instructed by the user via a terminal device to be set by the trajectory decomposition device 200.

[0071] For example, as shown in FIG. 3, in the map, the shape of the image block of each sensing point is circular, point A is the central pixel point in the map of target 1, all pixel points included in image block 31 are sensing points displayed in the map of target 1, and the length of radius a of image block 31 is the dimensional information of the sensing point.

[0072] In some embodiments, the trajectory decomposition unit 200 further calculates the signal energy of each target. value Depending on the Multiple The pixel values ​​of the pixel points that the sensing points occupy in the map may be determined.

[0073] A pixel value is a value given by a computer when an image is digitized, and is used to represent the average brightness information of a pixel point or the average reflection (transmission) density information of a pixel point.

[0074] For example, for any one target, the trajectory decomposition device 200 obtains the first pixel value of each pixel point occupied by the sensing point of the target from the map based on the position information of the pixel point occupied by the sensing point of the target, and calculates the signal energy of the target. value The first pixel value may be adjusted accordingly to obtain the pixel value of the pixel point that the sensing point of the target occupies on the map.

[0075] Furthermore, the trajectory decomposition device 200 may display the sensing points of the target on the map according to the position information and pixel values ​​of the pixel points that the sensing points of the target occupy on the map.

[0076] S103, the trajectory decomposition device 200, based on the plurality of sensing points displayed on the map at the current time and the plurality of historical sensing points displayed within a period before the current time, At least one of the motion trajectories Determine the motion trajectory, where: At least one of the motion trajectories Each movement trajectory is Among multiple goals Used to characterize a single moving target.

[0077] By way of example, the time length of an epoch may be 40 seconds, 1 minute, 3 minutes, or any other reasonable time length, but the present disclosure is not limited thereto. It should be understood that the time length of an epoch may be any time length that can reflect a target motion state preset by the trajectory decomposition device 200.

[0078] According to the relevant description in S101, the trajectory decomposition device 200 may acquire sensing signals at a preset frequency, so that within a period before the current time, the trajectory decomposition device 200 may obtain sensing signals at multiple time points, and for a target in the sensing area before the current time, the trajectory decomposition device 200 may determine one or more historical sensing points of the target within a period before the current time.

[0079] For example, as shown in FIG. 4, seven image blocks in the area 41 are seven sensing points of the target B, and the image block B1 is the sensing point of the target B displayed on the map at the current time. The other six image blocks in the area 41 are the historical sensing points of the target B in motion. As can be seen from FIG. 4, the target B 7 of Among the four sensing points, the position information of each sensing point is different, which reflects that the position of target B in the actual space is changing, that is, target B is in a state of motion.

[0080] The sensing point C1 in the area 42 is the sensing point where the target C is located. The display effect of the sensing point C1 is close to the display effect of the map background, and is a weak interference display, that is, the signal energy of the sensing signal of the interfering target C is value is low.

[0081] For example, based on the seven sensing points of target B in FIG. 4, the trajectory decomposition device 200 may determine the movement trajectory of target B within a period of time prior to the current time. On the other hand, based on sensing point C1, the trajectory decomposition device 200 does not determine the movement trajectory of target C. Therefore, each movement trajectory is used to characterize one moving target. Alternatively, as shown in FIG. 5, multiple sensing points may be displayed on a map within a period of time prior to the current time, and the multiple sensing points may include, for example, sensing points of moving targets 51, 52, and 53. In some embodiments, as shown in FIG. 6, S103 may be realized as the following steps S1031 to S1032.

[0082] S1031, the trajectory decomposition device 200 determines a plurality of sets of sensing points according to a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period before the current time.

[0083] Of a pair of sensing points, any two adjacent sensing points Sensing time The time interval is less than a preset time length, and the distance between any two adjacent sensing points is less than a preset distance. It should be understood that a pair of sensing points belong to the same target.

[0084] The preset time length may be 50 milliseconds, 0.5 seconds, 1 second, or other possible time lengths, but the present disclosure is not limited thereto. It should be understood that the preset time length is equal to or less than the time interval between two adjacent sensing signals collected by the trajectory decomposition device 200.

