CN106448276A - Airport surface moving target detection and speed sequence acquisition method - Google Patents
Airport surface moving target detection and speed sequence acquisition method Download PDFInfo
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- G08G5/00—Traffic control systems for aircraft, e.g. air-traffic control [ATC]
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Abstract
The invention discloses an airport surface moving target detection and a speed sequence acquisition method. Moving target geomagnetic induction signals are acquired in real time by a detection node carrying double geomagnetic sensors and preprocessed by a five-point tertiary smooth filtering method. The preprocessed double geomagnetic induction signals are subjected to data fusion according to state complementary fusion rules to detect approaching, leaving detection node and running direction of a surface moving target. Wave peak and wave trough feature points corresponding to the double geomagnetic induction signals are extracted when the surface moving target appears, and the average speed of the corresponding feature points is calculated, so that the speed sequence of the target is acquired. The target can be accurately detected and positioned, the speed sequence can be acquired, and inherent defects of current surface moving target detection positioning and speed acquisition are effectively improved.
Description
Technical field
The present invention relates to advanced scene guiding and the detection of one of control airdrome scene moving target and velocity series obtain
Take method, the scene moving target detection of especially a kind of geomagnetic sensing technology based on distributed non-cooperation and velocity series obtain
Take method.
Background technology
The acquisition of the detection of airdrome scene moving target and velocity series is the guiding of scene moving target and the important base controlling
Plinth.With the development of air-transport industry, scene environment becomes increasingly complex, and scene traffic flow is increasing, scene movement area
The bottle neck effect of operation regulation ability is increasingly apparent.
Detection currently for scene moving target mainly adopts the technology such as scene surveillance radar, ADS-B, multipoint positioning
Carry out detection positioning；The scene moving target speed mainly process according to scene surveillance radar data or ADS-B airborne equipment
Down-transmitting data obtained.But above-mentioned technological means have intrinsic defect, concrete manifestation is as follows：(1) scene monitoring thunder
Reach：Easily blocked by scene building, lower hybrid wave, rainfall etc. affect can not accurately detect target, by the radar data obtaining
The velocity amplitude error carrying out processing acquisition is larger；(2)ADS-B：Need machine/vehicle-mounted answering machine, noncooperative target cannot obtain inspection
Survey, the data acquisition that target velocity is passed down by airborne equipment, but data transmission rate is low, interruption non-continuous event easily occurs；
(3) multipoint positioning：Need machine/vehicle-mounted answering machine, need to lay the synchronous communication circuit between website and website, airborne vehicle/car
At least while covered by three earth stations.
With the development of distributed non-cooperation sensor technology, geomagnetic sensing technology is applied to the detection of scene moving target
And velocity series obtain, can effectively improve the inherent shortcoming of above-mentioned means.Contribute in low cost, automaticity
Under the conditions of high software and hardware obtain airdrome scene traffic situation, improve airport capacity, enable airport target high density,
Under the conditions of weather low visibility and the high complexity of scene construction, ensure airborne vehicle and vehicle safety, orderly, efficient operation.Logical
Cross laying geomagnetism detecting node in the roadnet of Flying Area in Airport to obtain earth induction signal, by data processing and fusion
Method, to realize the acquisition of the accurate detection positioning to target and velocity series, is the guiding in real time to target for the airport control personnel
With control, prevent to run to conflict and support and decision-making foundation with offer significant datas such as runway invasions.
At present, adopt single node single sensor solution intelligent geomagnetism detecting node, this design has to target detection and localization more
There is good effect, but more difficult for detection object run direction and acquisition target velocity sequence, it is mainly manifested in：(1)
Between node, deployment spacing farther out, as long as scene moving target has fraction of operation to offset between two nodes, will result in earth magnetism
The signal characteristic of sensor acquisition is inconsistent, brings larger error to the acquisition of target velocity；(2) need by wireless between node
Mode realizes time synchronized, once time irreversibility in detection process, causes the target transport information parameter extracted to lose efficacy；
(3) between node frequently time synchronized and frequently transport information interaction lead to the larger consumption of geomagnetism detecting node energy.
Content of the invention
Goal of the invention：In order to overcome the deficiencies in the prior art, the present invention provides a kind of airdrome scene moving target
Detection and velocity series acquisition methods, the present invention is capable of the acquisition of the accurate detection positioning to target and velocity series, with
When effectively improve the inherent shortcoming that current scene moving target detection positioning and speed obtain.
