86 results about "Track initiation" patented technology

The invention belongs to the technical field of multi-radar networking plot fusion, and particularly relates to a multi-radar plot fusion method. The method comprises the following steps of 1, receiving multiple pieces of radar measurement data, conducting space alignment and setting a uniform measurement coordinate system; 2, judging whether the radar measurement data all contains target Doppler velocity information or not, if yes, executing the step 3, and otherwise, executing the step 6; 3, conducting time alignment; 4, conducting plot association and plot fusion to obtain fused plot information; 5, conducting track association with a formed track and filtering updating by utilizing the fused plot information, and executing the step 7; 6, sorting the data by time, and conducting track association with the formed track and filtering updating in sequence by utilizing the sorted data; 7, conducting track initiation by utilizing the radar data which does not participate in track association; 8, outputting a track result. The multi-radar plot fusion method is beneficial to prolonging the target detection distance and improving the tracking precision and the maneuvering target tracking performance.

The invention relates to a multi-target tracking method based on a ground moving target indication (GMTI) radar system. A filtering result is restricted and corrected by using road information on the basis of a probability multi-hypothesis tracking (PMHT) method so as to improve the tracking performance. In a track initiation and data relating stage, radar echo data are processed by using the PMHT method to confirm an effective track; in a target tracking stage, the motion state of the target is estimated by using Kalman filtering, and the filtered value is corrected by using the road information for a target entering a road network region so as to optimize a target track. The invention utilizes the PMHT and road restricting information to track a plurality of ground moving targets, thereby achieving better tracking precision and stability and further improving the performance of the whole GMTI system.

The invention provides a heterogeneous multi-sensor multi-target tracking method, which can rapidly start a target track, reduce calculation amount and improve track tracking accuracy and continuity.The method is realized through the following technical scheme: a track initiation and maintenance module, a track trimming and confirmation module, a hypothesis generation and management module, a track updating and merging module and a track management output module are arranged in a heterogeneous multi-sensor multi-target tracking system, the track initiation and maintenance module roughly classifies measurement data according to attribute characteristics and position grids of the measurement data, and according to the rough classification result, measuring points falling into an existing target track tracking wavegate are sent to the track trimming and confirmation module as candidate point tracks, the tracks confirmed by sequence probability ratio inspection are sent to the hypothesisgeneration and management module for track clustering and hypothesis generation, a target filtering model is determined through the track updating and merging module, the tracks are updated through filtering, and latest covariance information is output through the track management output module.

The invention discloses a ship track logic initiation algorithm. The ship track logic initiation algorithm comprises steps that temporary track losing point classification discrimination, distance changing rule statistic discrimination, maneuverability analysis discrimination, namely suppression discrimination of continuous N-shaped false track having course deviation greater than or equal to 90 degrees and target speed, course, acceleration fluctuation discrimination are established by radar scanning. The ship track logic initiation algorithm is advantageous in that under a condition of severe clutter environment, by combining various track initiation rules, an initiation false alarm rate of a false target is reduced, and real target track initiation accuracy is improved, and therefore subsequent target stability tracking is facilitated, and probabilities of false track wrong following and real track losing are reduced.

The invention provides an improved logic-based track initiation method. The improved logic-based track initiation method comprises the steps of registering a temporary track for each tracking target by taking a measuring point of the tracking target in a first frame image as an initial point, and taking the correlation coefficient of each tracking target as the correlation coefficient of the corresponding temporary track; by taking the measuring point, in the circular correlation area of measuring points of the first frame image, of a second frame image as a second point, adding into the corresponding temporary track; when one measuring point is added into the temporary track of the tracking target, accumulating the correlation coefficient of the temporary track, and when the accumulation sum of the correlation coefficients is greater than or equal to a preset judgment threshold, adding the temporary track into a queue of temporarily successful track for carrying out track pruning, and then outputting an effective track. The improved logic-based track initiation method has different track initiation requirements after different targets are achieved, the track initiation precision can be enhanced, and the calculation time can be shortened.

The invention discloses a measurement storage-based track initiation method. The method is applied to target tracking of narrow-transmitting multi-receiving track-while-scan radar system and a passive tracking system in actual scenes. According to existing tracking algorithms, most algorithms assume that targets can be observed continuously and the measurement information of different targets are synchronous. According to the method of the invention, a condition that time intervals when a target is observed by a track-while-scan radar system is inconstant is considered; and historical measurement information is fully utilized, higher track initiation speed and successful tracking probability can be realized. With the measurement storage-based track initiation method of the invention adopted, track initiation problems of a centralized tracking system and a passive tracking system in multi-sensor asynchronous communication can be solved. The method has the advantages of full utilization historical information, simplicity in implementation and higher successful track probability, and can assist in effectively solving track initiation problems under a condition that the measurement information of different targets is asynchronous.