[0085] The trajectory decomposition device 200 may determine the distance that the target can actually move based on a preset time length and the maximum speed at which the detected target can move, and further, the trajectory decomposition device 200 may determine the distance between pixel points displayed on the map that corresponds to the actual distance that can be moved, i.e., the preset distance.

[0086] For example, for a plurality of sensing points displayed at the current time and a plurality of historical sensing points displayed within a period prior to the current time, the trajectory decomposition device 200 sequentially determines whether any two adjacent sensing points belong to the same target sensing point based on a preset time length and a preset distance, i.e., determines whether any two sensing points can be divided into the same group.

[0087] The trajectory decomposition device 200 traverses all the sensing points and determines multiple sets of sensing points. If one sensing point cannot be divided into the same set as other sensing points, it should be understood that the sensing point is a sensing point of a stationary target or an interference sensing point existing in the environment. The number of sensing points in one set may be greater than a preset number.

[0088] The preset number may be 5, 8, 10 or any other possible number, although the present disclosure is not limited thereto.

[0089] It should be understood that if an extremely small number of sensing points, for example, two sensing points, are divided into one set, that is, if the target has only two sensing points within a period before the current time, the set of sensing points cannot intuitively indicate the movement status of the target. Therefore, when determining multiple sets of sensing points, the number of sensing points in each set may be further limited.

[0090] S1032: The trajectory decomposition device 200 determines each set of sensing points as one motion trajectory.

[0091] Illustratively, taking the seven sensing points of target B in FIG. 4 as an example, the seven sensing points are the activity trajectory of target B within a period before the current time.

[0092] S104, the trajectory decomposition device 200 Among multiple goals The sensory information of the one or more sensed moving targets is decomposed into one or more channels and output.

[0093] The sensing information includes the target's position, signal energy, value , motion parameters, and one or more terms of a motion trajectory within a period prior to the current time.

[0094] The motion parameters are parameters such as the average speed, moving distance, earliest appearance time, and appearance time length of the target determined by the trajectory decomposition device 200 based on the motion trajectory of the target.

[0095] In some embodiments, one channel may include: Among multiple goals One channel is used to output the sensing information of one moving target, or Among multiple goals It is used to output sensory information for a plurality of moving targets. It should be understood that different channels may output sensory information for a different number of moving targets.

[0096] In addition, in the process of detecting a target in a complex environment, the trajectory decomposition device 200 may detect a moving target. As shown in FIG. 7, the movement trajectories of multiple moving targets can be decomposed into a single trajectory. Part of The trajectory decomposition device 200 may determine multiple moving targets, and then output the movement trajectory of one target in one channel by decomposing the multiple targets, thereby facilitating the user's check or subsequent analysis and processing of the device.

[0097] Of course, one channel may output the motion trajectories of two, three, or a smaller number of targets, and one channel may also output other sensing information.

[0098] For example, in response to a user's selection command for target 81, as shown in (a) of FIG. 8, the trajectory decomposition device 200 may output sensing information such as the movement trajectory, average speed, moving distance, and earliest appearance time of target 81 to the user device via channel 1, and display it to the user via a display device of the user device. Alternatively, as shown in (b) of FIG. 8, the trajectory decomposition device 200 may further output sensing information such as the movement trajectories, average speed, moving distance, and earliest appearance time of targets 82 and 83 to the user device via channel 2, and display it to the user via a display device of the user device. In the method provided by the embodiment of the present disclosure, based on the acquired sensing signals, the trajectory decomposition device 200 may display the movement trajectories, average speed, moving distance, and earliest appearance time of targets 82 and 83 on a map. Multiple The sensing points may be displayed on the map, and the sensing points may intuitively indicate the position of each target, thereby facilitating the user's checking. The method may further decompose the target of movement indicated by the movement trajectory into one or more channels based on the movement trajectory within a period of time, and output the decomposed target. Thereby, in a complex environment where multiple targets exist, the trajectories of multiple targets can be easily output. Part of This can avoid the situation where the targets intersect and are difficult to check, effectively identify and distinguish the trajectories and other sensing information of each target, and further improve the accuracy of the appearance and identification of multiple target trajectories.

[0099] In some embodiments, based on the embodiment shown in FIG. 3 above, as shown in FIG. 9, the trajectory decomposition unit 200 may calculate the target signal energy. value Depending on the Multiple The step of determining pixel values ​​of pixel points that the sensing points occupy in the map may include S201 to S203.

