CN111383294A - Drawing method and device for defense area in security radar system - Google Patents
Drawing method and device for defense area in security radar system Download PDFInfo
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- CN111383294A CN111383294A CN201811608288.5A CN201811608288A CN111383294A CN 111383294 A CN111383294 A CN 111383294A CN 201811608288 A CN201811608288 A CN 201811608288A CN 111383294 A CN111383294 A CN 111383294A
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Abstract
The application discloses a drawing method of a defense area in a security radar system, which comprises the steps of obtaining first track data of a radar detection subsystem for searching a target object for calibrating the defense area to be drawn in an engineering mode; judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, imaging a closed area formed by the track curve as a defense area to be drawn based on coordinate information of the coordinate points, and outputting and displaying the imaged closed area as the drawn defense area; and the engineering mode is a working mode in which the radar detection subsystem only searches the target object. According to the invention, the defense area is formed by detecting the area surrounded by the target object track by the radar detection subsystem, so that the problem that the defense area drawn on the client is different from and unmatched with the defense area of the actual scene is solved, and the accuracy, reliability and practicability of radar alarm are improved.
Description
Technical Field
The invention relates to the field of calibration of a defense area in a security radar system, in particular to a drawing method of the defense area in the security radar system.
Background
The security radar system is a system which applies the millimeter wave radar technology to the security field and implements the functions of target positioning, target tracking and target intrusion alarm. The target intrusion detection is based on a calibrated defense area, and when a radar scans a field of view and detects that a target enters the calibrated defense area, the security radar system sends out an alarm signal.
The existing defense area drawing method is as follows: a client side used for presenting radar scanning view field results in the security radar system loads a proportional map as a base map, and a rough defense area is drawn on the base map according to a required defense area. Referring to fig. 1, fig. 1 is a schematic diagram of a defense area drawn by a conventional radar system, in which a defense area 101 in a radar field is set according to a geographic area on a map, for example, if a defense area needs to be set for a central square, the map area of the central square on a base map is defined by using a drawing plug-in provided by a client, and the radar scans the defense area 101 to form the radar field, as shown in the figure, a radar field 102 of a quarter sector area is shown.
According to the method for drawing the defense area, certain errors exist between the target area needing defense deployment and the target area needing defense deployment due to the fact that the map proportion is not matched, calibration of the defense deployment target area is inaccurate, and therefore target intrusion detection based on the defense area is missed in detection and false in detection.
Disclosure of Invention
The invention provides a drawing method of a defense area in a security radar system, which aims to improve the drawing precision of the defense area.
The application provides a drawing method of a defense area in a security radar system, which comprises the following steps,
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a defense area to be drawn in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, imaging a closed area formed by the track curve as a defense area to be drawn based on coordinate information of the coordinate points, and outputting and displaying the imaged closed area as the drawn defense area;
and the engineering mode is a working mode in which the radar detection subsystem only searches the target object.
Preferably, the method further includes determining whether the first trajectory data reaches a preset number, and if the first trajectory data reaches the preset number, screening the coordinate points in the acquired first trajectory data according to coordinate point information to obtain second trajectory data, where the coordinate point information at least includes coordinate values of the coordinate points.
Preferably, the coordinate point information further includes time information of each track data searched by the radar detection subsystem;
screening the coordinate points in the acquired first track data according to the coordinate point information to obtain second track data, including,
calculating the distance between two adjacent coordinate points at all times in the first track data according to the time information of the coordinate points, and removing one of the two coordinate points if the distance between the two coordinate points is smaller than a first distance threshold value; otherwise, the two coordinate points are reserved;
using the reserved coordinate points and coordinate point information thereof as the second track data;
and according to the time information of the coordinate points, marking serial numbers for each coordinate point in the second track data according to the time sequence, and storing the serial numbers as coordinate point information.
Wherein the determining whether a trajectory curve formed by the coordinate points in the first trajectory data is closed further comprises,
judging whether the number of coordinate points in the current second track data reaches the number of coordinates for starting to judge the closing of the track, if so, judging the closing of the track curve,
otherwise, acquiring a current coordinate point of the target object searched by the radar detection subsystem, judging whether the distance between the current coordinate point and the last coordinate point is smaller than a first distance threshold, and if not, adding the coordinate information and the serial number of the current coordinate point into a second track data set for storage; if the distance is less than the first distance threshold, waiting for the next search result.