The invention provides a radar global target track automatic initiation method based on environmental perception. The method comprises the following steps of 1, carrying out azimuth distance grid quantization on a radar detection area, 2, comprehensively perceiving and evaluating clutter environment and intensity from a signal layer and a data layer by utilizing a point track and original echo data of the radar, and establishing an environment perception map,3, enabling each grid unit toobtain different area attributes through the environment perception map, mapping the point track informationto the corresponding network cell according to the mapping position, and giving the point track information to the attributes of the network cells, and 4, adopting a multi-channel parallel tracking processing architecture to carry out dual-channel automatic track initiation and conventional sea target channel on the target, adopting environment perception and target multivariate characteristics to carry out fine track initiation processing, adopting a low-speed small target channel, and adopting a DP-TBD-based weak and small target detection algorithm to carry out track initiation, and 5, carrying out system track integration, and outputting an initial integrated track.

A method and radar system for detecting a target and verifying its presence to begin tracking and to enable future detections of the same target to be correctly associated with its initial detection uses two separate detections. Each detection provides three components of position measurements (range, elevation, and azimuth). The invention also pertains to an associated method for initiating a target track utilizing a rotating radar antenna having an electronic scanning antenna comprising the steps of: acquiring data representative of one or more of range, elevation and azimuth of a target, calculating target motion, forming multiple models for each degree of freedom of target motion, composing a set of initial state vectors that includes one having predictive validity for the realization of the true measurement errors and target motion.

The invention puts forward a radar track initiation method based on location information and Doppler information in order to solve the technical problem that the existing sequential processing technical method is of low track initiation efficiency. The method is implemented by the steps as follows: calculating the maximum unambiguous velocity; selecting a track head from measurement vectors scanned at the kth time, and calculating a radial velocity set; building a distance constraint accord to the radial velocity; building a space constraint according to the maximum velocity; during (k+1)th scanning, associating measurement vectors which are on the same Doppler channel with the track head and meet the two constraints; using effective measurement vectors to update the distance constraint, and continuing the association operation; building a stable track according to the track initiation criterion; and traversing the measurement vectors scanned at the kth time and a corresponding radial velocity set. The method of the invention is of high track initiation efficiency, and can be used in target tracking.

The invention discloses detection and tracking integration method for a frame constant false-alarm target. Through the method, the problems of low target detection probability and short target tracking distance in the prior art are solved. According to the detection and tracking integration method, the implementation process comprises the following steps of: 1) obtaining an initial state estimation value and an initial state estimation covariance matrix of the target by a track initiation algorithm; 2) determining a target prediction gate of the kth frame according to the target state estimation value of the k-1th frame and the state estimation covariance matrix of the k-1th frame; 3) calculating the false-alarm probability and detection threshold of each detection unit in the target prediction gate of the kth frame; 4) detecting an echo signal in the target prediction gate, and estimating a target parameter as a measurement data set of the kth frame; and 5) performing relevance and filtering on the measurement data set of the kth frame to obtain a target state estimation value and a state estimation covariance matrix of the kth frame. Compared with the conventional detection and tracking method, the detection and tracking integration method has the advantages that the detection probability of the target is improved, and the tracking distance of the target is expanded.

The invention relates to a multi-characteristic information fusion method for target data correlation and belongs to the technical field of radar data processing. The method comprises the following steps: 1) trace point pretreatment: screening data and storing the screened data according to frame; 2) target classification: classifying targets into three classes according to target speeds; 3) point-point correlation: carrying out track initiation by utilizing an m/n logical approach, and adopting different correlation strategies for different types of targets; 4) point-track correlation: carrying out extrapolation on a target track, and searching target candidate echoes according to a Bayesian data correlation algorithm; 5) feature similarity computation: extracting feature information of the candidate echoes and calculating feature similarity; and 6) comprehensive correlation degree computation: calculating comprehensive correlation degree according to the feature similarity and feature weight, and selecting the candidate echo, the comprehensive correlation degree of which is the largest, as target measurement. The method can reduce the number of the target candidate echoes, reduces operation burden, improves reliability of data correlation under a dense clutter background, and has a popularization and application value.

