JP2580521B2 - Target collision determination device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for judging collision between targets in a radar apparatus based on observation information of a plurality of targets.

[0002]

2. Description of the Related Art FIG. 6 is a block diagram of a conventional target collision judging device. In FIG. 6, reference numeral 1 denotes an antenna device for observing targets such as a plurality of aircraft which may collide due to transmission and reception of radio waves; A target observation value calculation device that calculates an observation value of a target position from a reception signal of the antenna device 1, a display device 12 that displays the observation value, and an input device 21 that inputs a determination result by a manual operation.

[0003]

The conventional target collision judging device is constructed as described above, and has only a function of displaying a radar reception signal of a target having a possibility of collision. There is no function to determine the collision between the targets due to. Therefore, it is necessary to make a judgment based on a human judgment based on the display of the received signal and input the result. For this reason, when there is a potential collision target, it is necessary to keep an eye on the display, which is one of the causes of an increase in operator fatigue. In addition, since there are restrictions on the number of targets that can be watched, determined, and input, the display range, and the like, it is extremely difficult to make a determination on all targets that may cause a collision.

The present invention has been made to solve such a problem, and has as its object to automate processing in a target collision determination device.

[0005]

SUMMARY OF THE INVENTION A target collision judging device according to the present invention automatically judges the presence or absence of a collision based on a distance between targets based on a target estimated position calculated by a tracking filter and an updated state of a tracking process. .

Alternatively, the presence / absence of a collision is automatically determined based on the distance between targets based on the target estimated position calculated by the tracking filter, the update state of the tracking processing, and the fluctuation of the received power observed.

Furthermore, the presence or absence of a collision is automatically determined based on the distance between targets based on the estimated target position calculated by the tracking filter, the updated state of the tracking process, and the change in the observed Doppler signal.

The present invention also automatically determines the presence / absence of a collision based on the distance between targets based on the target estimated position calculated by the tracking filter, the updated state of the tracking processing, the fluctuation of the received power observed, and the change of the Doppler signal. It is.

[0009]

According to the present invention, the distance between targets calculated based on the target estimated position obtained by simultaneously tracking two targets to be subjected to collision determination and the updated state of the tracking process based on the radar observation value are determined by the following method. It is possible to automatically determine the presence or absence of a collision.

Further, in the present invention, 2
In addition to determining the distance between targets calculated based on the estimated target position obtained by tracking two targets simultaneously and the updated state of the tracking process based on the radar observation values, the target Since the change of the shape and the posture angle can be detected, the presence or absence of a collision can be accurately and automatically determined.

Further, according to the present invention, the distance between targets calculated based on the estimated target positions obtained by simultaneously tracking two targets to be subjected to collision determination and the updated state of the tracking processing based on the radar observation values. In addition to the determination, a change in the approach speed of the target or the like can be immediately detected in order to use the change in the Doppler information, so that the presence or absence of a collision can be quickly and automatically determined.

Further, in the present invention, 2
In addition to determining the distance between targets calculated based on the estimated target position obtained by tracking two targets simultaneously and the updated state of the tracking process based on the radar observation values, the target Changes in shape and attitude angle can be detected, and changes in the approaching speed of the target can be immediately detected in order to use changes in Doppler information. Therefore, the presence or absence of a collision can be accurately and quickly automatically determined. .

[0013]

【Example】

 Example 1

FIG. 1 is a diagram showing a first embodiment of a target collision judging device according to the present invention. In FIG. 1, 1 is an antenna device, 2 is a target observation device, 3 is a first tracking filter, 4
Is a second tracking filter, 5 is a first track reliability calculating device, 6 is a second track reliability calculating device, 7 is a target distance calculating device, 8 is a target distance determining device, and 9 is a first tracking reliability calculating device. A track reliability determining device, 10 is a second track reliability determining device, 11 is a determination result integrating device, and 12 is a display device.

The principle of operation of the target tracking device configured as described above will be described with reference to FIG. The target radar video signal received by the antenna device 1 is input to the target observation device 2 and observes distance information, azimuth information, high angle information, Doppler frequency information, and reception power information of the first target and the second target. A value is calculated. In the first tracking filter 3, the distance R of the first target observed by the target observation device 2
1, the observed values of the azimuth angle By1 and the high angle E1 are input, and the estimated value X1 (n + 1),
Y1 (n + 1) and Z1 (n + 1) are calculated and output to the target distance calculation device 7 . Here, α1 and β1 are tracking filter gain constants, T1 is the sampling interval of target 1, Xs1 (n),
Ys1 (n) and Zs1 (n) are smoothed values, DX1 (n), DY1 (n), D
Z1 (n) is the smoothing speed, and n is the number of samplings.