The judgment of the closing of the track curve comprises the steps of judging whether intersection points exist between straight line segments taking two coordinate points adjacent in time as segment end points or not based on second track data, and judging that the track curve is closed if the intersection points exist;
the determining, based on the second trajectory data, whether an intersection exists between each of the straight line segments having two coordinate points adjacent in time as segment end points includes,
according to the serial number of the coordinate points, constructing a first straight line segment with the current coordinate point and the previous coordinate point as segment endpoints based on the current coordinate point and the previous coordinate point;
respectively constructing each straight line segment with the two coordinate points adjacent to the sequence number as the segment end points for the two coordinate points adjacent to the sequence number in the second track data,
and respectively judging whether the first straight line segment and each straight line segment have intersection points, and if so, judging that an effective closed area is formed.
In another mode, the determining whether a trajectory curve formed by coordinate points in the first trajectory data is closed based on the second trajectory data includes,
establishing a grid of a radar field area, wherein the grid is formed by grids with the same minimum unit area, and the side length of each grid is less than or equal to the first distance threshold;
calculating the grid information to which each coordinate point belongs in the second track data;
and judging whether coordinate points with the same grid information exist or not, and if so, judging that the track curve is closed.
The grid for establishing the radar field of view area comprises the steps of establishing a grid by taking the origin of a sector field of view area scanned by a radar as the origin of coordinates;
the judging whether the coordinate points with the same grid information exist includes calculating the grid information of the current coordinate point, judging whether the grid information of each coordinate point of the second track data has a second coordinate point with the same grid information of the current coordinate point, and if so, judging that the track curve is closed.
The determining that the trajectory curve is closed further includes removing coordinate points outside the closed trajectory curve from the second trajectory data.
The removing of coordinate points outside the closed trajectory curve from the second trajectory data includes,
and taking the serial number with the smaller coordinate point serial number in the two segment end point coordinates of the second straight line segment which has the intersection point with the first straight line segment in each straight line segment as a serial number threshold, removing the coordinate points with the serial numbers smaller than or equal to the threshold in the second track data, and reserving the coordinate points with the serial numbers larger than the serial number threshold.
The removing of coordinate points outside the closed trajectory curve from the second trajectory data includes,
and taking the serial number of the second coordinate point as a serial number threshold value, deleting the coordinate points with the serial numbers smaller than or equal to the serial number threshold value, and reserving the coordinate points with the serial numbers larger than the serial number threshold value.
Preferably, the method further comprises the step of,
and judging whether the number of the coordinate points in the current second track data is greater than a first number threshold of the storable number of the coordinate points of the defense area, if so, removing redundant coordinate points from the current second track data, saving the second track data without the redundant coordinate points as the coordinate data of the defense area, and performing imaging based on the coordinate data of the defense area.
The removing of the redundant coordinate points from the current second trajectory data includes,
calculating the difference between the number of the coordinate points in the second track data and the first number threshold value to obtain the number of redundant coordinate points; and calculating to remove one coordinate point from each I coordinate points in the second trajectory data according to the number of the redundant coordinate points, wherein,
I＝[N/M]
n is the total number of coordinate points in the current second track data; m is the number of redundant coordinate points; [] Representing rounding;
and removing one coordinate point according to the I-1 coordinate points at each interval.
The removing of the redundant coordinate points from the current second trajectory data includes,
respectively judging whether each distance between every two adjacent coordinate points of the serial numbers is smaller than a second distance threshold, wherein the second distance threshold is larger than the first distance threshold, and when the distance between every two adjacent coordinate points of the serial numbers is smaller than the second distance threshold, removing one coordinate point; otherwise, it is not removed but remains.
The removing of the redundant coordinate points from the current second trajectory data includes,
when the number of the coordinate points in the second track data is larger than a second number threshold, wherein the second number threshold is larger than a first number threshold, calculating the difference between the number of the coordinate points in the second track data and the first number threshold to obtain the number of redundant coordinate points; and calculating to remove one coordinate point from each I coordinate points in the second trajectory data according to the number of the redundant coordinate points, wherein,
I＝[N/M]
n is the total number of coordinate points in the second track data; m is the number of redundant coordinate points; [] Representing rounding;
removing one coordinate point according to I-1 coordinate points at each interval;
when the first quantity threshold is smaller than or equal to the second quantity threshold, judging whether each distance between every two adjacent coordinate points of the serial number is smaller than a second distance threshold or not, wherein the second distance threshold is larger than the first distance threshold, and when the distance between every two adjacent coordinate points of the serial number is smaller than the second distance threshold, removing one coordinate point; otherwise, it is not removed but remains.
