CN105717506A - Managing method for multi-layer track archives in multi-hypothesis-target tracking system - Google Patents
Managing method for multi-layer track archives in multi-hypothesis-target tracking system Download PDFInfo
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- CN105717506A CN105717506A CN201610046209.0A CN201610046209A CN105717506A CN 105717506 A CN105717506 A CN 105717506A CN 201610046209 A CN201610046209 A CN 201610046209A CN 105717506 A CN105717506 A CN 105717506A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/66—Radar-tracking systems; Analogous systems
- G01S13/72—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar
- G01S13/723—Radar-tracking systems; Analogous systems for two-dimensional tracking, e.g. combination of angle and range tracking, track-while-scan radar by using numerical data
- G01S13/726—Multiple target tracking
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/91—Radar or analogous systems specially adapted for specific applications for traffic control
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/931—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/88—Radar or analogous systems specially adapted for specific applications
- G01S13/93—Radar or analogous systems specially adapted for specific applications for anti-collision purposes
- G01S13/933—Radar or analogous systems specially adapted for specific applications for anti-collision purposes of aircraft or spacecraft
Abstract
The invention provides a managing method for multi-layer track archives in a multi-hypothesis-target tracking system.In the multi-hypothesis-target tracking system, the multi-layer track archives comprising general track archives and internal track archives are built; the internal track archives are updated in real time for corresponding to the MHT hypothesis generation and pruning process; corresponding logic between the general track archives and the internal track archives is set, and general track archive information is updated based on internal track archive information; according to the target information in the general track archives, the target track is output and displayed in real time, and target tracking management and target information reporting are achieved.By means of the method, the problems of result display lagging and complex track hypothesis branch management brought by multiple hypothesis tracking delay decisions can be solved.
Description
Technical field
The invention belongs to target following flight path management method technical field, particularly to the multilamellar flight path archive management method in a kind of multiple hypotheis tracking system.The present invention is directed in multiple hypotheis tracking system flight path management method and efficiency, track initiation in corresponding multiple hypotheis tracking process, maintenance, termination and output demand, file structure is optimized, it is achieved the high-efficiency management of flight path archives and using in real time.
Background technology
On modern battlefield, during ballistic missile penetration, multiple counterattacking measure can be taked, including the fragment producing to be located proximate to, kinestate is similar in release bait, decoy jamming, jammer interference and wind-force process.For fighting, the formation flight aircraft of air transport, collation and demonstration flight etc. aloft mutually keep certain interval, distance and the collaborative flight of difference in height.Between these target members, relative position is close, and movement locus is similar, defines echo,high level environment.
Except military field, many environment are also had to there will be echo,high level phenomenon at civil area, for instance the video monitoring of air traffic control radar and the vehicle of social public security aspect, crowd.Air traffic control radar is adapted to assist in Control Centre and grasps flight path and the flight intent of aircraft, to improve the supportability of air traffic safety.When target adjacent to each other in a large number occurs in radar coverage, radar then can receive highdensity echo-signal, constitutes echo,high level environment.It addition, when the video that the data that video monitoring equipment gathers are big flow vehicle or crowd, particularly the road traffic video of peak time morning and evening, then can form echo,high level environment equally.
Echo,high level, refers to owing to close to each other or noise jamming cause the situation of high echo density.When the such dense distribution of echo, interfering between target, a mark erroneous association and Targets Dots can be caused interrupted, it is impossible to ensure the tracking accuracy of target.Now, frame data correlating method is faced with two hang-ups: first, and target is close to each other, and conventional ripple gate technique is difficult to distinguish the wave beam that may be from target from all echoes；Second, the hypothesis of " target only associates a measurement, and a measurement is only derived from a target " is no longer set up.Therefore, in echo,high level feelings situation, conventional tracking is difficult to obtain desirable tracking effect.In view of the more traditional multiple target of echo,high level characteristic is increasingly complex, many employing multiple hypotheis tracking methods process in recent years.
Multiple hypotheis tracking (MHT) is to utilize multiframe measurement information Delayed Decision mechanism, carries out measurement association and formation finally confirms flight path.Flight path information spinner in MHT tracking process to carry out Classification Management with flight path Track, cluster cluster, tri-kinds of forms of flight path tree TrackTree.Three class flight paths definition as follows, its relation as shown in Figure 1:
(1) Track: represent the pursuit path that target travel is generated by MHT algorithm, every track correspondence observation is assumed to be likely to a kind of of target data association.