[0016]

(Equation 1)

Similarly, in the second tracking filter 4, the distance R 2 and the azimuth angle By of the target 2 observed by the target observation device 2.
2. Input the observed value of the high angle E2, and estimate the position X2 (n +
1), Y2 (n + 1), Z2 (n + 1) are calculated, and a target distance calculating device is used.
7 is output. The first track reliability calculating device 5 inputs the operation state of the first tracking filter 3 and outputs the first target
Detection probability after collision against target detection probability for
The track reliability BK1, which is a change due to the following, is calculated according to "Equation 2", and is output to the first track reliability determination device 9. Here, PD1 is the detection probability of the tracking target, and N1 is the number of times that the observation value input to the tracking filter 1 was not obtained and the tracking processing could not be updated.

[0018]

(Equation 2)

Similarly, in the second track reliability calculating device 6, the operation state of the second tracking filter 4 is input, and the second
Post-collision detection probability versus target detection probability for the target
The wake-up reliability BK2, which is a change due to the decrease of the wake-up, is calculated and output to the second wake-up reliability determination device 10. The target-to-target distance calculating device 7 inputs the first target estimated position and the second target estimated position calculated by the first tracking filter 3 and the second tracking filter 4, and inputs the target distance R12.
Is calculated according to “Equation 3”, and is output to the target distance determination device 8.

[0020]

(Equation 3)

The target distance determining device 8 inputs the target distance calculated by the target distance calculating device 7 and determines the possibility of collision due to the approach of two targets based on the condition of "Equation 4". Output to the integration device 11. In addition,
Here, S1 is a determination threshold.

[0022]

(Equation 4)

The first track reliability determining device 9 inputs the track reliability BK1 of the first target calculated by the first track reliability calculating device 5, and calculates the period during which there is an observation value from the tracking target. The possibility of a collision due to the disappearance of the wake, which was not obtained over a long period, was determined based on the condition of “Equation 5”.
The judgment result is output to the integration device 11. Here, S2 is a judgment threshold value.

[0024]

(Equation 5)

Similarly, the second wake reliability determining device 10 inputs the wake reliability BK2 of the second target calculated by the second wake reliability calculating device 6, and determines the possibility of collision. Is output to the determination result integrating device 11. The determination result integrating device 11 integrates the respective determination results output from the determination devices 8, 9, and 10 based on the probability sum or the probability product and outputs the result to the display device 12. The display device 12 compares the target collision determination result with the determination result integrating device 11.
Input and display. FIG. 5 shows a radar device for observing a target and a positional relationship between the target and two targets. Example 2

FIG. 2 is a view showing a second embodiment of the target collision judging device according to the present invention. In FIG. 2, 1 to 12 are the same as in the first embodiment. 13 is a first received power information processing device, 14 is a second received power information processing device, 15 is a first received power determination device, and 16 is a second received power determination device.

The operation principle of the target tracking device configured as described above will be described with reference to FIG. The target radar video signal received by the antenna device 1 is input to the target observation device 2 and observes distance information, azimuth information, high angle information, Doppler frequency information, and reception power information of the first target and the second target. A value is calculated. In the first tracking filter 3, the distance R of the first target observed by the target observation device 2
1. Enter the observed values of the azimuth angle By1 and the high angle E1, and enter "Equation 1".
Of the position in the rectangular coordinate system X1 (n + 1), Y1
(n + 1) and Z1 (n + 1) are calculated and output to the target distance calculation device 7.

Similarly, in the second tracking filter 4, the observation values of the distance R2, the azimuth angle By2, and the high angle E2 of the second target observed by the target observation device 2 are input, and the estimated position value X2 (n +
1), Y2 (n + 1) and Z2 (n + 1) are calculated and output to the target distance calculation device 7. In the first reception power information processing device 13, the first target reception power P observed by the target observation device 2
Input 1 and estimate the received power PS1 (n + 1) according to "Equation 6".
Is calculated and output to the first received power determination device 15. Here, αP is a smoothing gain constant. The received power is proportional to the target radar effective reflection area, the square of the wavelength, and the gain of the radar, and is inversely proportional to the fourth power of the distance from the antenna to the target. For this reason, when the target shape, the attitude angle, and the like change rapidly, the received power greatly changes with a change in the target radar effective reflection area.