Technical scheme：For achieving the above object, the technical solution used in the present invention is：
A kind of airdrome scene moving target detection and velocity series acquisition methods, for accurately examining to scene moving target
Survey, and obtain velocity series information when node for the target.Using the detection node Real-time Collection carrying double geomagnetic sensors
Moving target earth induction signal, carries out pretreatment to earth induction signal with 5 points 3 smooth filtering methods.Locate to pre-
Double earth induction signals after reason carry out data fusion according to state Mutually fusion rule, with detect scene moving target approaching,
Sail out of detection node and traffic direction.Double corresponding crests of earth induction signal and ripple is extracted when determining that scene moving target occurs
Paddy characteristic point, calculates the average speed between character pair point, and then obtains the velocity series of target.
Specifically include following steps：
Step 1, is designed to geomagnetism detecting node using the double geomagnetic sensor scheme of single node, geomagnetism detecting node is taken
Carry double geomagnetic sensors along scene moving target traffic direction arranged on the centrage of runway/taxiway, pass through
The earth induction signal of double geomagnetic sensor collection activity targets and data point ID determining this earth induction signal.
Step 2, is carried out using 5 points 3 smooth filtering methods to the earth induction signal of the collection of geomagnetism detecting node
Pretreatment.
Step 3, regular according to state Mutually fusion to the earth induction signal of pretreated pair of geomagnetic sensor collection
Carry out data fusion.Described state Mutually fusion rule is for an arbitrary geomagnetic sensors detection in double geomagnetic sensors to target
Signal, then the state of Mutually fusion echo signal is as detected.Earth magnetism according to pretreated pair of geomagnetic sensor collection
Induced signal and state Mutually fusion rule detection scene moving target and traffic direction.
Step 4, according to the testing result of step 3, when determining that scene moving target occurs, according to based on double earth induction letters
The method of number characteristic point obtains the velocity series of target.
In described step 3, the method for detection scene moving target and traffic direction, comprises the following steps：
Step 31：The state Mutually fusion rule setting detection scene moving target is as follows,
Step 32：Detect whether scene moving target approaching geomagnetism detecting node institute deployment region, specifically, to detection
The earth induction signal that double geomagnetic sensors that node carries obtain is respectively provided with threshold value Ti(k), i=1,2, correspond to respectively
Sensor one and sensor two.K is the sampling instant of sensor.The earth induction signal of arbitrary geomagnetic sensor collection exceedes and sets
The threshold value put, that is, think scene moving target approaching geomagnetism detecting node.It is S1 or numbering when occurring numbering in step 31
Situation for S3 thinks scene moving target approaching geomagnetism detecting node deployment region.
Step 33：Detection judges the traffic direction of scene moving target, specifically, according to the double ground carrying in detection node
The earth induction signal of Magnetic Sensor collection exceedes the time of the threshold value traffic direction to judge target respectively, such as goes out
The time numbering the situation being S1 in existing step 31 judges scene moving target early than the time situation that numbering is S3
Traffic direction be sensor one to sensor two direction.The time situation that the numbering in step 31 is S3 is early than going out
The time now numbering the situation being S1 judges the direction for sensor two to sensing one for the traffic direction of scene moving target.
Step 34：Whether detection scene moving target sails out of geomagnetism detecting node, specifically, according to set by step 31
The mutual fusion rule of state, judges order that Fusion Strain occurs successively to detect whether scene moving target sails out of geomagnetism detecting section
Point, when numbering is followed successively by S0, S1, S2, S3, S0 or S0, S3, S2, S1, S0 think that scene moving target sails out of geomagnetism detecting
Node.Sail out of geomagnetism detecting node by detecting scene moving target, then proceed to step 4, the speed to scene moving target
Sequence is obtained.
Threshold value T in described step 32iThe method to set up of (k)：
Step 321, the reference value according to sensor adopts right value update method to reference value according to state Mutually fusion rule
Carry out self-adaptive processing, its self adaptation reference value formula is as follows：
In formula：BiK () is the reference value after sensor i adaptive updates.Bi(k-1) for the benchmark before sensor i renewal
Value, aiK () is sampled signal values during sensor i kth time sampling after smooth.α is to update to forget weights.
Step 322, by more answering to earth magnetism reference value self adaptation, takes (1 ± α) times conduct of the earth magnetism reference value after renewal
Detection scene moving target has stateless threshold value, and its adaptive threshold formula is as follows：
Ti(k)=(1 ± α) Bi(k) i=1,2.