(2) Cluster: represent the set that the flight path of all shared observation is assumed, introducing Cluster is to be multiple minor issue by big PROBLEM DECOMPOSITION, is beneficial to save amount of calculation.
(3) Family: representing that a target constantly branches out the tree structure that a lot of flight path is assumed, this structure is almost adopted by all of MHT algorithm.Each Family at most represents the tracking situation of a target, and a kind of of each of which branching representation target data association is likely to, i.e. Track.All Track in same Family are mutual exclusive, and a Track can only be selected as the flight path of target.Meanwhile, in a Family, all of Track can only in a Cluster.
MHT algorithm hypotheses creation and judge process are complex, and flight path more new capital covers the hypothesis association process that multiframe measures each time.It addition, the generation assuming flight path in MHT algorithm, merge and delete the hypothesis stage being only for forming before final efficient association, it is not necessary to user's output.Therefore, the traditional method being managed only with the general flight path archives of monolayer can cause the frequent updating of flight path archives and the problem of flight path output instability.
Summary of the invention
It is an object of the invention to propose a kind of many hypothetical targets and follow the tracks of the multilamellar flight path archive management method of system.The present invention sets up a kind of multilamellar flight path file structure, follows the tracks of the track initiation in association, maintenance, termination and output element for Radar Multi Target, flight path information is managed independently.
For realizing above-mentioned technical purpose, the present invention adopts the following technical scheme that and is achieved.
A kind of many hypothetical targets follow the tracks of the multilamellar flight path archive management method of system, comprise the following steps:
1) in many hypothetical targets tracking system, the multilamellar flight path archives comprising general flight path archives and internal flight path archives are set up；
2) internal flight path archives are carried out real-time update by corresponding MHT hypotheses creation, beta pruning process；
3) general flight path archives and internal flight path archives have counterlogic, general flight path archive information to be based on internal flight path archive information to be updated；
4) according to the target information in general flight path archives, targetpath is carried out real-time output display, complete target following management and target information reports.
As long as should be appreciated that all combinations of aforementioned concepts and the extra design described in greater detail below can be viewed as a part for the subject matter of the disclosure when such design is not conflicting.It addition, all combinations of theme required for protection are considered as a part for the subject matter of the disclosure.
Foregoing and other aspect, embodiment and the feature that present invention teach that can be more fully appreciated with from the following description in conjunction with accompanying drawing.Feature and/or the beneficial effect of other additional aspect such as illustrative embodiments of the present invention will be obvious in the following description, or by the practice according to the detailed description of the invention that present invention teach that is learnt.
Accompanying drawing explanation
Accompanying drawing is not intended to drawn to scale.In the accompanying drawings, each identical or approximately uniform ingredient illustrated in each figure can be indicated by the same numeral.For clarity, in each figure, it is not that each ingredient is all labeled.Now, by by example the embodiment that various aspects of the invention are described in reference to the drawings, wherein:
Fig. 1 is the relation schematic diagram of three class flight path information in MHT algorithm.
Fig. 2 is multilamellar flight path archive management method flow chart.
Fig. 3 is the corresponding logical relationship figure of two kinds of flight path archives.
Detailed description of the invention
In order to know more about the technology contents of the present invention, especially exemplified by specific embodiment and to coordinate institute accompanying drawings to illustrate as follows:
Each side with reference to the accompanying drawings to describe the present invention in the disclosure, shown in the drawings of the embodiment of many explanations.Embodiment of the disclosure all aspects that must not be intended to include the present invention.It is to be understood that, multiple design presented hereinbefore and embodiment, and describe in more detail below those design and embodiment can in many ways in any one is implemented, this is because design disclosed in this invention and embodiment are not limited to any embodiment.It addition, aspects more disclosed by the invention can be used alone, or otherwise any appropriately combined use with disclosed by the invention.
Multilamellar flight path archive management method in complexity tracking situation proposed by the invention, is suitable to many hypothetical targets are followed the tracks of the multilamellar flight path file administration of system, mainly includes general flight path archives and the internal foundation of flight path archives, renewal and three major parts of deletion.
Below in conjunction with accompanying drawing, some one exemplary embodiment of the present invention are illustrated.
According to embodiments of the invention, it is proposed to the multilamellar flight path archive management method in a kind of complicated tracking situation, data chaotic with multiple hypotheis tracking algorithmic procedure monolayer flight path archives function in overcoming Radar Multi Target to follow the tracks of update problem frequently.
