CN-121613443-B - Target tracking early warning method and system based on radar photoelectric linkage and information fusion

CN121613443BCN 121613443 BCN121613443 BCN 121613443BCN-121613443-B

Abstract

The invention discloses a target tracking early warning method and a target tracking early warning system based on radar photoelectric linkage and information fusion, and relates to the technical field of electric digital data processing, wherein the method comprises the steps of obtaining moving target information and obtaining a real-time azimuth angle and distance sequence; the method comprises the steps of obtaining absolute differences between adjacent distance data in a distance sequence, obtaining a stability index, generating a correction value, obtaining a compensation azimuth angle range, obtaining a steering angle range of photoelectric equipment, obtaining a compensation distance range, obtaining optical zoom information of the photoelectric equipment, driving the photoelectric equipment to capture target contour features according to the steering angle range and the optical zoom information to lock targets, and calling a physical rule base to obtain target classification and early warning strategies based on moving target information obtained by a radar and target contour features captured by the photoelectric equipment. The invention has the advantages of dynamic self-adaption, high resource utilization rate and cooperative closed loop.

Inventors

PAN QUAN
YE LIANG
LV YANG

Assignees

西安辰航卓越科技有限公司

Dates

Publication Date: 20260505
Application Date: 20260129

Claims (6)

1. A target tracking and early warning method based on radar photoelectric linkage and information fusion is characterized by comprising the following steps: acquiring moving target information based on a radar, and acquiring a real-time azimuth angle of a moving target at a current time point and a distance sequence in a preset time period before the current time point according to the moving target information; Acquiring absolute difference values between adjacent distance data in the distance sequence; the method comprises the steps of obtaining the number of absolute differences smaller than the standard distance variation in a distance sequence and taking the number as an effective number, dividing the effective number by the number of all absolute differences in the distance sequence, and obtaining a stability index; if the stability index exceeds the preset threshold, taking 1 as a correction value, and if the stability index does not exceed the preset threshold, subtracting the stability index from the preset threshold and adding 1 to obtain the correction value; acquiring a compensation azimuth angle range according to the correction value and the real-time azimuth angle, acquiring a steering angle range of the photoelectric equipment based on the compensation azimuth angle range, acquiring a compensation distance range according to the correction value and the distance sequence, and acquiring optical zoom information of the photoelectric equipment based on the compensation distance range; And driving the photoelectric equipment to capture the outline characteristics of the target according to the steering angle range and the optical zoom information, locking the target, and calling a physical rule base to obtain the target classification and early warning strategy based on the moving target information obtained by the radar and the outline characteristics of the target captured by the photoelectric equipment.
2. The method for target tracking and early warning based on radar photoelectric linkage and information fusion according to claim 1, wherein the steps of obtaining a compensation azimuth angle range according to the correction value and the real-time azimuth angle and obtaining a steering angle range of the photoelectric device based on the compensation azimuth angle range include: Synchronously generating a dynamic expansion interval in the positive and negative directions of the real-time azimuth based on the correction value; a sector coverage area taking a real-time azimuth as a center and a dynamic expansion interval as a bidirectional expansion range is constructed and used as a compensation azimuth range; And acquiring the current steering angle of the photoelectric equipment, and acquiring a steering angle range according to the current steering angle and the compensation azimuth angle range.
3. The method for target tracking and early warning based on radar photoelectric linkage and information fusion according to claim 1, wherein the steps of obtaining a compensation distance range according to the correction value and the distance sequence and obtaining optical zoom information of the photoelectric device based on the compensation distance range include: acquiring a real-time distance of a current time point according to the distance sequence, and synchronously generating a distance change interval in the positive and negative directions of the real-time distance based on the correction value; constructing a length coverage range which takes a real-time distance as a center and a distance change interval as a bidirectional extension range, and taking the length coverage range as a compensation distance range; And acquiring current zoom information of the photoelectric equipment, and acquiring optical zoom information according to the current zoom information and the compensation distance range.
4. The method for target tracking and early warning based on radar photoelectric linkage and information fusion according to claim 1, wherein the step of calling a physical rule base to obtain a target classification and early warning strategy comprises the following steps: Forming target attribute description according to the moving target information and the target contour characteristics, and inquiring a physical rule base which is pre-stored with classification rules and early warning strategy rules based on the target attribute description; And matching the classification rule according to the target attribute description, determining the target category, matching the early warning strategy rule according to the target attribute description, and generating the early warning strategy.
5. A target tracking early warning system based on radar photoelectric linkage and information fusion is characterized in that the system comprises: The radar acquisition module is used for acquiring moving target information based on a radar, and acquiring a real-time azimuth angle of a moving target at a current time point and a distance sequence in a preset time period before the current time point according to the moving target information; The information fusion module is used for acquiring absolute differences between adjacent distance data in the distance sequence and acquiring a stability index according to all the absolute differences in the distance sequence; The information fusion module is also used for acquiring the number of absolute differences smaller than the standard distance variation in the distance sequence and taking the number as an effective number, dividing the effective number by the number of all absolute differences in the distance sequence and obtaining a stability index; The photoelectric linkage module is used for generating a correction value according to the stability index and a preset threshold value, acquiring a compensation azimuth angle range according to the correction value and a real-time azimuth angle, acquiring a steering angle range of the photoelectric equipment based on the compensation azimuth angle range, acquiring a compensation distance range according to the correction value and a distance sequence, and acquiring optical zoom information of the photoelectric equipment based on the compensation distance range; The photoelectric linkage module is also used for taking 1 as a correction value if the stability index exceeds a preset threshold value, subtracting the stability index from the preset threshold value and adding 1 if the stability index does not exceed the preset threshold value so as to obtain the correction value; And the tracking and early warning module is used for driving the photoelectric equipment to capture the outline characteristics of the target according to the steering angle range and the optical zoom information and lock the target, and calling a physical rule base to acquire the target classification and early warning strategy based on the moving target information acquired by the radar and the outline characteristics of the target captured by the photoelectric equipment.
6. The radar photoelectric linkage and information fusion-based target tracking early warning system according to claim 5, wherein the photoelectric linkage module is further configured to: Synchronously generating a dynamic expansion interval in the positive and negative directions of the real-time azimuth based on the correction value; a sector coverage area taking a real-time azimuth as a center and a dynamic expansion interval as a bidirectional expansion range is constructed and used as a compensation azimuth range; And acquiring the current steering angle of the photoelectric equipment, and acquiring a steering angle range according to the current steering angle and the compensation azimuth angle range.