In formula：TiK () is threshold value.
The method obtaining the velocity series of target in step 4 according to the method based on double earth induction signal characteristic points：
Step 41：Extract the character pair point of double earth induction signals：Detection scene moving target is same in step 3
When, intercept target earth induction signal group a of sensor one collection respectively1[n], n is data point number.Sensor two collection
Target earth induction signal group a2[m], m is data point number, and extracts first data a of two groups of data respectively1[0]、a2
[0] and last data a1[n-1]、a2[m-1] is special as the corresponding initiation feature point of target earth induction signal and end
Levy a little, then calculate the present sample data of each group of data and the difference value of previous moment sampled data and present sample data
With the difference value of later moment in time sampled data, if two difference values simultaneously greater than zero, it is crest characteristic point, if two difference values
Be less than zero is trough characteristic point simultaneously.
Step 42：Calculate sample offset amount ds between character pair pointi, specifically, according to the data of character pair point
Point ID calculating difference is obtaining the employing side-play amount between character pair point.
Step 43：Obtain velocity series when geomagnetism detecting node for the scene moving target, specifically, calculate corresponding special
Velocity amplitude between levying a little, computing formula is：
Wherein, D is the distance between dual sensor on geomagnetism detecting node, and double earth magnetism that geomagnetism detecting node carries pass
The distance between sensor D is adjustable, and no more than in scene the shortest moving target length Lmin.fsNumber for dual sensor
According to sample frequency, dsiFor earth induction signal one and earth induction signal two on sample sequence i-th character pair point inclined
Shifting amount.Thus obtain velocity series when geomagnetism detecting node for the scene moving target be V=v (1), v (2) ..., v
(i)…}.
Characteristic point in described step 41 includes：Target earth induction signal starting point, crest, trough and target earth magnetism
Induced signal end point.
The invention has the advantages that：Geomagnetic sensing technology is applied to the detection of scene moving target and velocity series
Acquisition, can effectively improve the inherent shortcoming that current scene moving target detection positioning and speed obtain.By in machine
In the roadnet of movement area, laying geomagnetism detecting node to be obtaining earth induction signal, by data processing and fusion method Lai
Realize the acquisition to the accurate detection positioning of target and velocity series, be airport control personnel to the guiding in real time of target and control
System, preventing operation conflict and runway invasion etc. provides significant data support and decision-making foundation.
Brief description
Fig. 1 is a kind of airdrome scene moving target detection and velocity series acquisition methods flow chart；
Fig. 2 is geomagnetism detecting design of node structure chart
Fig. 3 is the deployment schematic diagram of geomagnetism detecting node
Fig. 4 is the original earth induction signal data of geomagnetic sensor collection
Fig. 5 is the earth induction signal waveform after 5 points 3 smothing filterings
Fig. 6 is scene moving target detection state Mutually fusion flow chart
Fig. 7 is double earth induction signal waveforms of a certain scene moving target
Fig. 8 is that scene moving target earth induction signal characteristic point extracts flow process.
Fig. 9 is a certain scene moving target uniform motion pretreated pair of earth induction signal wave when detection node
Shape figure
Figure 10 is a certain scene moving target uniform motion pretreated pair of earth induction signal when detection node
Oscillogram
Figure 11 is a certain scene moving target uniform motion pretreated pair of earth induction signal when detection node
Oscillogram
Figure 12 is the sample offset amount of the character pair point and calculating extracted during a certain scene moving target uniform motion
Figure 13 is the sample offset amount of the character pair point and calculating extracted during a certain scene moving target uniformly accelerated motion
Figure 14 is the sample offset amount of the character pair point and calculating extracted during a certain scene moving target uniformly retarded motion
Figure 15 is that during a certain scene moving target uniform motion, acquisition speed sequence and actual speed alignment scheme
Figure 16 is that during a certain scene moving target uniformly accelerated motion, acquisition speed sequence and actual speed alignment scheme
Figure 17 is that during a certain scene moving target uniformly retarded motion, acquisition speed sequence and actual speed alignment scheme.
Specific embodiment
Below in conjunction with the accompanying drawings and specific embodiment, it is further elucidated with the present invention it should be understood that these examples are merely to illustrate this
Invention rather than restriction the scope of the present invention, after having read the present invention, those skilled in the art are various to the present invention
The modification of the equivalent form of value all falls within the application claims limited range.
