CN105572664A - Networking navigation radar target tracking system based on data fusion - Google Patents

Abstract

The invention discloses a networking navigation radar target tracking system based on data fusion. The system comprises at least one radar front end, at least one radar terminal and an Ethernet. The radar front end and the radar terminal are in bidirectional data transmission through the Ethernet. The radar front end comprises an antenna, a transceiver, a data acquisition module, a signal preprocessor module and a control command processing module. The radar terminal comprises a display unit, a signal processing unit and a control unit. The transceiver generates radio-frequency pulses which are radiated to the space through an antenna. The system belongs to a trace point serial processing centralized data fusion structure, has the features of high fusion precision and small system time delay, and meanwhile, has the advantages of eliminating detection blind areas, improving detection probability and improving tracking performance. After the terminal carries out data fusion and comprehensive optimization processing on the data of the plurality of front ends, the problem of blind area of the single radar due to antenna erection location can be effectively solved, marine target detection and tracking accuracy performance is improved, and navigation safety is guaranteed.

Description

Based on the networking navar Target Tracking System of data fusion

Technical field

Patent of the present invention relates to sensor Data Fusion field, specifically, is a kind of networking navar Target Tracking System based on data fusion.

Background technology

Marine navigation radar is mainly used in the Detection And Tracking of naval target, and auxiliary vessel navigation collision prevention, ensures navigation safety.Along with the complexity day by day of ship navigation environment, the performance of navar, is directly connected to the navigation safety on naval vessel and the life safety of ship's staff.

Marine navigation radar is generally divided into radar front end and radar terminal two parts, radar front end comprises antenna, transceiver and Signal Pretreatment unit, realize the launching and receiving of frequency electromagnetic waves, pre-service is carried out to the electromagnetic wave signal received, by the clustering algorithm detection of a target, calculate the Targets Dots information comprising the information such as position, time, size, energy amplitude; Radar terminal comprises manipulation unit, display unit and signal processing unit, realize the control to radar front end, the radar image that receiving radar front end sends also shows, and the Targets Dots information data that receiving radar front end sends, carries out Track In Track to target and show.

Because installation site relation, radar antenna is often subject to blocking of the building such as ship mast, chimney, causes single portion radar antenna can there is the blind area of certain limit, cannot accurate detection, the target of following the tracks of within the scope of blind area, affects ship navigation safety.Region beyond radar shadow, is called effective detecting area.

On existing big-and-middle-sized naval vessel, the navar of more than two is installed usually, every portion navar complete independently target detection and tracking separately, cannot improve the accurate performance of radar detection and tracking between different radar not or only have little data interaction by data sharing.

Summary of the invention

The present invention proposes a kind of networking navar Target Tracking System based on data fusion, the data of multiple stage radar front end are shared by equipment network, any radar terminal is by network, flexible selection receives the data of any multiple stage radar front end, to solve the blind zone problem that single portion radar brings because of antenna installation position, and the accurate performance improving naval target detection and follow the tracks of, ensure navigation safety.

To achieve these goals, technical scheme of the present invention is:

Based on the networking navar Target Tracking System of data fusion, comprise at least one radar front end, at least one radar terminal, Ethernet, bidirectional data transfers is carried out by described Ethernet between radar front end and radar terminal, radar front end comprises antenna, transceiver, data acquisition module, signal pre-processing module, manipulation command processing module, radar terminal comprises display unit, signal processing unit, manipulation unit, transceiver produces radio-frequency pulse, by sky alignment space radiation, radio-frequency pulse runs into target rear section energy and is reflected back, first through antenna by transceiver, again through mixing, logarithmic amplification, analog video signal is formed after video detection, after data acquisition module carries out AD sampling to analog video signal, form digital video signal, signal pre-processing module carries out anti-interference to digital video signal, denoising, radar video data are formed after clutter recognition process, and form Targets Dots data further by clustering algorithm, radar video data and Targets Dots data are sent to Ethernet and receive to radar terminal by signal pre-processing module, the control command that manipulation command processing module receiving radar terminal is sent by Ethernet, after resolving, each controling parameters is sent to transceiver, data acquisition module and data preprocessing module, to control transceiver, the duty of data acquisition module and data preprocessing module, signal processing unit passes through radar video data and the Targets Dots data of the transmission of Ethernet receiving radar front end, further complex optimum process is carried out to radar video data, form the final video data for showing, and video data is sent to display unit, time calibration is carried out to Targets Dots data, coordinate conversion and store after, point mark data from radar front end are carried out data fusion, and then complete the filtering of flight path, prediction and renewal, and the track data after upgrading is sent to display unit, the video data that display unit Received signal strength processing unit sends and track data, and show over the display, manipulation unit realizes the replacement of radar front end control by the control order of Ethernet transmission radar front end, control command is sent to Ethernet with control radar front end, controling parameters is sent to signal processing unit, control the complex optimum process of video data and the Track In Track to target.