[0100] S201, the trajectory decomposition device 200 Multiple Based on the position information of the pixel point that the sensing point occupies on the map, Multiple targets for each goal Obtain the first pixel value of the pixel point occupied by the sensing point.

[0101] For example, for any one sensing point, the trajectory decomposition device 200 intercepts a first image block located at the position information in a map where the sensing point is not displayed based on the position information of the pixel point occupied by the target sensing point in the map, and the pixel value of the pixel point occupied by the first image block is a first pixel value.

[0102] S202, the trajectory decomposition device 200 Multiple targets for each goal Performing an opponent color process on the first pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal A second pixel value of the pixel point occupied by the sensing point is obtained.

[0103] Opposite colors, also called complementary colors, are colors that, when combined with a primary color, produce white. For example, the complementary color of red is green, the complementary color of blue is orange, and the complementary color of yellow is purple.

[0104] The opponent color process is a process of obtaining a new pixel value for each pixel point in the original image by finding the opponent color for that pixel point, and the new pixel value is the second pixel value.

[0105] For example, the trajectory decomposition device 200 sequentially performs opponent color processing on each pixel point that any one sensing point occupies on the map to obtain the second pixel value of each pixel point at the sensing point.

[0106] In addition, a second image block of the sensing point may be obtained by performing an opponent color process on the first pixel value of the pixel point occupied by the sensing point, and the pixel value of each pixel point in the second image block is a second pixel value. Located in the second image block The color in which the secondary image blocks are displayed, distinguishing them from the original image blocks of the region. and map background The distinction is clearer.

[0107] In some embodiments, the trajectory Decomposition The device may further obtain the second pixel value by an image enhancement processing method or other image processing method.

[0108] S203, the trajectory decomposition device 200 calculates the target signal energy value Based on Multiple targets for each goal performing a fusion process on the first pixel value and the second pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal The pixel value of the pixel point occupied by the sensing point is obtained.

[0109] In some embodiments, the trajectory decomposer 200 may be configured to calculate the target signal energy value Based on the above, a first weight corresponding to the first pixel value and a second weight corresponding to the second pixel value are determined, and based on the first weight and the second weight, a weighting process is performed on the first pixel value and the second pixel value of each pixel point in the image block corresponding to the sensing point, to obtain the pixel value of each pixel point in the image block corresponding to the sensing point.

[0110] Furthermore, the target signal energy value is positively correlated with the second weight. That is, the larger the signal energy value of a target, the larger the second weight determined based on that target, and conversely, the smaller the signal energy value of a target, the smaller the second weight determined based on that target.

[0111] In some embodiments, the trajectory Decomposition The device first measures the signal energies of multiple targets. value The maximum and minimum signal energy values signalDetermine the energy value and target signal energy value to minimum signal The difference between the maximum signal energy and the minimum signal energy signal The ratio of the difference value minus the energy value is determined as the second weight.

[0112] Illustratively, the second weight of one target may be obtained according to equation (1).

[0113]

number

[0114] After determining the second weight, the first weight may be determined according to the second weight. Exemplarily, the first weight may be (1-a).

[0115] In this case, the pixel value of each pixel in the image block corresponding to the sensing point may be obtained by equation (2).

[0116]

number

[0117] 10, an image block 101 is a first image block of sensing points, and the pixel value of each pixel point in the first image block is a first pixel value. An image block 102 is a second image block of sensing points, and the pixel value of each pixel point in the second image block is a second pixel value. According to the first weight, the second weight, and Equation (2), For the first pixel value and the second pixel value corresponding to the pixel point Fusion Processing performed The image block displayed on the map of the subsequent sensing point, for example, image block 103, image block 104, image block 105, or image block 106 in FIG. 10, is obtained.

[0118] In some embodiments, the signal energy at the sensing point value is the smallest signal If it is an energy value, the second weight obtained based on formula (1) is 0, and in this case the first weight is 1; For the first pixel value and the second pixel value corresponding to the pixel point Fusion Processing performed The image block obtained later is image block 103 in FIG. 10, and as shown in FIG. 10, the display effect of image block 103 and image block 101 is the same.