Shown in Fig. 2 flow chart, the realization of the method generally comprises following 4 steps:
1) in many hypothetical targets tracking system, the multilamellar flight path archives comprising general flight path archives and internal flight path archives are set up；
2) internal flight path archives are carried out real-time update by corresponding MHT hypotheses creation, beta pruning process；
3) counterlogic of setting general-purpose flight path archives and internal flight path archives, general flight path archive information is based on internal flight path archive information and is updated；
4) according to the target information in general flight path archives, targetpath is carried out real-time output display, complete target following management and target information reports.
In some instances, the step 1 of said method) specifically include:
11) setting up general flight path archives, report for the real-time output display of flight path, target following management and target information, the flight path archives of these flight path archives and conventional tracing systems are consistent；
12) setting up internal flight path archives, the flight path for MHT algorithm assumes branch management.
Shown in Fig. 3, general flight path archives comprise unique targetpath lot number and track data, and internal flight path archives comprise all flight path branches in unique targetpath Family and each Family and assume Track numbering, data and affiliated Cluster numbering.The two associate with Family numbering correspondence by identical flight path lot number, and namely in internal flight path archives, Family is numbered in the targetpath general flight path archives of correspondence of N lot number is the flight path of N.
In said method, shown in Fig. 1, Fig. 2, abovementioned steps 2) specifically include:
21) MHT algorithm is to confirming that flight path generates flight path and assumes that branch, internal flight path archives increase all flight paths and assume branch information the confirmation flight path numbering that correspondence is associated；
22) flight path is assumed that branch carries out beta pruning by MHT algorithm, and internal flight path file delet is assumed branch information by the invalid flight path of beta pruning.
It is noted that in embodiments of the invention, new inside flight path archives of foundation, only make MHT algorithm internal logic and judge to use, not directly as the foundation of final flight path output display.This is also the key point that the present invention is different from prior art.
In some instances, in said method, described step 3) particularly as follows:
31) each follows the tracks of target a general flight path archive information and internal flight path archive information and both one_to_one corresponding；
32) after internal flight path archive information updates, general flight path archive information also to update, and the renewal of general flight path archive information is based on internal flight path archive information；
33) in internal flight path archive information, the optimal trajectory of each target assumes branch's (also referred to as main flight path branch data) target information for updating in general flight path archives；
Shown in Fig. 3, obtain the Family optimal trajectory branch being numbered in N by MHT algorithmic delay decision-making mechanism it is assumed that namely main flight path branch data is as effective flight path information of N batch target, general flight path archives are updated.
34) if any flight path, internal flight path archive information assumes that branch separates and set up fresh target, general flight path archives to be set up the flight path archives of fresh target；
35) if any a certain targetpath, internal flight path archive information assumes that branch all terminates, the flight path archives of this target that also to terminate in general flight path archives；
Shown in Fig. 3, when N batch target flight path terminates, in internal flight path archives, Family is numbered all flight path branches of N and assumes that information needs to delete, and in general flight path archives, N batch target flight path information also needs to delete.
In sum, the present invention proposes the multilamellar flight path archive management method in a kind of many hypothetical targets tracking system.For the multiple target tracking under complex situations, process frequently with multiple hypotheis tracking (MHT).Multiple hypotheis tracking algorithm is to adopt Delayed Decision, is reached the target following effect of optimum by the method for information accumulation, and the flight path comprising complexity in its processing procedure assumes that branch generates and flight path assumes branch's beta pruning process, and flight path management is extremely complex.Process from conventional tracking mainly have two different: (1) conventional tracking system is based on current frame information and processes, and multiple hypotheis tracking system needs to use many frame informations, there is time delay；(2) conventional one target of tracking system only safeguards single flight path archives, but in multiple hypotheis tracking system, a target needs to safeguard that multiple flight path assumes branch's archives.Therefore, conventional monolayer flight path management logic is difficult in adapt to flight path file administration during multiple hypotheis tracking.Invention introduces a kind of multilamellar flight path file structure and map file management logic.Generally, two-layer can be divided into, respectively general flight path archives and internal flight path archives.General flight path archives are consistent with flight path archives conventional at present, internal flight path archives are mainly used in the flight path managed within many hypothesis and assume branch, there is corresponding relation between the two, and in internal flight path archives, the flight path of highest scoring assumes that branch updates the flight path archive information in general flight path archives by being used for.Utilize the method that the present invention proposes, it is possible to resolve the result that multiple hypotheis tracking time delay decision-making brings shows that delayed and complicated flight path assumes branch management problem.