The invention discloses a tracking initiation method including radial velocity information for a circular motion target. The method comprises the following steps: first, based on motion features, establishing a continuous motion equation of the target, and converting the continuous motion equation of the target to a discrete motion equation; secondly, establishing a radar observing model which includes the radial velocity information in a polar coordinate system; thirdly, based on the features of a multiple frequency cw radar as described that the multiple frequency cw radar can not only obtain distance and angle information, but can also obtain velocity information, designing a tracking initiation gate which includes the radial velocity information; finally, configuring a tracing initiation flow chart which includes the radial velocity information. The method herein is applicable to radar systems which can provide velocity information, such as a multi-frequency cw radar system, a pulse Doppler radar system, etc. The method is also applicable to tracking initiation of a horizontal circular motion target, and can increase the effects of tracking initiation. In addition, the method herein is not only applicable to tracking initiation of horizontal circular motion, but is also applicable to other target motion patterns, and has excellent expansibility and value in popularization and application.

The invention belongs to the technical field of radars, discloses a first-initiation second-confirmation radar track initiation method and mainly solves the problem of an existing radar system that the target track initiation probability is relatively low. The method comprises the steps of: 1) setting a detection judgment false alarm probability, determining a detection threshold, and processing echo signals to form detection statistics and measured data; 2) according to the measured data, establishing an initial track according to a track initiation criterion; 3) enabling the initial length value of a track confirmation window to be the length of a track initial window; 4) calculating a false point trace probability and a false track probability of the mth initial track in the track confirmation window; 5) according to the false track probability of the mth initial track, determining whether the initial track is a target track, if a track ending criterion is met, then cancelling the track, and if the track is not determined nor cancelled, then adding one to the track confirmation window and returning to the steps 4); and 6) traversing all the initial tracks. Compared with an existing track initiation method, the initiation probability of the target track is improved.

The invention discloses a PHD (probability hypothesis density) filtering algorithm based on self-adaptive new target strength. The PHD filtering algorithm is implemented through the following steps: carrying out track initiation and track confirmation; constructing a strength function of a new target random set according to confirmed track initiation position information; merging a new target strength function constructed by current frames with a known new target strength function at previous moment so as to produce an adaptive new target strength function of the current frames; starting a PHD filter by using the adaptive new target strength function so as to complete the prediction and updating of the PHD filter; and carrying out multiple target state extraction. According to the Bayesian multiple target tracking method based on the filtering algorithm, a new target strength function is constructed only according to measurement information completely without using priori information. The algorithm can be used for solving the problem that an original PHD filter lacks a new target tracking function. The algorithm has the advantages that a new target of which the position is unknown can be tracked well, so that the application range is enlarged, the robustness of the PHD filter is improved, and the like.

The invention discloses a multi-target track initiation method based on Hough transform, which comprises the following steps: S1, performing Hough transform on frequency gate information of measurement point traces in M scanning periods in a sliding window, and projecting the frequency gate information to a parameter space; S2, finding a frequency dimension accumulation point greater than a threshold value in the parameter space, and recording coordinates; S3, determining an association point contributing to the frequency dimension accumulation point in each scanning period according to the coordinate information of the frequency dimension accumulation point; S4, deleting redundant frequency dimension accumulation points of the same target according to the association point information ofthe frequency dimension accumulation points; S5, conducting distance dimension Hough transform on the remaining frequency dimension accumulation points, and projecting the remaining frequency dimension accumulation points to the parameter space; and S6, finding a distance dimension accumulation point greater than a threshold value in the parameter space, and carrying out reliability judgment on the association point.

The invention relates to a real-time adaptive track initiation statistics method based on a plot density. Through counting the space plot density, one plot is for each initiation, a related spatial domain is demarcated adaptively, and the number of plots related to the plot in the spatial domain is counted. In the case of the track initiation, the average plot density of all plots used by the track is calculated, and according to the real-time statistics result and a preset threshold, the track initiation moment is determined, and false tracks can be effectively suppressed.

The steel rolling simulating system as one single layer simulating system with process computer may be used in the comprehensive debugging, field cold load measurement and hot load measurement of the simulating application system. The steel rolling simulating system includes three parts: 1. plan simulator to simulate the steel rolling plan from the production managing computer; 2. steel drawing simulator to simulate the steel drawing message from the heating furnace to create tracking initiation pointer, to insert request initiation event and to prepare the automatic event sending of subsequent event; and 3. automatic event simulator to simulate various messages from automatic rolling base system to create simulating message and subsequent event. The automatic event simulator can simulate all the process relevant events in the production line.

The invention provides a fixed track clutter suppression method based on a track clutter map, and the method comprises the steps: enabling a receiver to receive a returned radio frequency signal, andobtaining a detection target and clutter point track information after preprocessing; processing the point track information based on a track initiation algorithm and a track association algorithm toobtain target and clutter track information; and comparing the track information with track similarity in corresponding clutter map cells in a pre-stored track clutter map, if the track information isa clutter track, cancelling display on the radar, and if the track information is a suspected target, uploading the track information to a radar display interface for display. According to the clutter suppression method, the tracks of clutters such as pedestrians, vehicles, large vehicle sidelobes or passenger planes with specific airlines can be effectively suppressed by 70%-80% through actual measurement verification.