Further, between described radar front end and radar terminal be relatively independent work.

Further, described signal pre-processing module is responsible for the Signal Pretreatment of radar front end and is transmitted with the data of network.

Further, a wave filter is adopted to carry out track filtering to the some mark data from radar front end.

Design concept of the present invention: the present invention has broken the cluster corresponding relation of traditional navar front end and terminal, establish the marine navigation radar group network system of multiple terminals, a kind of many front ends, make front end and the relatively independent work of terminal, the data of bidirectional data interaction and shared multiple stage radar front end are carried out by equipment network, any terminal is by network, flexible selection receives the data of any multiple stage front end, achieves the data merging multiple stage front end and carries out Detection And Tracking to target.The radar image being used for showing and the Targets Dots that is used for following the tracks of are sent to network and receive for terminal by front end, manipulation command message is sent on network and controls front end by terminal, transmits the replacement that front-end control power message realizes weighing front-end control between terminal and terminal.During group network system work, each radar front end independently carries out electromagnetic radiation and reception, data prediction and target detection separately, is sent on Ethernet by the Targets Dots data comprising the information such as position, time, size, energy amplitude; Any terminal all can receive the some mark data that on Ethernet, all front ends send, and terminal carries out uniform coordinate conversion and storage to the some mark data from multiple stage front end, and after carrying out data fusion and complex optimum process, completes the Track In Track of target.

Beneficial effect: the centralized data fusion structure that the invention belongs to a mark serial processing, has the advantages that fusion accuracy is high, Time Delay of Systems is little, also has the outstanding advantages eliminated detection blind area, strengthen detection probability, improve tracking performance simultaneously.Terminal effectively can solve the blind zone problem that single portion radar brings because of antenna installation position after carrying out data fusion and complex optimum process to the data of multiple stage front end, and improves detection and the tracking performance of naval target, ensures navigation safety.

Accompanying drawing explanation

Fig. 1 is the group network system structural representation that the present invention is provided with multiple stage radar front end and radar terminal.

Fig. 2 is modular structure and the Signal transmissions schematic diagram of present system.

Fig. 3 is the signal processing unit target following information flow chart of present system.

Fig. 4 is naval vessel of the present invention CCRP coordinate system and many front positions distribution schematic diagram.

Fig. 5 is some mark position coordinates transition diagram of the present invention.

Fig. 6 is radar front end se ctor partition schematic diagram of the present invention.

Each symbology in figure: 1. front end one; 2. front end two; 3. front end three; 4. terminal one; 5. terminal two; 6. universal external interface box.

Embodiment

Below in conjunction with accompanying drawing, embodiments of the invention are elaborated: the present embodiment is implemented under premised on technical solution of the present invention, give detailed embodiment and concrete operating process, but protection scope of the present invention is not limited to following embodiment.

Embodiment:

As shown in Figure 1, in figure, radar front end comprises three, is respectively: front end 1, front end 22 and front end 33; Radar terminal comprises two, is respectively: terminal 1, terminal 25; Universal external interface box 6 is provided with one.Three radar front ends, two radar terminals, a universal external interface box are interconnected by Ethernet, are relatively independent work between radar front end and radar terminal.

