CN111142101B - Data association method - Google Patents
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- CN111142101B CN111142101B CN202010022400.8A CN202010022400A CN111142101B CN 111142101 B CN111142101 B CN 111142101B CN 202010022400 A CN202010022400 A CN 202010022400A CN 111142101 B CN111142101 B CN 111142101B
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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
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- Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
- Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
- Y02A—TECHNOLOGIES FOR ADAPTATION TO CLIMATE CHANGE
- Y02A90/00—Technologies having an indirect contribution to adaptation to climate change
- Y02A90/10—Information and communication technologies [ICT] supporting adaptation to climate change, e.g. for weather forecasting or climate simulation
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Abstract
The application belongs to the technical field of data processing, and provides a data association method, which comprises traversing each point trace in a current target track in the process of determining the associated point trace of the current target track, judging whether the point trace is associated with other tracks when traversing each point trace, and determining whether the distance between the point trace and the other tracks is greater than the current minimum distance by judging whether the distance between the point trace and the other tracks is greater than the current minimum distance or not, so as to update the current minimum distance corresponding to the current target track by utilizing the distance between the point trace and the current target track, so as to determine the optimal associated point trace for the current track, reduce the occurrence probability of data error association, and simultaneously, ensure that the time complexity of data association of a plurality of tracks is between O (n) and O (n) by the data association method 2 ) And the real-time property of data association is improved.
Description
Technical Field
The application belongs to the technical field of data processing, and particularly relates to a data association method.
Background
With the continuous development of radar technology in recent years, radar target detection and tracking technology is increasingly taking an important role in various industries. In complex environments, various clutter and interference signals exist in space, which brings greater difficulty to multi-target tracking technology, and especially to multi-target data correlation technology.
The track point data association technology is actually a process of associating tracks with measured tracks, and the accuracy of the association is particularly important because the effect of track update is directly affected by the data association result.
The current data association method mainly comprises a nearest neighbor data association method and a global nearest neighbor data association method. The nearest neighbor data association method has a high association speed, but has a high association error probability in a complex environment; the global nearest neighbor data association method has higher association accuracy, but under the condition of more measured traces, the association search time can be multiplied, and the problem of poor instantaneity exists. Therefore, the existing data association method has the problems of poor real-time performance or high occurrence probability of false association.
Disclosure of Invention
The embodiment of the application provides a data association method, which can effectively reduce the occurrence probability of false association while improving the real-time performance of data association.
The embodiment of the application provides a data association method, which comprises the following steps:
acquiring a plurality of points obtained by radar measurement and a plurality of maintained tracks;
traversing all the points in the current target track wave gate to obtain the associated points of the current target track, and determining the associated points for the next target track after obtaining the associated points of the current target track until the associated points of each track in the plurality of tracks are determined; wherein, the current target track and the next target track are tracks of which the associated point track is not determined in any one of the tracks;
traversing all points in the current target track wave gate to obtain the associated points of the current target track, wherein the steps comprise:
calculating and storing the distance between the current target track and the first point track to obtain the current minimum distance, and traversing the next point track in the current target track wave gate; the first point trace and the next point trace are any point trace which is not traversed in the point trace in the target track wave gate;
the traversing of the next point trace in the current target track wave gate comprises the following steps:
calculating and storing the distance between the current target track and the next point track, and judging whether the distance between the current target track and the next point track is greater than or equal to the current minimum distance;
if the distance between the current target track and the next point track is greater than or equal to the current minimum distance, judging whether the next point track is the last point track in the current target track wave gate, if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again until all point tracks in the current target track wave gate are traversed;
if the distance between the current target track and the next track is smaller than the current minimum distance, judging whether the next track is related to other tracks or not; if the next track is associated with the other tracks, judging whether the distance between the next track and the other tracks is greater than the current minimum distance; if the distance between the next track and the other tracks is greater than the current minimum distance, updating the current minimum distance to be the distance between the current target track and the next track, judging whether the next track is the last track in the current target track wave gate, and if the next track is not the last track in the current target track wave gate, carrying out traversal of the next track in the current target track wave gate again until all tracks in the current target track wave gate are traversed;
if the distance between the next track and the other tracks is smaller than or equal to the current minimum distance, directly judging whether the next track is the last track in the current target track wave gate, and if the next track is not the last track in the current target track wave gate, carrying out traversal of the next track in the current target track wave gate again; until all the points in the current target track wave gate are traversed;
after all the points in the current target track wave gate have been traversed, the method comprises the following steps:
and taking the point trace corresponding to the current minimum distance as the associated point trace of the current target track, judging whether the point trace corresponding to the current minimum distance is associated with other tracks, and if so, marking the other tracks as tracks with the associated point trace not determined.