A kind of airdrome scene moving target detection and velocity series acquisition methods, using the detection carrying double geomagnetic sensors
Node Real-time Collection moving target earth induction signal, carries out pre- to earth induction signal with 5 points 3 smooth filtering methods
Process.According to state Mutually fusion rule, data fusion is carried out to pretreated pair of earth induction signal, to detect scene work
Moving-target approaching, sail out of detection node and traffic direction.Double earth induction signals pair are extracted when determining that scene moving target occurs
The crest answered and trough characteristic point, calculate the average speed between character pair point, and then obtain the velocity series of target.
As shown in figure 1, comprising the following steps：
Step 1, in order to avoid due to time synchronization problem, earth induction signal characteristic inconsistent, the aspect such as energy expenditure
The velocity series causing obtain error, and the present invention is set to geomagnetism detecting node using the double geomagnetic sensor scheme of single node
Meter, is geomagnetism detecting design of node structure chart as shown in Figure 2.
The major function of geomagnetism detecting node is to be deployed in the diverse location of airdrome scene, the magnetic of perception detection region
Field change, to detect the kinestate judging target with this.The present invention sets the double earth magnetism sensings carried on geomagnetism detecting node
The distance between device D is adjustable, and no more than in scene the shortest moving target length Lmin.In view of in airdrome scene
The width of road is larger, if by geomagnetism detecting node deployment in both sides of the road, the earth induction signal of collection is fainter, no
It is easy to the detection positioning of target and the acquisition of velocity series.Double earth magnetism sensings that therefore geomagnetism detecting node is carried by the present invention
Device along scene moving target traffic direction arranged on the centrage of runway/taxiway, be geomagnetism detecting as shown in Figure 3
The deployment schematic diagram of node.
By earth induction signal and the number determining this earth induction signal of double geomagnetic sensor collection activity targets
Strong point ID.
Step 2, is carried out using 5 points 3 smooth filtering methods to the earth induction signal of the collection of geomagnetism detecting node
Pretreatment.
Because in data acquisition, earth induction signal has been mixed into random noise signal, lead to produce in signal curve
Burr and spike are it is therefore desirable to be filtered smoothing processing to signal.
The present invention carries out pretreatment using 5 points 3 smooth filtering methods；Detailed process is：Five-spot triple smoothing is
The method three least square moving-polynomial smoother being carried out to discrete data using principle of least square method.It is former that hypothesis is collected
Beginning earth induction signal time sequence is e (1), e (2) ..., e (k) ..., a (1), and a (2) ..., a (k) ... a (m) are through five
Put the signal time sequence after three smothing filterings, then the computing formula of k-th sampled signal is：
Fig. 4 is the original earth induction signal data of geomagnetic sensor collection, and Fig. 5 is after 5 points 3 smothing filterings
Earth induction signal waveform.
Step 3, regular according to state Mutually fusion to the earth induction signal of pretreated pair of geomagnetic sensor collection
Carry out data fusion.Described state Mutually fusion rule is for an arbitrary geomagnetic sensors detection in double geomagnetic sensors to target
Signal, then the state of Mutually fusion echo signal is as detected.Earth magnetism according to pretreated pair of geomagnetic sensor collection
Induced signal and state Mutually fusion rule detection scene moving target and traffic direction.
Step 31：The state Mutually fusion rule setting detection scene moving target is as follows,
Fig. 6 detects state Mutually fusion flow chart for scene moving target.
Step 32：Detect whether scene moving target approaching geomagnetism detecting node institute deployment region, specifically, to detection
The earth induction signal that double geomagnetic sensors that node carries obtain is respectively provided with threshold value Ti(k), i=1,2, correspond to respectively
Sensor one and sensor two.K is the sampling instant of sensor.The earth induction signal of arbitrary geomagnetic sensor collection exceedes and sets
The threshold value put, that is, think scene moving target approaching geomagnetism detecting node.It is S1 or numbering when occurring numbering in step 31
Situation for S3 thinks scene moving target approaching geomagnetism detecting node deployment region.