As shown in Figure 2, figure comprises a radar front end, a radar terminal, Ethernet, carry out bidirectional data transfers by described Ethernet between radar front end and radar terminal, radar front end comprises antenna, transceiver, data acquisition module, signal pre-processing module, manipulation command processing module, radar terminal comprises display unit, signal processing unit, manipulation unit, transceiver produces radio-frequency pulse, and by sky alignment space radiation, radio-frequency pulse runs into target rear section energy and is reflected back, first through antenna by transceiver, then through mixing, logarithmic amplification, form analog video signal after video detection, after data acquisition module carries out AD sampling to analog video signal, form digital video signal, signal pre-processing module carries out anti-interference to digital video signal, denoising, radar video data are formed after clutter recognition process, and form Targets Dots data further by clustering algorithm, radar video data and Targets Dots data are sent to Ethernet and receive to radar terminal by signal pre-processing module, the control command that manipulation command processing module receiving radar terminal is sent by Ethernet, after resolving, each controling parameters is sent to transceiver, data acquisition module and data preprocessing module, to control transceiver, the duty of data acquisition module and data preprocessing module.

The signal processing unit of radar terminal passes through radar video data and the Targets Dots data of the transmission of Ethernet receiving radar front end, further complex optimum process is carried out to radar video data, form the final video data for showing, and video data is sent to display unit, time calibration is carried out to Targets Dots data, coordinate conversion and store after, point mark data from radar front end are carried out data fusion, and then complete the filtering of flight path, prediction and renewal, and the track data after upgrading is sent to display unit, the video data that display unit Received signal strength processing unit sends and track data, and show over the display, manipulation unit realizes the replacement of radar front end control by the control order of Ethernet transmission radar front end, control command is sent to Ethernet with control radar front end, controling parameters is sent to signal processing unit, control the complex optimum process of video data and the Track In Track to target.

In this schematic diagram, in order to easy, and due to each radar front end all identical with Signal transmissions with the Module Division of radar terminal, radar front end, radar terminal respectively arrange one, but when practical application, the quantity of radar front end and radar terminal can arbitrary disposition.As long as the position distribution of reasonable arrangement multiple stage radar front end, can ensure that the blind area of every platform radar front end is all in effective detecting area of other one or more radar front ends, thus in whole group network system dead zone-eliminating.There is crossover region in effective detecting area of multiple stage radar front end, the target be in crossover region can be detected by multiple stage radar front end, and its mark data transfer rate can obviously strengthen, and can reduce the track initiation time, improve Track In Track precision, when especially target occurs motor-driven.

As shown in Figure 3, after Target Tracking System of the present invention starts, first by the online radar front end information of all normal boot-strap work in Network Capture system, comprise No. id, radar front end, position, time etc.

User selects wherein from all online radar front ends, and one or more carries out networking, for carrying out data fusion target following.Obtain value time calibration of every platform radar network front end, record the position of each radar network front end under CCRP coordinate system.Due to each radar front end be asynchronous, work alone, need to carry out time unification to each radar front end, the scheme of problem of uniting during solution mainly contains two according to objective condition difference: if Radar Network System has accessed the integrated navigation system on naval vessel, then the unified markers using marine integrated navigation system to provide of each radar front end carries out time calibration; If Radar Network System does not access the integrated navigation system on naval vessel, then specify a radar front end by radar terminal, with the time of this radar front end, carried out to other radar front ends time calibration.In the spatial dimension of naval vessel yardstick, pair time message by Ethernet transmission produce time error, for naval target tracking accuracy require can ignore.Naval vessel is constantly mobile, and on naval vessel, the installation site of radar front end antenna is different, and radar terminal needs the some mark data sent by each radar front end to carry out spacial alignment, under being transformed into a frame of reference.Present position, naval vessel during device power-up is considered as initial position, by speed of a ship or plane course or GPS information, utilizes α-βfilter to calculate the side-play amount (x of naval vessel physical location and initial position in real time₀, y₀).