[0119] In some other embodiments, the signal energy at the sensing point value is the maximum signal energy value, that is, the second weight obtained based on equation (1) is 1, in this case, the first weight is 0, and the image block obtained after the fusion process is image block 104 in FIG. 10. As shown in FIG. 10, the display effect of image block 104 and image block 102 is the same.

[0120] In some or other embodiments, the signal energy at the sensing point value When is larger, the second weight obtained based on formula (1) is also larger, and the obtained second weight is larger than the first weight, for example, the second weight is 0.8 and the first weight is 0.2. For the first pixel value and the second pixel value corresponding to the pixel point Fusion Processing performed The image block obtained later may be the image block 105 in FIG. 10, and as shown in FIG. 10, compared with the image block 101, the display effect of the image block 105 is closer to the image block 102.

[0121] In some or other embodiments, the signal energy at the sensing point value If is smaller, the second weight obtained based on formula (1) is also smaller, and the obtained second weight is smaller than the first weight, for example, the second weight is 0.1 and the first weight is 0.9. For the first pixel value and the second pixel value corresponding to the pixel point Fusion processing went The image block obtained later may be image block 106 in FIG. 10, and as shown in FIG. 10, compared with image block 102, the display effect of image block 106 is closer to image block 101.

[0122] The larger the second weight, that is, the larger the proportion of the second pixel value, the greater the display effect (such as color) of the image block corresponding to the sensing point. Image blockThe difference between the display effect of the sensing point at the position and the display effect of the map background when the sensing point is not displayed becomes larger, for example, image block 104 and image block 105 in FIG. 10. In this case, it should be understood that the display of the sensing point on the map is clearer and can be observed more accurately. Conversely, the smaller the second weight, i.e., the smaller the proportion of the second pixel value, the closer the display effect of the image block corresponding to the sensing point becomes to the display effect of the map background when the sensing point is not displayed at the position, for example, image block 103 and image block 106. In this case, the difference between the display effect of the sensing point at the position and the display effect of the map background when the sensing point is not displayed becomes larger, for example, image block 104 and image block 105 in FIG. 10. In this case, the difference between the display effect of the sensing point at the position and the display effect of the map background when the sensing point is not displayed effect is relatively blurred.

[0123] In some embodiments, based on step S103: At least one After determining the motion trajectory, At least one The second weight of each sensing point in the motion trajectory is increased, and At least one By readjusting the pixel values ​​of the pixels at the sensing points that make up the movement trajectory, the difference between the display effect of the sensing points and the display effect of the map background where the sensing points are not displayed can be made larger, thereby making it easier to see the target. At least one Displaying movement trajectories on a map effect can be made more intuitive.

[0124] Based on the above embodiment, the method provided by the present disclosure can simultaneously display a large number of sensing points for multiple targets on a map, and the display effect of the sensing points is correlated with the energy value of the target, and the energy value can determine the degree of difference between the display effect of the sensing points on the map and the display effect of the map background where the sensing points are not displayed. On the other hand, for targets with high energy, i.e., targets that may be in a state of movement, the sensing points of the target can be clearly displayed at a certain time, and further, sensing points near multiple positions of the target can be clearly displayed within a certain period of time, making it easier to observe the movement trajectory. On the other hand, for targets with low energy, the display effect of the sensing points may be similar to the map background at a certain time, and thus the presence of the sensing points on the map can be reduced, thereby making it possible to more intuitively display the movement trajectory of a moving target on the map.

[0125] It is understood that the trajectory decomposition device 200 includes a hardware structure and / or software modules corresponding to the execution of each function to realize the above functions. Those skilled in the art can easily conceive that the present disclosure can be realized in the form of hardware or a combination of hardware and computer software by combining the algorithm steps of each example described in the embodiments of the present disclosure. Whether a function is implemented in hardware or in the form of hardware driven by computer software depends on the specific application and design constraints of the technical solution. Those skilled in the art can realize the described functions using different methods for each specific application, but this implementation should not be considered beyond the scope of the present disclosure.

[0126] In the embodiments of the present disclosure, functional modules may be divided for the trajectory decomposition device 200 according to the above method embodiments. For example, each functional module may be divided into one corresponding function, or two or more functions may be integrated into one functional module. The integrated module may be implemented in the form of hardware or software. Note that in the embodiments of the present disclosure, the division into modules is only a rough outline and is merely a logical functional division. In actual implementation, other division methods may be used. The following describes an example in which each functional module is divided into one corresponding function.