Reference value and threshold value are to realize the important parameter of scene moving target earth induction Signal separator.Due to geomagnetism detecting
The change of node circumferentially magnetic environment and temperature can make the reference value of earth induction signal produce drift, if not to reference value and
Threshold value carries out self-adaptive processing, and the precision that can affect the detection of scene moving target even causes the inefficacy of algorithm.The present invention adopts
Right value update method carries out self-adaptive processing to reference value and threshold value.Self adaptation reference value formula is shown below：
In formula：BiK () is the reference value after sensor i adaptive updates；Bi(k-1) for the benchmark before sensor i renewal
Value, aiK () is sampled signal values during sensor i kth time sampling after smooth；α is to update to forget weights, and its value affects
The self adaptation speed degree of reference value, value is too small, and reference value is updated slow, leads to adaptive delay, value is excessive, extraneous magnetic
The interference of field can produce impact to the renewal of reference value.
By more answering, take (1 ± α) times conduct detection scene of the earth magnetism reference value after renewal to earth magnetism reference value self adaptation
Moving target has stateless threshold value, and its adaptive threshold formula is shown below：
Ti(k)=(1 ± α) Bi(k) i=1,2.
Step 33：Detection judges the traffic direction of scene moving target, specifically, according to the double ground carrying in detection node
The earth induction signal of Magnetic Sensor collection exceedes the time of the threshold value traffic direction to judge target respectively, such as goes out
The time numbering the situation being S1 in existing step 31 judges scene moving target early than the time situation that numbering is S3
Traffic direction be sensor one to sensor two direction.The time situation that the numbering in step 31 is S3 is early than going out
The time now numbering the situation being S1 judges the direction for sensor two to sensing one for the traffic direction of scene moving target.
Step 34：Whether detection scene moving target sails out of geomagnetism detecting node, specifically, according to set by step 31
The mutual fusion rule of state, judges order that Fusion Strain occurs successively to detect whether scene moving target sails out of geomagnetism detecting section
Point, when numbering is followed successively by S0, S1, S2, S3, S0 or S0, S3, S2, S1, S0 think that scene moving target sails out of geomagnetism detecting
Node.Sail out of geomagnetism detecting node by detecting scene moving target, then proceed to step 4, the speed to scene moving target
Sequence is obtained.
Step 4, according to the testing result of step 3, when determining that scene moving target occurs, according to based on double earth induction letters
The method of number characteristic point obtains the velocity series of target.
Based on the acquisition methods to target velocity sequence for double earth induction signal characteristic points.Fig. 7 is a certain scene activity mesh
The double earth induction signal waveforms of target.Due to the detection to same moving target in same detection zone, geomagnetism detecting node
The earth induction signal waveform that the double geomagnetic sensors carrying obtain is similar.The ferrimagnet Germ distribution phase of same target
Same, when the larger position of ferrimagnet distribution density sequentially passes through double geomagnetic sensor, nodal test region earth magnetism can be led to
Larger disturbance, being mapped on wavy curve is then the characteristic points such as crest, the trough of waveform.Therefore, waveform 1 and waveform 2 are all deposited
In some characteristic points of identical (detection starting point, crest, trough, extreme point, detection end point etc.).The character pair of two waveforms
Point is it is believed that target a certain transverse section sequentially passes through double terrestrial magnetic disturbances acquired in geomagnetic sensor when passing through geomagnetism detecting node
Information.Extract some characteristic points on waveform 1 and waveform 2, target can be asked for by the sample offset amount of character pair point some
The instantaneous velocity sequence of transverse section, this velocity series can as target through geomagnetism detecting node instantaneous velocity sequence.Fig. 8,
Fig. 9, Figure 10 be a certain scene moving target respectively with the uniform velocity, even acceleration, uniformly retarded motion is adopted when same detection node
Double earth induction signal waveforms of collection.Its concrete steps includes：
Step 41：Extract the character pair point of double earth induction signals：Characteristic point includes：Target earth induction signal initiates
Point, crest, trough and target earth induction signal node spot.Extracting method specifically, detects scene activity mesh in step 3
Target simultaneously, intercepts target earth induction signal group a of sensor one collection respectively1[n], n is data point number.Sensor two
Target earth induction signal group a of collection2[m], m is data point number, and extracts first data a of two groups of data respectively1
[0]、a2[0] and last data a1[n-1]、a2[m-1] as target earth induction signal corresponding initiation feature point and
Terminate characteristic point, then calculate the present sample data of each group of data and the difference value of previous moment sampled data and currently adopt
Sample data and the difference value of later moment in time sampled data, if two difference values simultaneously greater than zero, are crest characteristic point, if two
It is trough characteristic point that difference value is less than zero simultaneously.Figure 11 is that scene moving target earth induction signal characteristic point extracts flow process
Figure.