The device for drawing the defense area in the security radar system comprises a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for executing the program stored in the memory and realizing the drawing method of any one defense area.
According to the invention, the radar detection subsystem searches the track data for calibrating the target object of the defense area to be drawn in the engineering mode, the coordinate data of the defense area is obtained based on the closed curve formed by the coordinate points in the track data, and the coordinate data of the defense area is subjected to graphical processing, so that the visual graph display of the defense area is obtained. The defense area is formed by detecting the area enclosed by the target object track by using the radar detection subsystem, so that the problem that the defense area drawn on the client is different from and unmatched with the defense area of the actual scene is solved, and the accuracy, reliability and practicability of radar alarm are improved; the drawing precision of the defense area is greatly improved because the track data is derived from the tracking of the cruising area of the actual geographic area of the target object.
Drawings
Fig. 1 is a schematic diagram of a defense area drawn by a conventional security radar system.
Fig. 2 is a schematic diagram of a security radar system according to an embodiment of the present invention.
Fig. 3 is a schematic flow chart of a method for drawing a defense area in a monitoring platform according to an embodiment of the present invention.
FIG. 4A is a flow chart of screening data and making a closed trajectory curve decision; fig. 4B is a flowchart of removing the redundant coordinate points.
FIG. 5 is a schematic diagram of a 6-shaped trace with coordinate points removed from the closed curve.
Fig. 6 is a flowchart for determining the closing of the trajectory curve by the grid method.
FIG. 7 is a schematic diagram of a grid-based method of removing coordinate points outside the closed curve from a 6-shaped trajectory.
Detailed Description
For the purpose of making the objects, technical means and advantages of the present application more apparent, the present application will be described in further detail with reference to the accompanying drawings.
Referring to fig. 2, fig. 2 is a schematic diagram of a security radar system according to an embodiment of the present invention. The security radar system comprises a radar detection system and a monitoring platform, wherein the radar detection subsystem detects whether a moving target exists in a visual field by emitting electromagnetic waves, after the moving target is detected in the visual field, the position information and the speed information of the moving target are reported to a display device in the monitoring platform for track real-time display, whether the moving target enters a set defense area is judged, if the moving target enters the defense area, an alarm event is generated, an alarm report is sent, alarm linkage output is triggered, an alarm state is indicated and the like; the monitoring platform consists of a PC computer, is provided with client software interacting with the radar detection subsystem, and can configure parameters and working modes for the radar detection subsystem and display targets detected by the radar detection subsystem through the client.
The invention provides a method for drawing a radar defense area, which uses radar to detect a track formed by the motion of a target object used for calibration and uses a closed area in a closed curve formed by the track as the drawn target defense area. In order to avoid the dependence on the base map in the prior art, the target object is made to move in a target defense area needing defense, for example, personnel is arranged to step on points in the target defense area, or an unmanned aerial vehicle is adopted to cruise in the target defense area, and the like; on a monitoring platform, setting the working mode of a radar detection subsystem to an engineering mode for searching only a target object used for calibration; in the engineering mode, the monitoring platform runs an application program which forms a target defense area based on the movement track of the target object.
Referring to fig. 3, fig. 3 is a schematic flow chart of a method for drawing a defense area in a monitoring platform according to an embodiment of the present invention.
After the radar detection subsystem enters an engineering mode, transmitting electromagnetic waves to detect whether a target object in a field of view moves or not, and feeding back the searched first track data of the target object motion to the monitoring platform;
In order to facilitate subsequent data processing, the recorded first track data not only comprise coordinate values (coordinate information) of the coordinate points, but also can cache time information of each track data searched by the radar detection subsystem, or sequentially cache serial numbers identified for each coordinate point according to the time information; these pieces of information can be stored and recorded as coordinate point information.