Drawings
In order to more clearly illustrate the technical solutions of the embodiments of the present application, the drawings that are needed in the embodiments or the description of the prior art will be briefly described below, it being obvious that the drawings in the following description are only some embodiments of the present application, and that other drawings may be obtained according to these drawings without inventive effort for a person skilled in the art.
Fig. 1 is a schematic flow chart of an implementation of a data association method according to an embodiment of the present application;
fig. 2 is a schematic flowchart of a specific implementation of a data association method step 102 according to an embodiment of the present application;
FIG. 3 is a schematic diagram of a first embodiment of a data association method according to an embodiment of the present application;
FIG. 4 is a schematic diagram of a second implementation of a data association method according to an embodiment of the present application;
Detailed Description
The present application will be described in further detail with reference to the drawings and examples, in order to make the objects, technical solutions and advantages of the present application more apparent. It should be understood that the specific embodiments described herein are for purposes of illustration only and are not intended to limit the scope of the application. All other embodiments, which can be made by a person skilled in the art without making any inventive effort, are intended to be within the scope of the present application.
The main function of the modern radar system is to find and track targets, and under a complex environment, various clutter and interference signals exist in the space, which brings greater difficulty to the multi-target tracking technology, and especially to the multi-target data correlation technology.
The current data association method mainly comprises a nearest neighbor data association method and a global nearest neighbor data association method. The nearest neighbor data association method has a high association speed, but has a high association error probability in a complex environment; the global nearest neighbor data association method has higher association accuracy, but under the condition of more measured traces, the association search time can be multiplied, and the problem of poor instantaneity exists. Therefore, the existing data association method has the problems of poor real-time performance or high occurrence probability of false association.
In order to illustrate the technical scheme of the application, the following description is made by specific examples.
Fig. 1 shows a schematic implementation flow chart of a data association method according to an embodiment of the present application, which is suitable for a situation that the occurrence probability of false association needs to be effectively reduced while the real-time performance of data association is improved. Specifically, in the embodiment of the present application, the data association method may include steps 101 to 102.
Step 101, obtaining a plurality of points obtained by radar measurement and a plurality of maintained tracks.
In the embodiment of the application, when the radar performs multi-target tracking, a plurality of tracks need to be maintained, each track corresponds to one target, and a plurality of points can be measured, and each track wave gate possibly only comprises one point or comprises a plurality of points, so after the plurality of points measured by the radar and the plurality of tracks maintained are acquired, all points in the wave gate need to be traversed for each track, and thus one point is associated for each track. When a track is associated with a certain point track, the point track associated with the track is described as belonging to the same target.
Step 102, traversing all points in a current target track wave gate to obtain an associated point of the current target track, and determining an associated point for a next target track after obtaining the associated point of the current target track until the associated point of each track in the plurality of tracks is determined; the current target track and the next target track are tracks of which the associated point track is not determined by any one of the tracks.
In some embodiments of the present application, prior to traversing all points within the current target track wave gate, it may comprise: and calculating the distance, the angle difference and the speed difference between each point trace measured by the radar and the current target track, and taking the point trace of which the distance, the angle difference and the speed difference are all positioned in an association threshold as the point trace in the current target track wave gate.
That is, before traversing all the points in the current target track wave gate, the points not in the current target track wave gate need to be removed from the multiple points measured by the radar, that is, the points not in the associated threshold of the current target track need to be removed, so as to obtain all the points not traversed in the current target track wave gate.
Specifically, the distance, the angle difference and the speed difference between each trace point and the current target track obtained through radar measurement can be calculated, whether the distance, the angle difference and the speed difference are all in the association threshold is judged, then the trace points which are not in the association threshold in the trace points are removed, the data quantity of data association is further reduced, and the occurrence probability of error association is further reduced. The specific value of the association threshold can be set according to the actual application scene.
As shown in fig. 2, the traversing all the points in the current target track wave gate to obtain the associated points of the current target track may include: step 201 to step 207.
Step 201, calculating and storing the distance between the current target track and the first point track to obtain the current minimum distance; and the first point trace is any point trace which is not traversed in the point trace in the target track wave gate.
The distance between the current target track and the first track point can be calculated by using an euclidean distance calculation formula, or can be calculated by using other modes of obtaining the distance between the current target track and the track point, which is not limited by the application.