The invention provides a multi-hypothesis multi-target track initiation method based on grid clustering. The multi-hypothesis multi-target track initiation method comprises the steps of obtaining a trace point set and mapping the trace point set into a grid; determining boundary points of the current high-density grid; forming a trace point cluster based on boundary points of the high-density grid; performing clustering processing on each trace point cluster to generate a cluster; establishing an association hypothesis of a target and measurement in the cluster; and obtaining an optimal hypothesis according to the hypothesis probability obtained through calculation, calculating track scores, sorting the track scores from high to low, deleting low-score tracks through backtracking so as toconfirm track generation, and updating target state estimation of the tracks. According to the method, a plurality of target tracks can be initiated, the problem of multiple false tracks in a high-density clutter environment is solved, and engineering application under a high-density clutter condition is facilitated.

The invention discloses a space target track interruption correlation method based on trace forecast, and belongs to the technical field of track correlation. A space target has the characteristics ofhigh density, low target relative movement speed, poor divisibility and the like, the problems that in a tracking process, targets are easily lost, and the same target is repeatedly subjected to track initiation and is given with a plurality of batch numbers are easily caused, in order to effectively improve continuity and stability of tracking on the space target and improve target tracking precision and effective tracking batch numbers, the speed and position of the space target are separately subjected to first-order least square curve fitting and second-order least square curve fitting toimprove the precision of a trace forecast initial value point, the position of the trace forecast initial value point is obtained by variable-order curve fitting, the target acceleration of the timeis estimated according to a spatial objective dynamic equation, the movement locus of the space target is forecasted through the estimated acceleration by a Euler extrapolation forecast method, and the problem of track interruption correlation is solved by the forecast result of the trace of the space target.

The invention discloses a multi-base station single frequency network passive cooperation positioning method based on MML-PMHT. The method comprises steps that firstly, a mathematics model of a multi-base station passive cooperation positioning system is established; secondly, under an unknown target number scene, the target number is determined through a hypothesis method, a logarithm likelihood ratio function is constructed, and maximization of the likelihood function is carried out to solve the target number; thirdly, a super target concept is utilized to solve a three-dimensional data association problem, the logarithm likelihood ratio function of an MML-PMHT algorithm is optimized through utilizing a Quasi-Monte Carlo search algorithm, so a target solution problem is converted into an optimization problem of the likelihood function; and lastly, track maintenance is realized through a sliding window method. The method is advantaged in that a multi-base station cofrequency network three-dimensional data association problem can be rapidly and effectively solved, and a track initiation and maintenance problem of weak targets under the complex environment can be realized.

The invention relates to a track tracking optimization method under a radar far-near alternative ranging mode. The method comprises the following steps of alternately acquiring the trace points of a target through a long ranging mode and a near ranging mode; determining the track start of the target through the continuity of continuously acquired multi-frame track points; screening the track points acquired by the long ranging mode and the near ranging mode by adopting gates with different parameters to determine the track points matched with the flight track; and updating the track points matched with the flight tracks into the flight tracks through different nonlinear filter noise matrixes set according to different distance measuring modes for obtaining the point tracks, thereby obtaining new flight tracks. Through the method disclosed by the invention, the matching continuity of track points and flight tracks is improved by adopting the self-adaptive sector wave gate for matching,and the flight tracks are optimized by arranging different nonlinear filter noise matrixes through different ranging modes for acquiring track points, thereby improving the filtering smoothing effectof the flight tracks and the estimation precision of the motion state of the detected target.

The invention belongs to the technical field of analysis of echo signals using target characteristics and motion characteristics, and discloses a multi-constraint condition track initiation detectionmethod for a large-view-field photoelectric imaging tracking system. The method comprises the following steps that firstly, a constraint condition 1 with track consistency judgment and direction judgment is utilized to enhance rapid initiation of a track of a threat target; and then, the mutual cooperation between a constraint condition 2 with course variance judgment and a constraint condition 3with track reliability judgment is utilized to finish the track initiation of an interrupted point track target, and in the large-field-field photoelectric imaging tracking system, the rapid initiation of the track of the thread target in the whole airspace is achieved under a dense cluster environment. According to the method, the rapid initiation of the large-threat probability target and the interrupted point track target track is achieved under the large-view-field photoelectric imaging tracking system, so that a new idea is provided for accurate track initiation with fast targets under the dense cluster environment in the large-view-field photoelectric imaging tracking system.