The first trajectory data are screened according to the coordinate point information, so that the coordinate points are uniformly distributed, for example, according to the serial numbers of the coordinate points, when the distance between every two coordinate points of adjacent serial numbers is smaller than a first distance threshold value, one of the coordinate points is removed, a certain amount of second trajectory data are obtained, and the coordinate information of the second trajectory data is cached.
in this step, there are two methods for determining whether the trajectory curve is closed,
the first is an intersection point method, specifically, whether a connecting line of a coordinate point newly generated in the second track data and a last coordinate point is intersected with a formed track curve is judged, and if the connecting line of the coordinate point and the last coordinate point is intersected with the formed track curve, the track curve is judged to be closed;
the second method is a grid method, and specifically, the whole radar field area is divided into square grids of unit area, a track formed when the target moves passes through the square grids, and if the track passes through the same square grid twice before and after, the track is determined to form a closed area. The smaller the unit area of the square lattice is, the better the reliability of the determination result is, and preferably, not more than the minimum distance among distances between two temporally adjacent coordinate points.
And 304, removing redundant coordinate points from the second track data to form defense area coordinate data, storing the defense area coordinate data in a flash, and displaying a closed area formed by the defense area coordinate data in a graphical mode.
The redundant coordinate points to be filtered can be determined according to the number of defense area coordinate points which can be stored by the device at most, and if the number of the coordinate points in the second track data is larger than the number of the defense area coordinate points which can be stored, one of two coordinate points which are relatively close to each other needs to be removed; and the other method is to make the coordinate points of the track distributed sparsely until the number of the coordinate points meets the requirement of the storage space. The two modes can be selected according to specific situations, for example, if the number of the redundant coordinate points to be filtered is not large, the redundant coordinate points can be processed according to the first mode, and if the number of the redundant coordinate points to be filtered is large, the redundant coordinate points can be processed according to the second mode.
In step 305, considering that the trajectory curve may not be smooth enough, which causes the closed area formed by the coordinate data of the defense area to present a largely irregular shape, thereby causing the intrusion detection of the target to be prone to false detection or missing detection, for this reason, it is preferable to perform normalization processing on the coordinate data of the defense area to correct the coordinate points with uneven transition in the trajectory curve, and then exit the engineering mode to recover the detection alarm mode.
Because the radar detection subsystem may fail in searching for the target object, or the defense area drawing fails due to reasons such as an accident occurring in the movement of the target object, a non-conforming movement range, and the like, the process can be terminated by a forced exit mode. In this step, the forced exit may be an output dialog to provide human-machine interaction.
See fig. 4A and 4B.
Step 402, recording first track data of the target object from the radar detection system, namely coordinate information of the coordinate point and time information,
step 405, setting a serial number for each coordinate point in the second track data according to the recorded coordinate point time information according to a time sequence;
step 407 determines whether the distance between the current coordinate point and the previous coordinate point is less than a first distance threshold, if not, the coordinate information and the serial number of the current coordinate point are cached and added to the second trajectory data set, step 408 is executed, otherwise, the next search result is waited, step 406 is returned,
Step 411, respectively determining whether the first straight line segment and each straight line segment in the straight line segment set have an intersection, if yes, determining that the trajectory data has formed an effective closed area, then executing step 412 to eliminate coordinate points outside the closed area, otherwise, outputting a dialog box whether to finish drawing the defense area, if finishing is selected, outputting a prompt for failure in drawing the defense area, exiting the engineering mode, and if not finishing is selected, returning to execute step 406.
for example, referring to fig. 5, fig. 5 is a schematic diagram of a "6" font track based on the intersection method with coordinate points outside the closed curve removed. In the figure, a second straight line segment with a 41 th coordinate point and a 42 th coordinate point as end points intersects with a first straight line segment with a 99 th coordinate point and a 100 th coordinate point as end points, and according to the step, coordinate points with the serial number less than or equal to 41 are removed, and only the 42 th coordinate point to the 100 th coordinate point are reserved.
I＝[N/M]
n is the total number of coordinate points in the second track data; m is the number of redundant coordinate points; [] Indicating rounding.
And 414, removing one coordinate point at intervals of I-1 coordinate points, so that redundant coordinate points in the second track data are uniformly removed, thereby obtaining coordinate data of the defense area.