As shown in Figure 4, naval vessel is set up the common reference point (consistentcommonreferencepoint that virtual, be called for short CCRP, lower with), take CCRP as initial point, with perpendicular to ship side direction for x-axis (starboard direction is for forward), being parallel to ship side direction is y-axis (stem direction is forward), set up rectangular coordinate system, be called CCRP coordinate system, be the frame of reference of whole Radar Network System., all according to the particular location of antenna installation, there is corresponding position coordinates every platform front end at CCRP coordinate system, obtains by accurate location survey.

For front end one, as shown in Figure 5, the coordinate of front end one under CCRP coordinate system is (x₁, y₁), the coordinate of target A under the polar coordinate system of front end one is (ρ, β), then according to formula:

x＝x₁+ρ*sinβ

y＝y₁+ρ*cosβ

${\mathrm{\ρ}}^{\′}=\sqrt{x^2+y^2}$

${\mathrm{\&beta;}}^{\&prime;}=\left\{\begin{array}{cc}2\mathrm{\&pi;}-{\cos }^{-1}\frac{y}{{\mathrm{\&rho;}}^{\&prime;}}& x<0\\ {\cos }^{-1}\frac{y}{{\mathrm{\&rho;}}^{\&prime;}}& x\&GreaterEqual;0\end{array}\right.$

Obtain the rectangular coordinate position (x of target A under CCRP coordinate system, y), and the coordinate position of polar form (ρ ', β '), under front end one can being transformed into CCRP coordinate for the some mark data that target A detects, and the coordinate (x+x of target A relative naval vessel initial position₀, y+y₀).

As shown in Figure 5 and Figure 6, after choosing radar network front end, module enters network monitoring state.When there being the radar front end of networking to send the Targets Dots data of a sector to network, module receives sector point mark data, and starts following operation.Polar coordinate space is on average divided into 32 sectors by each front end, and along with antenna scanning carries out target detection in real time, antenna is a scanned sector often, and after one section postpones, the some mark data of this sector are formed Packet Generation on network by radar front end.Radar terminal, from the some mark data of receiving radar front end network, according to the position coordinates of radar front end, carries out coordinate conversion to a mark data, and stores after adding No. id that indicates radar front end source.To there being a mark data to circulate in sector, following operation is carried out to wherein each some mark.Time calibration according to current radar front end is worth, and calibrates the time of a mark.

According to the position (x of current radar front end under CCRP coordinate system₁, y₁), a mark is converted to CCRP coordinate position (x=x relative to the polar coordinate position (ρ, β) of current radar front end₁+ ρ * sin β, y=y₁+ ρ * cos β); Utilize ship speed course data or gps data, according to the time after the calibration of some mark, use α-βfilter algorithm to calculate when a mark produces position, naval vessel relative to the side-play amount (x of initial position₀, y₀), and then obtain the absolute position (x+x of a mark₀, y+y₀), complete a coordinate conversion for mark position.

A mark data is stored in the buffer zone of corresponding current front end.There is a mark in sector all after deadline calibration, coordinate conversion and storage, the rough handling of these sector point mark data is completed.If this sector number is 32, represents that current radar front end has been revolved and turn around, surrounding sea areas are completed to the target detection of a panorama in range ability.All radar network front ends are all completed a panorama target detection and are considered as a treatment cycle by module, and start following operation.All track data are circulated, following operation is carried out to wherein each flight path.Use overall arest neighbors method, carry out a mark-flight path and be correlated with, obtain within the present treatment cycle, the Targets Dots that the overall degree of correlation of flight path and each networking front end is the highest.Each radar front end is merged by the some mark data of shutting mutually, reduces the detecting error of single radar front end, obtain high-precision some mark data.High-precision dot mark data flight path is used to carry out filtering.Wave filter is the basic module that navar is followed the tracks of target, and it processes to reach following object to the positional information in Targets Dots data: utilize time averaging method to reduce measuring error; The speed of estimating target; The Future Positions of target of prediction.

Withrepresent the state of target at a kth treatment cycle, wherein x represents the x coordinate of target,represent the x component of target velocity,represent the y coordinate of target,represent the y component of target velocity, tracking filter is exactly for x_kcarry out the dynamic system valuation problem of valuation.