Description

Target tracking early warning method and system based on radar photoelectric linkage and information fusion Technical Field The invention relates to the technical field of electric digital data processing, in particular to a target tracking early warning method and system based on radar photoelectric linkage and information fusion. Background In the fields of security monitoring and low-altitude unmanned aerial vehicle early warning, radar and photoelectricity are required to cooperatively track a target. When the actual radar detects the distance and azimuth information of a moving target in real time and drives the photoelectric device to track steering, the efficiency problem caused by random fluctuation of radar ranging exists, specifically, when the moving track of the target is stable (such as uniform linear motion), the inherent jitter of radar range data can enable the photoelectric device to repeatedly fine tune steering angles and optical focal distances, so that calculation resources are wasted and the target capturing time is prolonged, when the target suddenly turns or accelerates and decelerates (such as vehicle sharp turns or unmanned aerial vehicle evasion), the distance sequence of the radar is in intense jump, but the conventional quantitative judgment mechanism for data stability is lacking, the photoelectric device is still driven based on single-point real-time azimuth/distance, the target contour is extremely easy to be locked due to data lag or deviation, and the dynamic adjustment basis is lacking when the photoelectric searching range is required to be enlarged, so that the searching range is blindly enlarged (resource overload) or insufficient (tracking failure). In addition, a linkage rule of radar data reliability evaluation and photoelectric resource scheduling is not established in multi-sensor cooperation, photoelectric search parameters (azimuth angle coverage area and focal length adjustment range) cannot be adaptively contracted or expanded according to the real-time reliability of radar data, accurate and rapid locking is difficult to achieve in a stable stage, tracking interruption is caused due to calculation lag of a compensation range when a target is suddenly changed, and accordingly resource utilization rate and tracking effect are reduced. Disclosure of Invention Aiming at the technical problems in the background technology, the invention provides a target tracking and early warning method and system based on radar photoelectric linkage and information fusion. A target tracking early warning method based on radar photoelectric linkage and information fusion comprises the steps of acquiring moving target information based on a radar, acquiring a real-time azimuth angle of a moving target at a current time point and a distance sequence within a preset time period before the current time point according to the moving target information, acquiring absolute differences between adjacent distance data in the distance sequence, acquiring a stable index according to all the absolute differences in the distance sequence, generating a correction value according to the stable index and a preset threshold, acquiring a compensation azimuth angle range according to the correction value and the real-time azimuth angle and acquiring a steering angle range of photoelectric equipment based on the compensation azimuth angle range, acquiring a compensation distance range according to the correction value and the distance sequence and acquiring optical zoom information of the photoelectric equipment based on the compensation distance range, driving the photoelectric equipment to acquire target profile features according to the steering angle range and the optical zoom information and lock targets, and calling a physical rule base to acquire target classification and early warning strategies based on the moving target information acquired by the radar and the target profile features acquired by the photoelectric equipment. Optionally, acquiring the stability index according to all absolute differences in the distance sequence comprises acquiring the number of absolute differences smaller than the standard distance variation in the distance sequence and serving as an effective number, dividing the effective number by the number of all absolute differences in the distance sequence, and obtaining the stability index. Optionally, generating the correction value according to the stability indicator and the preset threshold includes taking 1 as the correction value if the stability indicator exceeds the preset threshold, and subtracting the stability indicator from the preset threshold and adding 1 if the stability indicator does not exceed the preset threshold, so as to obtain the correction value. Optionally, acquiring a compensation azimuth angle range according to the correction value and the real-time azimuth angle and acquiring a steering angle range of the photoelectric device based on t