If the number of coordinate points in the second trajectory data is not greater than the first number threshold of storable defence area coordinate points, then step 415 is performed
and if the number of the coordinate points in the second track data is not greater than the first number threshold, taking the current second track data as coordinate data of the defense area and storing the coordinate data.
In summary, in steps 413 to 415, a strategy of combining the method of eliminating the redundant coordinate points with the method of eliminating the redundant coordinate points in the manner of the shortest distance between two points and the method of eliminating the redundant coordinate points uniformly is adopted, where the redundant coordinate points are:
when the first quantity threshold value is smaller than or equal to the second quantity threshold value, the quantity of the coordinate points in the second track data is smaller than or equal to the second quantity threshold value, the redundant data quantity is not large, and redundant coordinate points are eliminated in a mode of being closest to the distance between the two points;
when the number of coordinate points in the second track data is larger than a second number threshold, indicating that the redundant data volume is large, and adopting a uniform elimination mode;
when the number of coordinate points in the second trajectory data is < the first number threshold, it means that no extra data needs to be removed.
And after the second track data is reserved according to the strategy, the coordinate points reserved in the second track data are used as coordinate data of the defense area.
And 418, exiting the engineering mode and recovering the target intrusion detection alarm.
Referring to fig. 6, fig. 6 is a flowchart for determining the closing of the trajectory curve by using the grid method. Steps in the flowchart may be substituted for steps 409 through 412 in fig. 4A, 4B, and steps are labeled beginning with 609 to facilitate substitution with fig. 4A, 4B.
for example, referring to fig. 7, fig. 7 is a schematic diagram of a "6" shaped trajectory based on a grid method with coordinate points outside the closed curve removed. In the figure, the 41 th coordinate point and the 100 th coordinate point are located in the same grid, and according to the step, the coordinate points with the serial number less than or equal to 41 are removed, and only the 42 th coordinate point to the 100 th coordinate point are reserved.
According to the method for drawing the defense area, the closed area formed by the movement track of the target object detected by the radar is used as the defense area, the real and reliable radar defense area can be accurately drawn under the condition that a map with a proper proportion does not exist, and the matching degree of the defense area displayed on the client and the actual defense area is high; the problem that the matching of the defense area drawn by the existing method and the defense area of the actual scene is low is solved; the accuracy and the practicability of the intrusion alarm detection of the radar detector are improved.
The embodiment of the invention also provides a security radar system, which comprises a radar detection subsystem and a monitoring platform, wherein the monitoring platform comprises:
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a defense area to be drawn in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, imaging a closed area formed by the track curve as a defense area to be drawn based on coordinate information of the coordinate points, and outputting and displaying the imaged closed area as the drawn defense area;
and the engineering mode is a working mode which is set for the radar detection subsystem through the monitoring platform, only searches the target object and finishes drawing the defense area.
The embodiment of the invention also provides a drawing device of a defense area in a security radar system, which comprises a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for executing the program stored in the memory and the drawing method of the defense area.
The Memory may include a Random Access Memory (RAM) or a Non-Volatile Memory (NVM), such as at least one disk Memory. Optionally, the memory may also be at least one memory device located remotely from the processor.
The Processor may be a general-purpose Processor, including a Central Processing Unit (CPU), a Network Processor (NP), and the like; but may also be a Digital Signal Processor (DSP), an Application Specific Integrated Circuit (ASIC), a Field Programmable Gate Array (FPGA) or other Programmable logic device, discrete Gate or transistor logic device, discrete hardware component.
An embodiment of the present invention further provides a computer-readable storage medium, in which a computer program is stored, and when the computer program is executed by a processor, the computer program implements the following steps:
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a defense area to be drawn in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, imaging a closed area formed by the track curve as a defense area to be drawn based on coordinate information of the coordinate points, and outputting and displaying the imaged closed area as the drawn defense area;
and the engineering mode is a working mode which is set by the radar detection subsystem and is used for only searching the target object and completing drawing of the defense area.
In this document, relational terms such as first and second, and the like may be used solely to distinguish one entity or action from another entity or action without necessarily requiring or implying any actual such relationship or order between such entities or actions. Also, the terms "comprises," "comprising," or any other variation thereof, are intended to cover a non-exclusive inclusion, such that a process, method, article, or apparatus that comprises a list of elements does not include only those elements but may include other elements not expressly listed or inherent to such process, method, article, or apparatus. Without further limitation, an element defined by the phrase "comprising an … …" does not exclude the presence of other identical elements in a process, method, article, or apparatus that comprises the element.