[0127] As shown in FIG. 11, the trajectory decomposition device 200 includes a communication module 201, a processing module 202, and an output module 203.

[0128] The communication module 201 acquires the sensing signal at the current time, and based on the sensing signal at the current time, calculates the position information and signal energy of each target among the plurality of targets. value It is used to sense.

[0129] The processing module 202 processes the position information and signal energy of each target. value Depending on the target, Multiple Displaying sensing points, and based on a plurality of sensing points displayed at the current time on the map and a plurality of historical sensing points displayed within a period prior to the current time, At least one Used to determine the motion trajectory. At least one of the motion trajectories Each movement trajectory is Among multiple goals Characterize a single moving target.

[0130] The output module 203 Among multiple goals It is used to decompose the sensory information of one or more sensed moving targets into one or more channels and output the same.

[0131] In some embodiments, the processing module 202 may perform a target location calculation in response to the target location information. MultipleThe position information of the pixel point that the sensing point occupies on the map is determined, and the signal energy of the target is calculated. value Depending on the target Multiple The pixel value of the pixel point that the sensing point occupies on the map is determined, and the target's location is displayed on the map according to the pixel value and the position information of the pixel point that the sensing point of the target occupies on the map. Multiple Used to display the sensing point.

[0132] In some embodiments, the processing module 202 further determines position information of a center pixel point of the target in the map according to the position information of the target, and obtains the position information of the center pixel point of the target; Multiple targets for each goal Shape information of the sensing point, and Multiple targets for each goal Based on the dimensional information corresponding to the sensing point, Multiple targets for each goal The sensing points are used to determine the location information of the pixel points they occupy on the map.

[0133] In some embodiments, the processing module 202 further Multiple Based on the position information of the pixel point that the sensing point occupies on the map, Multiple targets for each goal Obtain a first pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal Performing an opponent color process on the first pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal The second pixel value of the pixel point occupied by the sensing point is obtained, and the signal energy of the target is calculated. value Based on Multiple targets for each goal performing a fusion process on the first pixel value and the second pixel value of the pixel point occupied by the sensing point; Multiple targets for each goal It is used to obtain the pixel value of the pixel point occupied by the sensing point.

[0134] In some embodiments, the processing module 202 further processes the target signal energy value and determining a first weight corresponding to the first pixel value and a second weight corresponding to the second pixel value based on the value has a positive correlation with the second weight, and the target signal energy valuehas a negative correlation with the first weight, and is used to perform weighting processing on the first pixel value and the second pixel value of each pixel point in the image block corresponding to the sensing point based on the first weight and the second weight, thereby obtaining the pixel value of each pixel point in the image block corresponding to the sensing point.

[0135] In some embodiments, the processing module 202 further processes the signal energies of the multiple targets. value The maximum and minimum signal energy values signal Determine the energy value and target signal energy value to minimum signal The difference between the maximum signal energy and the minimum signal energy signal The ratio of the difference value minus the energy value is determined as a second weight, which is used to determine the first weight according to the second weight.

[0136] In some embodiments, the processing module 202 further comprises: At least one In the movement trajectory Multiple By increasing the second weight of the sensing point, At least one In the movement trajectory Multiple targets for each goal The sensing points are used to adjust the pixel values ​​of the pixel points they occupy in the map.

[0137] In some embodiments, the processing module 202 further determines a plurality of sets of sensing points according to a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period of time prior to the current time, wherein among the set of sensing points: The number of sensing points in one set is greater than the preset number, The time interval between any two adjacent sensing points is smaller than a preset time length, and the distance between any two sensing points is smaller than a preset distance, and each pair of sensing points is used to determine one motion trajectory.

[0138] When the functions of the integrated modules are realized in the form of hardware, an embodiment of the present disclosure provides an electronic device 300. The electronic device 300 may be the trajectory decomposition device 200. As shown in FIG. 12 , the electronic device 300 includes a processor 302 and a bus 304. In some embodiments, the electronic device 300 may further include a memory 301. In some embodiments, the electronic device 300 may further include a communication interface 303.

