CN-117452356-B - Heterogeneous networked radar space registration method based on self-adaptive grid reconstruction

CN117452356BCN 117452356 BCN117452356 BCN 117452356BCN-117452356-B

Abstract

The invention discloses a heterogeneous networked radar space registration method based on self-adaptive grid reconstruction, which comprises the steps of 1, constructing a radar network system model, presetting relevant parameters of a radar network system and initializing the relevant parameters, 2, obtaining a space sampling unit association group of each grid, merging grids with the same space sampling unit association group into a reconstruction overlapping area, 3, obtaining the space sampling unit association group of each reconstruction overlapping area, forming a set, obtaining average registration rates of a plurality of point targets distributed randomly according to the set, and obtaining the unpaired local mismatch rate of each radar station and other radar stations, if the average registration rate is larger than or equal to a preset average registration rate threshold value and the local mismatch rate is smaller than or equal to a preset local mismatch rate threshold value, determining the edge length of the optimal grid, and 4, obtaining the standard point of the reconstruction overlapping area corresponding to the edge length of the optimal grid. The invention effectively improves the registration precision.

Inventors

GAO CHANG
Gu Fengdeng
LIU HONGWEI
Jia tianyi
WANG RONGRONG

Assignees

西安电子科技大学

Dates

Publication Date: 20260512
Application Date: 20231205

Claims (6)

1. A heterogeneous networked radar spatial registration method based on adaptive grid reconstruction, comprising: step 1, constructing a radar network system model, presetting related parameters of a radar network system, and initializing the related parameters, wherein the radar network system model comprises a plurality of radar stations and a common monitoring area monitored by the plurality of radar stations, the common monitoring area is rasterized, and the related parameters comprise the side length of a grid and a preset grid searching step length; Step 2, acquiring a space sampling unit association group of each grid, and combining the grids with the same space sampling unit association group into a reconstruction overlapping region; Step 3, acquiring a spatial sampling unit association group of each reconstruction overlapping region and forming a set, acquiring average registration rates of a plurality of point targets distributed randomly according to the set, acquiring unpaired local mismatch rates of each radar station and other radar stations, comparing the average registration rates with a preset average registration rate threshold value, comparing the local mismatch rates with a preset local mismatch rate threshold value, if the average registration rate is greater than or equal to the preset average registration rate threshold value and the local mismatch rate is less than or equal to the preset local mismatch rate threshold value, determining the edge length of an optimal grid, otherwise, comparing the edge length of the grid with a preset grid search step length, if the edge length of the grid is less than or equal to the preset grid search step length, reducing the preset grid search step length, and returning to step 1 until the edge length of the optimal grid is determined, otherwise, updating the edge length of the grid, and returning to step 2 until the edge length of the optimal grid is determined; step 4, acquiring the standard points of the reconstruction overlapping area corresponding to the side length of the optimal grid; wherein the obtaining, according to the set, the average registration rate of the plurality of point targets distributed randomly includes: obtaining random distribution Spatial sampling unit association group corresponding to point target The expression is: ; Wherein, the An index representing a random distribution of point targets, Representing the total number of radar stations; Based on the set and the random distribution Spatial sampling unit association group corresponding to point target Obtaining the average registration rate The expression is: ; Wherein, the Representing a set of spatial sampling unit associations of all reconstructed overlap regions; the obtaining the local mismatch rate of unpaired radar stations and other radar stations includes: Acquisition of the first Space sampling unit set with individual radars standing on common monitoring area The expression is: ; Wherein, the Represent the first The number of spatial sampling units of which the radar stands in the common monitoring area, Represent the first A plurality of radars standing in the common monitored area A number of spatial sampling units are provided, Represent the first The distance index corresponding to the individual spatial sampling units, Represent the first Angular indexes of the spatial sampling units; The spatial sampling unit association groups in all the reconstruction overlapped areas form a set In (1) Spatial sampling unit set of individual radar stations The expression of (2) is: ; Wherein, the Representing the total number of reconstructed overlap regions; according to the first Space sampling unit set with individual radars standing on common monitoring area And said first Spatial sampling unit set of individual radar stations Obtaining local mismatch rate The expression is: ; Wherein, the Representing an indicative function.
2. The adaptive grid reconstruction-based heterogeneous networked radar spatial registration method of claim 1, wherein the obtaining a spatial sampling unit association group for each grid, merging the same grid of the spatial sampling unit association groups into a reconstructed overlap region, comprises: Rasterizing the common surveillance zone into Each side is of length Obtain square grid of (1) Point targets at the center of the grid for the first Station center distance of individual radar stations And azimuth angle The expressions are respectively: ; Wherein, the first The central position of each grid is expressed as First, the The station core position of each radar station is expressed as , Representing the total number of radar stations; according to the first Point targets at the center of the grid for the first Distance of individual radar stations And azimuth angle Obtain the first Mapping of point targets at the center of the grid to the first Distance unit index in station-core coordinate system of individual radar station And angular cell index The expressions are respectively: ; Wherein, the Representing the discrete number of common surveillance zone distances, The number of discrete scanning angles is represented, Representing the discrete distance of the object, Representing a discrete scan angle; according to the first Mapping of point targets at the center of the grid to the first Distance unit index in station-core coordinate system of individual radar station And angular cell index Acquiring a spatial sampling unit association group of each grid The expression is: ; and merging grids with the same association group of the spatial sampling units into a reconstruction overlapping region.
3. The method for spatially registering a heterogeneous networked radar based on adaptive grid reconstruction according to claim 1, wherein the obtaining the spatial sampling unit association group for each of the reconstructed overlapping regions and forming a set comprises: acquiring a spatial sampling unit association group of each reconstruction overlapping region The expression is: ; Wherein, the An index representing the reconstructed overlap region, Representing the total number of reconstructed overlap regions; correlating all the spatial sampling units of the reconstruction overlapping region to form a set The expression is: 。
4. the adaptive grid reconstruction-based heterogeneous networked radar spatial registration method of claim 1, wherein the updating the side length of the grid comprises: the updated grid side length is equal to the initial grid side length minus a preset grid search step length, and the expression is: ; Wherein, the Representing a preset grid search step size.
5. The adaptive grid reconstruction-based heterogeneous networked radar spatial registration method of claim 1, further comprising optimizing coordinates of a calibration point of the reconstruction overlap region corresponding to a side length of the optimal grid; setting the reconstruction overlap region includes Multiple grids, respectively The said The central coordinate set of the grids is Coordinates of the calibration point of the reconstruction overlap region Is about Is a function of (2); obtaining a registration error value of a calibration point of the reconstruction overlapping region The expression is: ; Wherein, the ; Acquiring the registration error value Minimum value of (2) The method comprises the following steps: ; Wherein, the Representing a two-dimensional coordinate space of the common surveillance area.
6. The method for spatially registering a heterogeneous networked radar based on adaptive grid reconstruction of claim 1, further comprising returning a spatial registration information retrieval table, a reconstructed overlap region profile, and a registration position profile; acquiring the spatial registration information retrieval table according to the calibration point of each reconstruction overlapping region and the spatial sampling unit association group of each reconstruction overlapping region; And obtaining the reconstructed overlapping area distribution map and the registration position distribution map by testing a plurality of point targets which are randomly distributed in the radar network system model.