The above description is only for the purpose of illustrating the preferred embodiments of the present invention and is not to be construed as limiting the invention, and any modifications, equivalents, improvements and the like made within the spirit and principle of the present invention should be included in the scope of the present invention.
Claims (19)
1. A drawing method of a defense area in a security radar system is characterized by comprising the following steps,
acquiring first track data of a radar detection subsystem for searching a target object for calibrating a defense area to be drawn in an engineering mode;
judging whether a track curve formed by coordinate points in the first track data is closed or not, and when the track curve is judged to be closed, imaging a closed area formed by the track curve as a defense area to be drawn based on coordinate information of the coordinate points, and outputting and displaying the imaged closed area as the drawn defense area;
and the engineering mode is a working mode in which the radar detection subsystem only searches the target object.
2. The method of claim 1, further comprising determining whether the first trajectory data reaches a preset number, and if the first trajectory data reaches the preset number, filtering the obtained coordinate points in the first trajectory data according to coordinate point information to obtain second trajectory data, wherein the coordinate point information at least includes coordinate values of the coordinate points.
3. The method of claim 2, wherein the coordinate point information further includes time information of each trajectory data searched by a radar detection subsystem;
screening the coordinate points in the acquired first track data according to the coordinate point information to obtain second track data, including,
calculating the distance between two adjacent coordinate points at all times in the first track data according to the time information of the coordinate points, and removing one of the two coordinate points if the distance between the two coordinate points is smaller than a first distance threshold value; otherwise, the two coordinate points are reserved;
using the reserved coordinate points and coordinate point information thereof as the second track data;
and according to the time information of the coordinate points, marking serial numbers for each coordinate point in the second track data according to the time sequence, and storing the serial numbers as coordinate point information.
4. The method of claim 3, wherein said determining whether a trajectory curve formed by coordinate points in the first trajectory data is closed further comprises,
judging whether the number of coordinate points in the current second track data reaches the number of coordinates for starting to judge the closing of the track, if so, judging the closing of the track curve,
otherwise, acquiring a current coordinate point of the target object searched by the radar detection subsystem, judging whether the distance between the current coordinate point and a last coordinate point searched by the radar detection subsystem is smaller than a first distance threshold, and if not, adding the coordinate information and the serial number of the current coordinate point into a second track data set for storage; if the distance is less than the first distance threshold, waiting for the next search result.
5. The method according to claim 4, wherein the determination of the closing of the trajectory curve includes determining whether or not there is an intersection between the respective straight line segments having two coordinate points adjacent in time as segment end points based on the second trajectory data, and determining that the trajectory curve is closed if there is an intersection.
6. The method of claim 5, wherein said determining whether there is an intersection between each of the straight line segments having two coordinate points that are temporally adjacent as segment end points based on the second trajectory data comprises,
according to the serial number of the coordinate points, constructing a first straight line segment with the current coordinate point and the previous coordinate point as segment endpoints based on the current coordinate point and the previous coordinate point;
respectively constructing each straight line segment with the two coordinate points adjacent to the sequence number as the segment end points for the two coordinate points adjacent to the sequence number in the second track data,
and respectively judging whether the first straight line segment and each straight line segment have intersection points, and if so, judging that an effective closed area is formed.
7. The method of claim 4, wherein determining whether a trajectory curve formed by coordinate points in the first trajectory data is closed based on the second trajectory data comprises,
establishing a grid of a radar field area, wherein the grid is formed by grids with the same minimum unit area, and the side length of each grid is less than or equal to the first distance threshold;
calculating the grid information to which each coordinate point belongs in the second track data;
and judging whether coordinate points with the same grid information exist or not, and if so, judging that the track curve is closed.
8. The method of claim 7, wherein establishing a grid of radar field of view regions comprises establishing a grid with an origin of coordinates of a sector field of view region of the radar scan;
the judging whether the coordinate points with the same grid information exist includes calculating the grid information of the current coordinate point, judging whether the grid information of each coordinate point of the second track data has a second coordinate point with the same grid information of the current coordinate point, and if so, judging that the track curve is closed.