In the embodiment of the application, when the distance between the target track and the point track is smaller, the probability that the target track and the point track belong to the same target is larger, and the point track is matched with the target track; therefore, the target tracks need to be associated with the points with the smallest distance as far as possible, when each track is associated with the points with the smallest distance as far as possible, the sum of the distances between each track and the points associated with each track is as small as possible, so that the proper points are matched for each track, and the occurrence of false association is reduced.
It should be noted that, in practical application, before calculating and saving the distance between the current target track and the first track, an initial value of the current minimum distance may be set first, where the initial value is greater than the distance between the current target track and the track in any current target track wave gate. Therefore, after calculating and saving the distance between the current target track and the first track and comparing the distance between the current target track and the first track with the initial value of the current minimum distance, the distance between the current target track and the first track can still be used as the current minimum distance.
Step 202, calculating and storing the distance between the current target track and the next track, and judging whether the distance between the current target track and the next track is greater than or equal to the current minimum distance.
Specifically, the distance between the current target track and the next track may refer to the description of step 201, which is not repeated here.
In the embodiment of the application, after the distance between the current target track and the first point track is calculated, the distance between the current target track and the first point track can be determined as the current minimum distance, then, traversing of the next point track in the wave gate of the current target track is carried out, the distance between the current target track and the next point track is compared with the current minimum distance, and then, the current minimum distance is updated until all the point tracks in the wave gate of the current target track are traversed, and the point track corresponding to the current minimum distance is used as the associated point track of the current target track. In particular, refer to the descriptions of steps 203 to 206.
And 203, if the distance between the current target track and the next track is greater than or equal to the current minimum distance, judging whether the next track is the last track in the current target track wave gate, if the next track is not the last track in the current target track wave gate, re-performing traversal of the next track in the current target track wave gate until all tracks in the current target track wave gate are traversed.
In some embodiments of the present application, if the distance between the current target track and the next point track is greater than or equal to the current minimum distance, it is indicated that the possibility that the current target track and the next point track belong to the same target is less than the possibility that the point track corresponding to the current minimum distance belongs to the same target, that is, compared with the next point track, the point track with the current minimum distance compared with the current target track distance is more matched with the current target track, at this time, the current minimum distance may not be updated, and it may be determined whether the next point track is the last point track in the current target track gate, if the next point track is not the last point track in the current target track gate, it indicates that the point track in the current target track gate is not completely traversed, and the traversing of the next point track in the current target track gate needs to be performed again until all the points in the current target track gate have been completed, and the distance between the point track and the current minimum distance between the point track and the current target track is determined as the shortest distance between the current point track and the current target track is determined.
Step 204, if the distance between the current target track and the next track is smaller than the current minimum distance, judging whether the next track is associated with other tracks; and if the next track is associated with the other tracks, judging whether the distance between the next track and the other tracks is greater than the current minimum distance.
In some embodiments of the present application, if the distance between the current target track and the next track is smaller than the current minimum distance, it is indicated that the probability that the current target track and the next track belong to the same target is greater than the probability that the current target track and the track at the current minimum distance belong to the same target, that is, compared with the track with the current target track distance being the current minimum distance, the next track and the current target track are more matched, at this time, it is required to determine whether the next track is associated with other tracks, if the next track is not associated with other tracks, the current minimum distance may be updated to be the distance between the current target track and the next track, and it is determined whether the next track is the last track in the current target track gate, if the next track is not the last track in the current target track gate, the next track in the current target track gate is traversed again, until all tracks in the current target track have been traversed continuously.
And 205, if the distance between the next track and the other tracks is greater than the current minimum distance, updating the current minimum distance to be the distance between the current target track and the next track, judging whether the next track is the last track in the current target track wave gate, and if the next track is not the last track in the current target track wave gate, re-performing traversal of the next track in the current target track wave gate until all tracks in the current target track wave gate are traversed.
In some embodiments of the present application, if the distance between the next track and the other tracks is greater than the current minimum distance, it is indicated that the probability that the next track and the current track belong to the same target is greater than the probability that the next track and the other tracks belong to the same target, and at this time, the current minimum distance may be updated to be the distance between the current track and the next track; then, it may be determined whether the next track is the last track in the current target track wave gate, if the next track is not the last track in the current target track wave gate, the traversing of the next track in the current target track wave gate is performed again, i.e. steps 202 to 206, and the current minimum distance is updated continuously until all tracks in the current target track wave gate have been traversed.