[0139] The processor 302 may be any of the various exemplary logic blocks, modules, and circuits described above that implement or perform embodiments of the present disclosure. The processor 302 may be a central processor, a general-purpose processor, a digital signal processor, a dedicated integrated circuit, a field programmable gate array or other programmable logic device, a transistor logic device, a hardware component, or any combination thereof. The processor 302 may implement or perform any of the various exemplary logic blocks, modules, and circuits described above in combination with embodiments of the present disclosure. The processor 302 may also be a combination for implementing computing functions; for example, the processor 302 may include one or more microprocessor combinations, a combination of a DSP and a microprocessor, etc.

[0140] The communication interface 303 is used to connect to other devices via a communication network, which may be an Ethernet, a wireless access network, a wireless local area network (WLAN), etc.

[0141] Memory 301 may be, but is not limited to, read-only memory (ROM) or other type of static storage device capable of storing static information and instructions, random access memory (RAM) or other type of dynamic storage device capable of storing information and instructions, electrically erasable programmable read-only memory (EEPROM), magnetic disk storage media or other magnetic storage device, or any other medium accessible by a computer for carrying or storing desired program code in the form of instructions or data structures.

[0142] In some embodiments, the memory 301 may exist independently of the processor 302. The memory 301 may be connected to the processor 302 via a bus 304 and is used to store instructions or program codes. When the processor 302 calls and executes the instructions or program codes stored in the memory 301, the method for multi-target trajectory decomposition observation provided by the embodiments of the present disclosure can be realized.

[0143] In some other embodiments, memory 301 may be integrated with processor 302 .

[0144] Bus 304 may be an extended industry standard architecture (EISA) bus, etc. Bus 304 may be divided into an address bus, a data bus, a control bus, etc. For ease of presentation, only one thick line is shown in FIG. 12, but this does not represent only one bus or one type of bus.

[0145] In some embodiments of the present disclosure, a computer-readable storage medium (e.g., a non-transitory computer-readable storage medium) is provided that stores computer instructions that, when executed on a computer, cause the computer to perform a method for multiple target trajectory decomposition observation described in any of the above embodiments.

[0146] By way of example, computer-readable storage media may include, but are not limited to, magnetic storage devices (e.g., hard disks, floppy disks, or magnetic tapes), optical disks (e.g., Compact Disks (CDs), Digital Versatile Disks (DVDs), etc.), smart cards, and flash memory devices (e.g., Erasable Programmable Read-Only Memory (EPROM), cards, sticks, or key drives, etc.). The various computer-readable storage media described in this disclosure can represent one or more devices and / or other machine-readable storage media for storing information. The term "machine-readable storage medium" may include, but is not limited to, wireless channels and various other media capable of containing and / or carrying instructions and / or data.

[0147] In an embodiment of the present disclosure, a computer program product is provided that includes instructions, which, when executed on a computer, cause the computer to perform the method for multi-target trajectory decomposition observation described in any of the above embodiments.

[0148] The above is merely a specific embodiment of the present application, and the scope of protection of the present application is not limited thereto, and any modifications or replacements within the technical scope disclosed in the present application are intended to be embraced within the scope of protection of the present application. Therefore, the scope of protection of the present application shall be governed by the scope of protection set forth in the claims.

Claims

1. acquiring a sensing signal at a current time, and sensing position information and signal energy of each target among a plurality of targets based on the sensing signal at the current time; Displaying the sensing points of each target on a map according to the position information and signal energy of each target; determining motion trajectories based on a plurality of sensing points displayed on the map at a current time and a plurality of historical sensing points displayed within a period prior to the current time, each motion trajectory being used to characterize a moving target; decomposing and outputting sensory information of the one or more sensed moving targets into one or more channels; Including, A method for multi-target trajectory resolution observation.

2. The step of displaying the sensing point of each target on the map according to the position information and signal energy of each target includes: determining position information of pixel points that the sensing points of each of the targets occupy on the map according to the position information of the targets; determining pixel values ​​of pixel points occupied by the sensing points of each of the targets in the map in response to the signal energy of the targets; displaying the sensing points of each of the targets on the map according to the position information and pixel values ​​of the pixel points occupied by the sensing points of each of the targets on the map; Including, The method for resolving multiple targets' trajectories as claimed in claim 1.