9. The method of any of claims 4 to 8, wherein determining that the trajectory curve is closed further comprises removing coordinate points outside the closed trajectory curve from the second trajectory data.
10. The method of claim 9, wherein removing coordinate points outside of the closed trajectory curve from the second trajectory data comprises,
and taking the serial number with the smaller coordinate point serial number in the two segment end point coordinates of the second straight line segment which has the intersection point with the first straight line segment in each straight line segment as a serial number threshold, removing the coordinate points with the serial numbers smaller than or equal to the threshold in the second track data, and reserving the coordinate points with the serial numbers larger than the serial number threshold.
11. The method of claim 9, wherein removing coordinate points outside of the closed trajectory curve from the second trajectory data comprises,
and taking the serial number of the second coordinate point as a serial number threshold value, deleting the coordinate points with the serial numbers smaller than or equal to the serial number threshold value, and reserving the coordinate points with the serial numbers larger than the serial number threshold value.
12. The method of claim 9, wherein the method further comprises,
and judging whether the number of the coordinate points in the current second track data is greater than a first number threshold of the storable number of the coordinate points of the defense area, if so, removing redundant coordinate points from the current second track data, saving the second track data without the redundant coordinate points as the coordinate data of the defense area, and performing imaging based on the coordinate data of the defense area.
13. The method of claim 12, wherein removing redundant coordinate points from the current second trajectory data comprises,
calculating the difference between the number of the coordinate points in the second track data and the first number threshold value to obtain the number of redundant coordinate points; and calculating to remove one coordinate point from each I coordinate points in the second trajectory data according to the number of the redundant coordinate points, wherein,
I＝[N/M]
n is the total number of coordinate points in the current second track data; m is the number of redundant coordinate points; [] Representing rounding;
and removing one coordinate point according to the I-1 coordinate points at each interval.
14. The method of claim 12, wherein removing redundant coordinate points from the current second trajectory data comprises,
respectively judging whether each distance between every two adjacent coordinate points of the serial numbers is smaller than a second distance threshold, wherein the second distance threshold is larger than the first distance threshold, and when the distance between every two adjacent coordinate points of the serial numbers is smaller than the second distance threshold, removing one coordinate point; otherwise, it is not removed but remains.
15. The method of claim 12, wherein removing redundant coordinate points from the current second trajectory data comprises,
when the number of the coordinate points in the second track data is larger than a second number threshold, wherein the second number threshold is larger than a first number threshold, calculating the difference between the number of the coordinate points in the second track data and the first number threshold to obtain the number of redundant coordinate points; and calculating to remove one coordinate point from each I coordinate points in the second trajectory data according to the number of the redundant coordinate points, wherein,
I＝[N/M]
n is the total number of coordinate points in the second track data; m is the number of redundant coordinate points; [] Representing rounding;
removing one coordinate point according to I-1 coordinate points at each interval;
when the first quantity threshold is smaller than or equal to the second quantity threshold, judging whether each distance between every two adjacent coordinate points of the serial number is smaller than a second distance threshold or not, wherein the second distance threshold is larger than the first distance threshold, and when the distance between every two adjacent coordinate points of the serial number is smaller than the second distance threshold, removing one coordinate point; otherwise, it is not removed but remains.
16. The method of any one of claims 1, wherein the target is an unmanned aerial vehicle or a controlled mobile robot;
the method further comprises the steps of outputting a dialog box whether to finish drawing the defense area or not when the track curve is judged not to be closed, and outputting a defense area drawing failure prompt and exiting the engineering mode when the finish is selected.
17. A drawing device of a defense area in a security radar system is characterized by comprising a processor and a memory, wherein,
the memory is used for storing a computer program;
the processor is used for executing the program stored in the memory and realizing the drawing method of the defense area according to any one of claims 1 to 16.
18. A storage medium storing a computer program for implementing the defense area drawing method according to any one of claims 1 to 16.
19. A security radar system comprises a radar detection subsystem and a monitoring platform, and is characterized in that,
the memory of the monitoring platform is used for storing a computer program,
a processor of the monitoring platform, configured to execute the program stored in the memory, and implement the method for drawing a defense area according to any one of claims 1 to 16.
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