Step 42：Calculate sample offset amount ds between character pair pointi, specifically, according to the data of character pair point
Point ID calculating difference is obtaining the employing side-play amount between character pair point.
Figure 12 is the sample offset of character pair point that the double earth induction signal waveform in figures from Fig. 8 are extracted and calculating
Amount, the character pair point extracting during this scene moving target uniform motion and the sample offset amount of calculating.
Figure 13 is the sample offset of character pair point that the double earth induction signal waveform in figures from Fig. 9 are extracted and calculating
Amount, the character pair point extracting during this scene moving target uniformly accelerated motion and the sample offset amount of calculating.
Figure 14 is that the sampling of character pair point that the double earth induction signal waveform in figures from Figure 10 are extracted and calculating is inclined
Shifting amount, the character pair point extracting during this scene moving target uniformly retarded motion and the sample offset amount of calculating.
Step 43：Obtain velocity series when geomagnetism detecting node for the scene moving target, specifically, calculate corresponding special
Velocity amplitude between levying a little, computing formula is：
Wherein, D is the distance between dual sensor on geomagnetism detecting node, and double earth magnetism that geomagnetism detecting node carries pass
The distance between sensor D is adjustable, and no more than in scene the shortest moving target length Lmin.fsNumber for dual sensor
According to sample frequency, dsiFor earth induction signal one and earth induction signal two on sample sequence i-th character pair point inclined
Shifting amount.Thus obtain velocity series when geomagnetism detecting node for the scene moving target be V=v (1), v (2) ..., v
(i)…}.
Figure 15 is that during target uniform motion, acquisition speed sequence and actual speed alignment scheme.
Figure 16 is that during target uniformly accelerated motion, acquisition speed sequence and actual speed alignment scheme.
Figure 17 is that during target uniformly retarded motion, acquisition speed sequence and actual speed alignment scheme.
The above be only the preferred embodiment of the present invention it should be pointed out that：Ordinary skill people for the art
For member, under the premise without departing from the principles of the invention, some improvements and modifications can also be made, these improvements and modifications also should
It is considered as protection scope of the present invention.
Claims (6)
1. a kind of airdrome scene moving target detection and velocity series acquisition methods are it is characterised in that passed using carrying double earth magnetism
The detection node Real-time Collection moving target earth induction signal of sensor, uses 5 points 3 smothing filterings to earth induction signal
Method carries out pretreatment；According to state Mutually fusion rule, data fusion is carried out to pretreated pair of earth induction signal, with
Detect scene moving target approaching, sail out of detection node and traffic direction；Double earth magnetism are extracted when determining that scene moving target occurs
The corresponding crest of induced signal and trough characteristic point, calculate the average speed between character pair point, and then obtain the speed of target
Degree series.
2. airdrome scene moving target according to claim 1 detection and velocity series acquisition methods it is characterised in that：Bag
Include following steps：
Step 1, is designed to geomagnetism detecting node using the double geomagnetic sensor scheme of single node, geomagnetism detecting node carries
Double geomagnetic sensors along scene moving target traffic direction arranged on the centrage of runway/taxiway, by double
The earth induction signal of Magnetic Sensor collection activity target and data point ID determining this earth induction signal；
Step 2, carries out pre- place to the earth induction signal of the collection of geomagnetism detecting node using 5 points 3 smooth filtering methods
Reason；
Step 3, is carried out according to state Mutually fusion rule to the earth induction signal of pretreated pair of geomagnetic sensor collection
Data fusion；Described state Mutually fusion rule is believed to target for an arbitrary geomagnetic sensors detection in double geomagnetic sensors
Number, then the state of Mutually fusion as detects echo signal；Ground magnetic strength according to pretreated pair of geomagnetic sensor collection
Induction signal and state Mutually fusion rule detection scene moving target and traffic direction；
Step 4, according to the testing result of step 3, when determining that scene moving target occurs, according to special based on double earth induction signals
The method levied a little obtains the velocity series of target.