Step 206, if the distance between the next track and the other tracks is smaller than or equal to the current minimum distance, directly judging whether the next track is the last track in the current target track wave gate, if the next track is not the last track in the current target track wave gate, then re-performing traversal of the next track in the current target track wave gate; until all the points in the current target track wave gate have been traversed.
In some embodiments of the present application, if the distance between the next track and other tracks is smaller than or equal to the current minimum distance, it is indicated that the probability that the next track belongs to the same target as the current target track is smaller than the probability that the next track belongs to the same target as the other tracks, at this time, it is not necessary to update the current minimum distance, it is directly determined whether the next track is the last track in the current target track wave gate, if the next track is not the last track in the current target track wave gate, the traversing of the next track in the current target track wave gate is performed again, and the current minimum distance is updated continuously until all tracks in the current target track wave gate have been traversed.
Step 207, after all the points in the current target track wave gate have been traversed, using the point corresponding to the current minimum distance as an associated point of the current target track, and determining whether the point corresponding to the current minimum distance is associated with other tracks, if so, marking the other tracks as tracks with associated points not being determined.
Correspondingly, the determination of the associated track of the next target track can adopt the determination mode of the current target track.
It should be noted that, in the above step 207, after the other tracks are marked as tracks with undetermined associated points, in the process of redefining the associated points marked as tracks with undetermined associated points, there is no need to redefine the distance between the tracks and the points in the track wave gate.
Fig. 3 shows a first specific implementation schematic diagram of the data association method provided by the present application, if the tracks 301 and 302 obtained by radar measurement and the tracks 303 and 304 maintained by radar are obtained, and the tracks in the track 303 wave gate only include the tracks 301 and 302, and the tracks in the track 304 wave gate do not include the tracks 301 and 302, then when the tracks 303 are associated, if the first track is the track 301, the distance d between the track 303 and the track 301 can be set 1 Determining the current minimum distance and then traversing the pointsTrace 302, due to distance d between trace 303 and trace 302 2 Greater than the distance d between track 303 and track 301 1 Thus, trace 301 may be associated with trace 303, and then trace 302 may be associated with trace 304 after traversing trace 301 and trace 302.
As can be seen from fig. 3, by using the data association method provided by the present application, when there is no track competition between tracks (i.e. each track associated with the current target track is a track not associated with other tracks), each track traverses one track, and the whole data association process can be completed, where the time complexity of the data association method is O (n).
FIG. 4 shows a second embodiment of the data association algorithm provided by the present application, if the tracks 401 and 402 obtained by radar measurement and the tracks 403 and 404 maintained by radar are obtained, the tracks in the wave gates of the tracks 403 and 404 only comprise the tracks 401 and 402, and the tracks 404 are associated with the tracks 401, when the tracks 403 are associated with the tracks, if the first track is the track 402, the distance d between the tracks 403 and 402 can be set 4 Determining the current minimum distance, traversing the track 401, and calculating to obtain the distance d between the track 403 and the track 401 3 Less than the distance d between track 403 and track 402 4 At this time, it is necessary to determine whether or not the trace 401 is associated with another trace, and since the trace 401 is associated with another trace 404, it is necessary to determine the current minimum distance (d 3 ) Whether or not to be compared with the distance d between the track 401 and the track 404 5 Is small, at the current minimum distance (d 3 ) Distance d between specific track 401 and track 404 5 For an hour, track 404 may be marked as a track for which no associated point track was determined, and track 401 may be associated with track 403, and then the associated point track may be redetermined for track 404. Specifically, trace 402 may be associated with track 404 after traversing trace 401 and trace 402.
As can be seen from fig. 4, with the data association method provided by the present application, when there is a competitive track between tracks, i.e. each track associated with the current target track is a track already associated with other tracks,the associated track is re-selected for other tracks associated with the track before the track every time the track associated with the current target track is selected, and at this time, the time frequency of the data association method is T (n+n-1+ … +1), and the time complexity is O (n 2 )。
In view of the above-mentioned fig. 3 and 4, it can be seen that the time complexity of the data correlation method provided by the present application is between O (n) and O (n 2 ) The time complexity of the overall data correlation algorithm is lower than that of the overall nearest neighbor data correlation algorithm, the complexity of the algorithm is reduced, and the instantaneity is improved.
