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摘要:
针对雷达探鸟中的飞鸟目标数量统计问题，提出了一种多目标航迹自动起始跟踪算法，实现了对机场周边鸟类活动热点区域内鸟类目标数量的统计分析。通过数据关联估计量测与所有可能事件的关联概率，包括目标的新生、延续和消亡，以及杂波的剔除，并通过卡尔曼滤波与平滑方法给出每个目标的平滑轨迹，实现了对目标的全生命周期管理。仿真结果表明：所提算法能很好地实现杂波环境中的多目标航迹自动起始跟踪，正确估计每个目标的起始和消亡时间，统计目标数量的变化情况，且在目标起始的及时性方面明显优于传统的逻辑法。将所提算法应用于机场探鸟雷达实测数据，估计机场周边鸟类数量，可指导机场开展有针对性的鸟击防范工作。
Abstract:A multi-target automatic initiation and tracking algorithm suitable for avian radar data is proposed to realize the statistical analysis of the number of bird targets in the hot spots of bird activities around the airport. The algorithm estimates the probability of association between the measurement and all possible events by data association, including the birth, continuation and extinction of the target, as well as the elimination of clutter. The smooth trajectory of each target is estimated by the Kalman filter and smoothing method, and the whole life cycle management of the target is realized. The simulation results show that the algorithm can realize multi-target automatic initiation and tracking in clutter environment, estimate the start and end time of each target correctly, and count the change of the number of targets, and it is obviously better than the traditional logic method in the timeliness of target initiation. Finally, the algorithm is applied to the airport avian radar data to estimate the number of birds around the airport, leading the airport to carry out targeted bird strike prevention measures.
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图 2 多目标航迹自动起始跟踪算法流程
Figure 2. Flowchart of multi-target automatic initiation and tracking algorithm
图 3 无延迟起始的目标跟踪起始仿真数据
Figure 3. Simulation data of target tracking initiation without initiation delay
图 4 延迟起始的目标跟踪起始仿真数据
Figure 4. Simulation data of target tracking initiation with initiation delay
图 5 不同杂波条件下的目标跟踪延迟周期
Figure 5. Target tracking delay period under different clutter conditions
图 6 不同起始条件下的目标跟踪延迟周期
Figure 6. Target tracking delay period under different initiation conditions
表 1 目标航迹起始延迟周期平均值对比
Table 1. Comparison of delay periods of target path initiation
λ 延迟周期平均值 本文算法 逻辑法(3周期) 0.1 0.004 4 0.5 0.037 1 1.0 0.248 5 3 1.5 0.802 6 2.0 1.858 3 
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表 2 鸟类目标数量估计结果
Table 2. Estimation results of bird target number
序号 鸟类目标数量/只 雷达数据 人工观测 1 23 22 2 22 22 3 22 20 4 24 24 5 26 27 6 25 26 7 25 22 8 27 27 9 23 24 10 25 22
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