For the motion of naval target, this is that a state conversion model and observation model are linearly, and the statistical property of process conversion noise and observation noise is the dynamic system of Gaussian noise, and Kalman filter can obtain optimal filtering result.In the present system, in order to take into account easy motion pattern and the motion of automobile pattern of naval target, improve performance of target tracking, have employed the interacting multiple model algorithm with self-adaptation feature and carry out track filtering and prediction, in the algorithm, establish two target movement models, realize by Kalman filter: the predicted estimate covariance matrix coefficient of a model is less, corresponding target easy motion pattern; The predicted estimate covariance matrix coefficient of another model is comparatively large, corresponding target maneuver motor pattern.Interacting multiple model algorithm is by the reciprocation to these two target movement models, and realize the ART network to target state, the transfer between two models is determined by Markov probability transition matrix.Empirical tests, the target following of interacting multiple model algorithm to easy motion and the motion of automobile all can obtain good effect, and tracking performance increases than using independent Kalman filter.According to filter result, the position of flight path at next treatment cycle is predicted.By the latest result of track filtering and prediction, be updated in track data.Track data after all renewals is sent to display unit.

More than show and describe ultimate principle of the present invention and principal character and advantage of the present invention.The technician of the industry should understand; the present invention is not restricted to the described embodiments; what describe in above-described embodiment and instructions just illustrates principle of the present invention; without departing from the spirit and scope of the present invention; the present invention also has various changes and modifications, and these changes and improvements all fall in the claimed scope of the invention.Application claims protection domain is defined by appending claims and equivalent thereof.

Claims (4)

1. based on the networking navar Target Tracking System of data fusion, it is characterized in that, comprise at least one radar front end, at least one radar terminal, Ethernet, bidirectional data transfers is carried out by described Ethernet between radar front end and radar terminal, radar front end comprises antenna, transceiver, data acquisition module, signal pre-processing module, manipulation command processing module, radar terminal comprises display unit, signal processing unit, manipulation unit, transceiver produces radio-frequency pulse, by sky alignment space radiation, radio-frequency pulse runs into target rear section energy and is reflected back, first through antenna by transceiver, again through mixing, logarithmic amplification, analog video signal is formed after video detection, after data acquisition module carries out AD sampling to analog video signal, form digital video signal, signal pre-processing module carries out anti-interference to digital video signal, denoising, radar video data are formed after clutter recognition process, and form Targets Dots data further by clustering algorithm, radar video data and Targets Dots data are sent to Ethernet and receive to radar terminal by signal pre-processing module, the control command that manipulation command processing module receiving radar terminal is sent by Ethernet, after resolving, each controling parameters is sent to transceiver, data acquisition module and data preprocessing module, to control transceiver, the duty of data acquisition module and data preprocessing module, signal processing unit passes through radar video data and the Targets Dots data of the transmission of Ethernet receiving radar front end, further complex optimum process is carried out to radar video data, form the final video data for showing, and video data is sent to display unit, time calibration is carried out to Targets Dots data, coordinate conversion and store after, point mark data from different radar front end are carried out data fusion, and then complete the filtering of flight path, prediction and renewal, and the track data after upgrading is sent to display unit, the video data that display unit Received signal strength processing unit sends and track data, and show over the display, manipulation unit realizes the replacement of radar front end control by the control order of Ethernet transmission radar front end, control command is sent to Ethernet with control radar front end, controling parameters is sent to signal processing unit, control the complex optimum process of video data and the Track In Track to target.

2. the networking navar Target Tracking System based on data fusion according to claim 1, it is characterized in that, be relatively independent work between described radar front end and radar terminal.

3. the networking navar Target Tracking System based on data fusion according to claim 1, is characterized in that, described signal pre-processing module is responsible for the Signal Pretreatment of radar front end and is transmitted with the data of network.

4. the networking navar Target Tracking System based on data fusion according to claim 1, is characterized in that, adopts a wave filter to carry out track filtering to the some mark data from radar front end.