In the embodiment of the application, in the process of determining the associated point trace of the current target track, the point trace corresponding to the current minimum distance is used as the associated point trace of the current target track, and when the point trace corresponding to the current minimum distance is associated with other tracks, the other tracks are marked as tracks with undetermined associated point traces, so that when the associated point trace is determined for a plurality of maintained tracks, the occurrence probability of data error association can be reduced as much as possible, and meanwhile, by adopting the data association mode, the time complexity of data association of a plurality of tracks is between O (n) and O (n) 2 ) The time complexity of the global nearest neighbor data association algorithm is lower than that of the global nearest neighbor data association algorithm, and the real-time property of the data association is improved, so that the probability of occurrence of false association can be effectively reduced while the real-time property of the data association is improved.
It should be noted that, for simplicity of description, the foregoing method embodiments are all described as a series of acts, but it should be understood by those skilled in the art that the present application is not limited by the order of acts described, as some steps may occur in other orders in accordance with the application.
The above embodiments are only for illustrating the technical solution of the present application, and not for limiting the same; although the application has been described in detail with reference to the foregoing embodiments, it will be understood by those of ordinary skill in the art that: the technical scheme described in the foregoing embodiments can be modified or some technical features thereof can be replaced by equivalents; such modifications and substitutions do not depart from the spirit and scope of the technical solutions of the embodiments of the present application, and are intended to be included in the scope of the present application.
Claims (2)
1. A method of data association, the method comprising:
acquiring a plurality of points obtained by radar measurement and a plurality of maintained tracks;
traversing all the points in the current target track wave gate to obtain the associated points of the current target track, and determining the associated points for the next target track after obtaining the associated points of the current target track until the associated points of each track in the plurality of tracks are determined; wherein, the current target track and the next target track are tracks of which the associated point track is not determined in any one of the tracks;
traversing all points in the current target track wave gate to obtain the associated points of the current target track, wherein the steps comprise:
calculating and storing the distance between the current target track and the first point track to obtain the current minimum distance, and traversing the next point track in the current target track wave gate; the first point trace and the next point trace are any point trace which is not traversed in the point trace in the target track wave gate;
the traversing of the next point trace in the current target track wave gate comprises the following steps:
calculating and storing the distance between the current target track and the next point track, and judging whether the distance between the current target track and the next point track is greater than or equal to the current minimum distance;
if the distance between the current target track and the next point track is greater than or equal to the current minimum distance, judging whether the next point track is the last point track in the current target track wave gate, if the next point track is not the last point track in the current target track wave gate, traversing the next point track in the current target track wave gate again until all point tracks in the current target track wave gate are traversed;
if the distance between the current target track and the next track is smaller than the current minimum distance, judging whether the next track is related to other tracks or not; if the next track is associated with the other tracks, judging whether the distance between the next track and the other tracks is greater than the current minimum distance; if the distance between the next track and the other tracks is greater than the current minimum distance, updating the current minimum distance to be the distance between the current target track and the next track, judging whether the next track is the last track in the current target track wave gate, and if the next track is not the last track in the current target track wave gate, carrying out traversal of the next track in the current target track wave gate again until all tracks in the current target track wave gate are traversed;
if the distance between the next track and the other tracks is smaller than or equal to the current minimum distance, directly judging whether the next track is the last track in the current target track wave gate, and if the next track is not the last track in the current target track wave gate, carrying out traversal of the next track in the current target track wave gate again; until all the points in the current target track wave gate are traversed;
after all the points in the current target track wave gate have been traversed, the method comprises the following steps:
and taking the point trace corresponding to the current minimum distance as the associated point trace of the current target track, judging whether the point trace corresponding to the current minimum distance is associated with other tracks, and if so, marking the other tracks as tracks with the associated point trace not determined.
2. The data correlation method of claim 1, comprising, prior to said traversing all points within the current target track wave gate:
and calculating the distance, the angle difference and the speed difference between each point trace measured by the radar and the current target track, and taking the point trace of which the distance, the angle difference and the speed difference are all positioned in an association threshold as the point trace in the current target track wave gate.
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| CN111999735B (en) * | 2020-09-11 | 2023-10-03 | 杭州瑞利海洋装备有限公司 | Dynamic and static target separation method based on radial speed and target tracking |
| CN113945919A (en) * | 2021-10-19 | 2022-01-18 | 中安锐达(北京)电子科技有限公司 | Flight path and one-time trace point pre-association method based on sector structure |
| CN115825912B (en) * | 2023-01-09 | 2023-05-23 | 南京隼眼电子科技有限公司 | Radar signal processing method, device and storage medium |
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