[0029]

(Equation 6)

Similarly, the second received power information processing device 14 inputs the second target received power P2 observed by the target observation device 2, calculates an estimated received power value PS2 (n + 1),
Output to the second received power determination device 16. The first track reliability calculating device 5 inputs the operation state of the first tracking filter 3, calculates the track reliability BK 1 according to “Equation 2”, and outputs the calculated track reliability BK 1 to the first track reliability determining device 9.

Similarly, the second track reliability calculating device 6 inputs the operation state of the second tracking filter 4, calculates the track reliability BK 2, and outputs it to the second track reliability determining device 10. The target-to-target distance calculating device 7 inputs the first target estimated position and the second target estimated position calculated by the first tracking filter 3 and the second tracking filter 4, and calculates the target distance R12. The distance is calculated according to “Equation 3” and output to the target distance determination device 8.

The target distance determination device 8 inputs the target distance calculated by the target distance calculation device 7 and determines the possibility of collision due to the approach of two targets based on the condition of "Equation 4". Output to the integration device 11.

The first track reliability determining device 9 inputs the track reliability BK1 of the first target calculated by the first track reliability calculating device 5, and calculates the period during which there is an observation value from the tracking target. The possibility of a collision due to the disappearance of the wake, which was not obtained over a long period, was determined based on the condition of “Equation 5”.
The judgment result is output to the integration device 11.

Similarly, the second wake reliability determining device 10 inputs the wake reliability BK2 of the second target calculated by the second wake reliability calculating device 6, and determines the possibility of collision. Is output to the determination result integrating device 11. First
Of the received power determination device 15 receives the estimated value PS1 of the received power with respect to the first target calculated by the first received power information processing device 13, and obtains “Equation 7” from the fluctuation value.
, And outputs the result to the judgment result integrating device 11. Here, S4 is a judgment threshold value.

[0035]

(Equation 7)

Similarly, in the second received power determination device 16,
The estimated value PS2 of the received power for the second target calculated by the second received power information processing device 14 is input, the possibility of collision is determined from the fluctuation value, and the result is output to the determination result integrating device 11. . The determination result integrating device 11 integrates the respective determination results output from the determination devices 8, 9, 10, 15, 16 based on the probability sum or the probability product and outputs the result to the display device 12. In the display device 12,
The target collision determination result is input from the determination result integration device 11,
Display. Example 3

FIG. 3 is a diagram showing a third embodiment of the target collision judging device according to the present invention. In FIG. 3, 1 to 12 are the same as those in the above embodiment. 17 is a first approach speed calculating device, 18 is a second approach speed calculating device, 19 is a first speed change rate determining device, and 20 is a second speed change rate determining device.

The operation principle of the target tracking device configured as described above will be described with reference to FIG. The antenna device 1
Since the second track reliability calculating device 10 operates in the same manner as in the first embodiment, the description of the operation will be omitted. The first approach speed calculation device 17 inputs the first target Doppler frequency F1 observed by the target observation device 2, calculates the approach speed DR1 with respect to the radar device, and outputs it to the first speed change rate determination device 19. I do. Here, λ is the wavelength of the radar transmission wave. When the movement of the target changes suddenly, a change in approach speed appears immediately.

[0039]

(Equation 8)

Similarly, the second approach speed calculating device 18 receives the Doppler frequency F2 of the second target observed by the target observation device 2, calculates the approach speed DR2 to the radar device, and obtains the second speed change rate. Output to the determination device 20. In the first speed change rate determination device 19, the first target approach speed D calculated by the first approach speed calculator 17 is used.
R1 is input, the possibility of collision is determined according to "Equation 9" based on the rate of change in speed, and the result is output to the determination result integrating device 11.
Here, S3 is a judgment threshold value, and αDR is a smoothing gain constant.