Although the present invention is disclosed above with preferred embodiment, so it is not limited to the present invention.Persond having ordinary knowledge in the technical field of the present invention, without departing from the spirit and scope of the present invention, when being used for a variety of modifications and variations.Therefore, protection scope of the present invention is when being as the criterion depending on those as defined in claim.
Claims (5)
1. the multilamellar flight path archive management method in the system of hypothetical target tracking more than a kind, it is characterised in that comprise the following steps:
1) in many hypothetical targets tracking system, the multilamellar flight path archives comprising general flight path archives and internal flight path archives are set up；
2) internal flight path archives are carried out real-time update by corresponding MHT hypotheses creation, beta pruning process；
3) arranging general flight path archives and the counterlogic of internal flight path archives, general flight path archive information is updated based on internal flight path archive information；
4) according to the target information in general flight path archives, targetpath is carried out real-time output display, complete target following management and target information reports.
2. the multilamellar flight path archive management method in the many hypothetical targets tracking system described in claim 1, it is characterised in that described step 1) realization include:
11) setting up general flight path archives, report for the real-time output display of flight path, target following management and target information, the flight path archives of these flight path archives and conventional tracing systems are consistent；
12) setting up internal flight path archives, the flight path for MHT algorithm assumes branch management.
3. the multilamellar flight path archive management method in the many hypothetical targets tracking system described in claim 1, it is characterised in that described step 2) realization specifically include:
21) based on MHT algorithm to confirming that flight path generates flight path and assumes that branch, internal flight path archives increase all flight paths and assume branch information the confirmation flight path numbering that correspondence is associated；
22) based on MHT algorithm, flight path being assumed, branch carries out beta pruning, internal flight path file delet is assumed branch information by the invalid flight path of beta pruning.
4. the multilamellar flight path archive management method in the many hypothetical targets tracking system described in claim 1, it is characterised in that described step 3) concrete sub-step include:
31) each follows the tracks of the general flight path archive information of goal setting one and internal flight path archive information and both one_to_one corresponding；
32), after internal flight path archive information updates, general flight path archive information synchronized update, the renewal of general flight path archive information is based on internal flight path archive information；
33) assume branch based on the optimal trajectory of each target in internal flight path archive information, update the target information in general flight path archives；
34), in internal flight path archive information, assume that branch separates if any flight path and set up fresh target, then in general flight path archives, set up the flight path archives of fresh target；
35), in internal flight path archive information, assume that branch all terminates if any a certain targetpath, then in general flight path archives, synchronize the flight path archives of this target of termination.
5. the multilamellar flight path archive management method in a kind of many hypothetical targets tracking system described in claim 1, it is characterised in that described step 4) in, use general flight path archives as the direct basis of targetpath output display.
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| CN110942080A (en) * | 2018-09-25 | 2020-03-31 | 上海汽车集团股份有限公司 | Target life cycle management method and device for multi-sensor fusion |
| CN112835004A (en) * | 2020-12-31 | 2021-05-25 | 南京国睿防务系统有限公司 | Track quality evaluation system based on target channel replication |
| CN113687347A (en) * | 2021-06-22 | 2021-11-23 | 中国电子科技集团公司电子科学研究院 | Flight path cluster data processing method and system and readable storage medium |
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| CN113687347A (en) * | 2021-06-22 | 2021-11-23 | 中国电子科技集团公司电子科学研究院 | Flight path cluster data processing method and system and readable storage medium |
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Effective date of registration: 20211221 Address after: 214104 room 402, 4th floor, block a, Xidong chuangrong building, No. 78, Danshan Road, anzhen street, Xishan District, Wuxi City, Jiangsu Province Patentee after: WUXI NUST NEW ENERGY ELECTRIC VEHICLE TECHNOLOGY DEVELOPMENT CO.,LTD. Address before: Room 329, building A2, Nanjing Science and Technology Park, 129-3 Guanghua Road, Qinhuai District, Nanjing, Jiangsu 210008 Patentee before: TECHNOLOGY TRANSFER CENTER CO.,LTD NANJING University OF SCIENCE AND TECHNOLOGY |