Description

Heterogeneous networked radar space registration method based on self-adaptive grid reconstruction Technical Field The invention belongs to the technical field of radars, and particularly relates to a heterogeneous networked radar spatial registration method based on self-adaptive grid reconstruction. Background The networked radar space registration correlates observations of the same target observed by different radar stations, and is an important precondition for ensuring accurate implementation of fusion detection. The existing space registration method based on grid division is faced with the problems of more repeated data association combinations, non-optimal grid point selection, optimal grid size solving under the condition of lacking a certain space registration evaluation index and the like, and results of large registration error, excessive system calculation load, fusion detection performance loss and the like in practical application can be caused. Therefore, it is desirable to provide a radar spatial registration method that reduces registration errors in practical applications. Disclosure of Invention In order to solve the problems in the prior art, the invention provides a heterogeneous networked radar spatial registration method based on adaptive grid reconstruction. The technical problems to be solved by the invention are realized by the following technical scheme: in a first aspect, the present invention provides a method for spatial registration of a heterogeneous networked radar based on adaptive grid reconstruction, comprising: Step 1, constructing a radar network system model, presetting related parameters of a radar network system, and initializing the related parameters, wherein the radar network system model comprises a plurality of radar stations and a common monitoring area monitored by the plurality of radar stations, and rasterizing the common monitoring area, and the related parameters comprise the side length of a grid and a preset grid searching step length; Step 2, acquiring a space sampling unit association group of each grid, and combining the grids with the same space sampling unit association group into a reconstruction overlapping region; Step 3, acquiring a spatial sampling unit association group of each reconstruction overlapping region, forming a set, acquiring average registration rates of a plurality of point targets distributed randomly according to the set, acquiring partial mismatch rates of each radar station and other radar stations which are not matched, comparing the average registration rate with a preset average registration rate threshold value, comparing the partial mismatch rate with a preset partial mismatch rate threshold value, determining the optimal side length of the grid if the average registration rate is greater than or equal to the preset average registration rate threshold value and the partial mismatch rate is less than or equal to the preset partial mismatch rate threshold value, otherwise, comparing the side length of the grid with a preset grid search step length, reducing the preset grid search step length if the side length of the grid is less than or equal to the preset grid search step length, returning to step 1 until the optimal side length of the grid is determined, and updating the side length of the grid, and returning to step 2 until the optimal side length of the grid is determined; And 4, acquiring the standard points of the reconstruction overlapping region corresponding to the side length of the optimal grid. The invention has the beneficial effects that: the heterogeneous networked radar space registration method based on the self-adaptive grid reconstruction, provided by the invention, has the advantages that the calculation burden is reduced by rasterizing a networked radar co-monitoring area, the overlapping area of a spatial sampling unit of a local radar station is approximately reconstructed, the Fermat point at the center of a grid which is repeatedly registered is searched and used as a reconstruction area calibration point, the optimization of registration error is realized, and then an optimization model comprehensively considering the calculation burden and the spatial registration performance is given by introducing an average registration rate and a local mismatch rate as registration performance evaluation indexes, so that the optimization of the grid side length is realized. The present invention will be described in further detail with reference to the accompanying drawings and examples. Drawings FIG. 1 is a flow chart of a method for spatially registering a heterogeneous networked radar based on adaptive grid reconstruction provided by an embodiment of the present invention; FIG. 2 is a graph showing the average registration rate as a function of grid side length, according to an embodiment of the present invention; FIG. 3 is a schematic diagram of a local mismatch ratio of Radar 1 as a function of grid ed