3. The step of determining position information of pixel points occupied by the sensing points of each of the targets on the map according to the position information of the targets includes: determining position information of a central pixel point of the target in the map according to the position information of the target; determining position information of a pixel point occupied by the sensing point on the map based on position information of a central pixel point of the target, shape information of the sensing point, and size information corresponding to the sensing point; Including, The method for resolving multiple targets' trajectories as claimed in claim 2.

4. determining pixel values ​​of pixel points that the sensing points of each of the targets occupy in the map according to the signal energy of the target, acquiring a first pixel value of a pixel point occupied by the sensing point of each target from the map based on position information of the pixel point occupied by the sensing point of each target on the map; performing an opponent color process on a first pixel value of a pixel point occupied by the sensing point to obtain a second pixel value of the pixel point occupied by the sensing point; According to the signal energy of the target, performing a fusion process on the first pixel value and the second pixel value of the pixel point occupied by the sensing point to obtain the pixel value of the pixel point occupied by the sensing point; Including, The method for resolving multiple targets' trajectories according to claim 3.

5. performing a fusion process on the first pixel value and the second pixel value of each pixel point in the image block corresponding to the sensing point according to the signal energy of the target, to obtain a pixel value of each pixel point in the image block corresponding to the sensing point, determining a first weight corresponding to the first pixel value and a second weight corresponding to the second pixel value based on a signal energy of the target, wherein the signal energy of the target has a positive correlation with the second weight and a negative correlation with the first weight; performing a weighting process on the first pixel value and the second pixel value of each pixel point in the image block corresponding to the sensing point based on the first weight and the second weight, thereby obtaining a pixel value of each pixel point in the image block corresponding to the sensing point; include, The method for resolving trajectories of multiple targets according to claim 4.

6. determining a first weight corresponding to the first pixel value and a second weight corresponding to the second pixel value based on the target signal energy, determining a maximum signal energy value and a minimum signal energy value among the signal energies of the plurality of targets; determining the second weight as a ratio of a difference value obtained by subtracting the minimum energy value from the target signal energy value to a difference value obtained by subtracting the minimum energy value from the maximum signal energy value; determining the first weight in response to the second weight; Including, The method for resolving multiple targets' trajectories as claimed in claim 5.

7. After determining a movement trajectory based on a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period before the current time, the method includes: and further comprising: adjusting pixel values ​​of pixel points in the map occupied by the sensing points in the movement trajectory by increasing the second weights of the sensing points in the movement trajectory. The method for resolving multiple targets' trajectories as claimed in claim 6.

8. The step of determining a movement trajectory based on a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period before the current time includes: determining a plurality of sets of sensing points according to a plurality of sensing points displayed on the map at the current time and a plurality of historical sensing points displayed within a period before the current time, wherein the number of sensing points in one set of sensing points is greater than a predetermined number, the time interval of sensing time between any two adjacent sensing points in any one set of sensing points is less than a predetermined time length, and the distance between the two sensing points is less than a predetermined distance; determining each of the plurality of sets of sensing points as a motion trajectory; Including, The method for observing multiple targets by trajectory resolution according to any one of claims 1 to 7.

9. the sensed information includes one or more of the position information, signal energy, movement parameters, and movement trajectories within a period of time prior to the current time; The method for observing multiple targets by trajectory resolution according to any one of claims 1 to 7.

10. One of the channels is used to output sensing information of one moving target; or One of the channels is used to output sensing information of multiple moving targets; The method for observing multiple targets by trajectory resolution according to any one of claims 1 to 7.

11. 1. An electronic device comprising a processor and a memory for storing instructions executable by the processor, The processor is configured to execute the instructions to cause the electronic device to execute the multi-target trajectory decomposition observation method according to any one of claims 1 to 10. electronic equipment.

12. 1. A computer-readable storage medium, comprising: The computer-readable storage medium stores computer instructions, which, when executed on an electronic device, cause the electronic device to perform the method for trajectory decomposition observation of multiple targets according to any one of claims 1 to 10. A computer-readable storage medium.

13. 1. A computer program product comprising: The computer program product includes computer instructions, which, when executed by a processor, implement the method for multi-target trajectory decomposition observation according to any one of claims 1 to 10. Computer program products.

Images