3. airdrome scene moving target according to claim 1 detection and velocity series acquisition methods it is characterised in that：Institute
The method stating detection scene moving target and traffic direction in step 3, comprises the following steps：
Step 31：The state Mutually fusion rule setting detection scene moving target is as follows,
Step 32：Detect whether scene moving target approaching geomagnetism detecting node institute deployment region, specifically, to detection node
The earth induction signal that the double geomagnetic sensors carrying obtain is respectively provided with threshold value Ti(k), i=1,2, respectively to inductive sensing
Device one and sensor two；K is the sampling instant of sensor；The earth induction signal of arbitrary geomagnetic sensor collection exceedes setting
Threshold value, that is, think scene moving target approaching geomagnetism detecting node；It is S1 or to number be S3 when occurring numbering in step 31
Situation think scene moving target approaching geomagnetism detecting node deployment region；
Step 33：Detection judges the traffic direction of scene moving target, and specifically, the double earth magnetism according to carrying in detection node pass
The earth induction signal of sensor collection exceedes the time of the threshold value traffic direction to judge target respectively, step such as
The time numbering the situation being S1 in rapid 31 judges the fortune of scene moving target early than the time situation that numbering is S3
Line direction is the direction to sensor two for the sensor one；The time situation that the numbering in step 31 is S3 compiles early than appearance
Number for S1 situation time judge scene moving target traffic direction be sensor two to sense one direction；
Step 34：Whether detection scene moving target sails out of geomagnetism detecting node, specifically, state according to set by step 31
Mutually fusion rule, judges order that Fusion Strain occurs successively to detect whether scene moving target sails out of geomagnetism detecting node,
When numbering is followed successively by S0, S1, S2, S3, S0 or S0, S3, S2, S1, S0 think that scene moving target sails out of geomagnetism detecting section
Point；Sail out of geomagnetism detecting node by detecting scene moving target, then proceed to step 4, the speed sequence to scene moving target
Row are obtained.
4. airdrome scene moving target according to claim 3 detection and velocity series acquisition methods it is characterised in that：Institute
State threshold value T in step 32iThe method to set up of (k)：
Step 321, the reference value according to sensor is carried out to reference value using right value update method according to state Mutually fusion rule
Self-adaptive processing, its self adaptation reference value formula is as follows：
In formula：BiK () is the reference value after sensor i adaptive updates；Bi(k-1) for the reference value before sensor i renewal, ai
K () is sampled signal values during sensor i kth time sampling after smooth；α is to update to forget weights；
Step 322, by more answering, takes (1 ± α) times conduct detection of the earth magnetism reference value after renewal to earth magnetism reference value self adaptation
Scene moving target has stateless threshold value, and its adaptive threshold formula is as follows：
Ti(k)=(1 ± α) Bi(k) i=1,2；
In formula：TiK () is threshold value.
5. airdrome scene moving target according to claim 1 detection and velocity series acquisition methods it is characterised in that：Step
The method obtaining the velocity series of target in rapid 4 according to the method based on double earth induction signal characteristic points：
Step 41：Extract the character pair point of double earth induction signals：While detecting scene moving target in step 3, point
Not Jie Qu sensor one collection target earth induction signal group a1[n], n is data point number；The target of sensor two collection
Earth induction signal group a2[m], m is data point number, and extracts first data a of two groups of data respectively1[0]、a2[0] and
Last data a1[n-1]、a2[m-1] as target earth induction signal corresponding initiation feature point and terminate characteristic point,
Then calculate the present sample data of each group of data and the difference value of previous moment sampled data and present sample data with after
The difference value of one moment sampled data, if two difference values simultaneously greater than zero, is crest characteristic point, if two difference values are simultaneously
It is trough characteristic point less than zero；
Step 42：Calculate sample offset amount ds between character pair pointi, specifically, according to the data point ID of character pair point
Calculating difference is obtaining the employing side-play amount between character pair point；
Step 43：Obtain velocity series when geomagnetism detecting node for the scene moving target, specifically, calculate character pair point
Between velocity amplitude, computing formula is：
Wherein, D is the distance between dual sensor on geomagnetism detecting node, double geomagnetic sensors that geomagnetism detecting node carries
The distance between D be adjustable, and no more than in scene the shortest moving target length Lmin；fsData for dual sensor is adopted
Sample frequency, dsiThe skew of i-th character pair point on sample sequence for earth induction signal one and earth induction signal two
Amount；Thus obtain velocity series when geomagnetism detecting node for the scene moving target be V=v (1), v (2) ..., v
(i)…}.
6. airdrome scene moving target according to claim 5 detection and velocity series acquisition methods it is characterised in that：Institute
The characteristic point stated in step 41 includes：Target earth induction signal starting point, crest, trough and target earth induction signal node
Spot.
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