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Echo fused target track association method based on track state estimation

A technology of track correlation and state estimation, which is applied in the field of track correlation of echo fusion targets, can solve the problems of mistracking track, failure to timely and accurately notify the target ship, and affecting the performance of stable tracking of the system, so as to improve the The effect of tracking stability

Active Publication Date: 2016-07-27
中船鹏力(南京)大气海洋信息系统有限公司 +3
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Problems solved by technology

In this kind of phenomenon, in order to avoid collisions, ships will often maneuver, and the speed and course of the ship are likely to change. This poses a great challenge to the tracking of the target. Mistracking or track loss often occurs, which affects the ship's speed. Continuous stable tracking, which in turn affects the performance of system stable tracking
It has a certain impact on the water traffic supervision of VTS users. When accidents such as ship collisions may occur, the target ship cannot be notified in a timely and accurate manner, which may lead to major accidents

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  • Echo fused target track association method based on track state estimation
  • Echo fused target track association method based on track state estimation
  • Echo fused target track association method based on track state estimation

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Embodiment Construction

[0032] The present invention will be further described in detail below in conjunction with the accompanying drawings and specific preferred embodiments.

[0033] Such as figure 1 As shown in Fig. 1 , a track association method of echo fusion target based on track state estimation includes the following steps.

[0034] Step 1, sector division in polar coordinates: divide the radar video data in polar coordinates into several sectors at equal distances and azimuths, preferably 48*24 sectors, wherein there are 24 azimuth sectors in total, each Each sector is 15°. Then, the execution of the target tracking module is driven by sectors, preferably azimuth sectors (track update).

[0035] Step 2, track start or update: build a new target track with the target echoes that meet the track start conditions, and form a new target track. The initial state of the track is a non-fusion state, such as figure 2 shown.

[0036] The above-mentioned target echoes that meet the track start co...

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Abstract

The invention discloses an echo fused target track association method based on track state estimation.The method comprises the steps of conducting polar coordinate sector partitioning, conducting track starting / updating, conducting track prepushing and associated sector calculation, and judging the state of the prepushed track in an associated sector according to a corrected target fusion threshold and setting the state of the track as non-fusion, pre-fusion or fusion.Different track association strategies are adopted for the three track states; track-trace point association is conducted on the non-fusion track with the conventional nearest neighbor method; track association is conducted on the pre-fusion track with the target feature information assisted nearest neighbor method; for the fusion track, within the fusion wave gate range, feature information is used as the main basis for track association after echo defusion, the fusion track and a track cluster are updated in real time, and the fusion track and the track cluster are deleted if the number of tracks in the track cluster is lower than 2.By the adoption of the method, the probability of mis-tracking or track losing after target fusion can be reduced, and tracking stability can be improved.

Description

technical field [0001] The invention relates to a radar target tracking method, in particular to a track correlation method based on echo fusion target track state estimation. Background technique [0002] In the Vessel Traffic Service System (VTS for short), when a ship is navigating, especially in an inland waterway, two ships may cross or meet. In this case, the radar video echoes of two ships will be Fusion occurs, forming an echo. In this kind of phenomenon, in order to avoid collisions, ships will often maneuver, and the speed and course of the ship are likely to change. This poses a great challenge to the tracking of the target. Mistracking or track loss often occurs, which affects the ship's speed. Continuous stable tracking, which in turn affects the performance of the system's stable tracking. It has a certain impact on the water traffic supervision of VTS users. When accidents such as ship collisions may occur, the target ship cannot be notified in a timely and ...

Claims

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Application Information

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Patent Type & Authority Applications(China)
IPC IPC(8): G01S13/93
CPCG01S13/937
Inventor 邱志远金家龙张建龙龚瑞卿宗成明宋承定田池喻柏瑄张杰蒋伟
Owner 中船鹏力(南京)大气海洋信息系统有限公司
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