[0041]

(Equation 9)

Similarly, the second speed change rate judging device 20 inputs the approach speed of the second target calculated by the second approach speed calculating device 18 and judges the possibility of collision. Output to the integration device 11. In the determination result integrating device 11, each of the determination devices 8, 9, 10, 19,
The respective judgment results output by 20 are integrated based on the probability sum or the probability product and output to the display device 12.
The display device 12 receives the target collision determination result from the determination result integration device 11 and displays the same. Example 4

FIG. 4 is a diagram showing a fourth embodiment of the target collision judging device according to the present invention. Embodiment 4 shown in FIG. 4 is a combination of Embodiments 2 and 3, and the operation is the same as Embodiments 2 and 3, except that the judgment result integrating device 11
The third embodiment differs from the first to third embodiments in that the outputs of the two determination devices 8, 9, 10, 15, 16, 19, and 20 are received and the respective determination results are integrated based on a probability sum or a probability product.

[0044]

Since the present invention is configured as described above, it has the following effects.

As described above, according to the target collision judging device of the present invention, the distance between the targets calculated based on the estimated target position obtained by tracking the two targets to be subjected to the collision judgment is determined. It is possible to automatically determine the presence or absence of a collision by detecting the degree of approach and detecting the disappearance state of the wake based on the update state of the tracking processing based on the radar observation value. Further, when the fluctuation of the received power is used, a change in the target shape and the attitude angle can be detected, so that the collision determination accuracy can be improved. Furthermore, when the change in the Doppler information is used, a change in the approach speed to the target radar device or the like can be immediately detected, so that the time required for the collision determination process can be reduced.

[Brief description of the drawings]

FIG. 1 is a block diagram of a first embodiment of a target collision determination device according to the present invention.

FIG. 2 is a block diagram of a target collision determination device according to a second embodiment of the present invention.

FIG. 3 is a block diagram of a target collision determination device according to a third embodiment of the present invention.

FIG. 4 is a block diagram of a target collision determination device according to a fourth embodiment of the present invention.

FIG. 5 is a conceptual diagram illustrating a positional relationship between a radar device and two targets by the target collision determination device according to the present invention.

FIG. 6 is a block diagram of a target collision determination device according to a conventional technique.

[Explanation of symbols]

 REFERENCE SIGNS LIST 1 antenna device 2 target observation device 3 first tracking filter 4 second tracking filter 5 first track reliability calculation device 6 second track reliability calculation device 7 target distance calculation device 8 target distance determination device 9 First wake reliability determination device 10 Second wake reliability determination device 11 Determination result integration device 12 Display device 13 First received power information processing device 14 Second received power information processing device 15 First received power determination Apparatus 16 Second received power determination device 17 First approach speed calculation device 18 Second approach speed calculation device 19 First speed change rate determination device 20 Second speed change rate determination device 21 Input device

Claims (3)

(57) [Claims] 1. A radar device having a function of detecting a plurality of targets, an antenna device for observing the targets by transmitting and receiving radio waves, and distance information, azimuth information, high angle information, and the like for the first target and the second target. A target observation device that calculates the observed value of the first target, a first tracking filter that calculates an estimated value of the position and speed from the observed values of the distance, the azimuth angle, and the high angle for the first target, and the distance and the azimuth of the second target Second to calculate position and velocity estimates from angle and high angle observations
After the collision with the target detection probability of the first target from the operating state of the first tracking filter and the operating state of the first tracking filter
A first track reliability calculation device for calculating a track reliability which is a change due to a decrease in the detection probability of the target, and a target detection probability for a second target based on the operation state of the second tracking filter
A second track reliability calculation device for calculating the track reliability which is a change due to a decrease in the detection probability after collision with the first track;
A target distance calculating device that calculates a distance from the first target to the second target based on the estimated position of the target and the estimated position of the second target; A target distance determination device that determines the possibility of a collision from a distance, a first track reliability determination device that determines the possibility of a collision from the track reliability of a first target, and a second target and track reliability determination device from the track reliability collision there was a possibility of determining a second, summarizes the judgment result of the possibility that there is each collision, the determination result integration unit which outputs to the display device, A target collision determination device, comprising: a display device for displaying the determination result. 2. A first and second received power information processing device for calculating an estimated value of received power from observed values of received power for first and second targets obtained by a target observation device, respectively, and the first and second received power information processing devices. and the output of the second received power information processing apparatus type respectively, the collision from changes in the estimated value of the received power
2. The target collision judging device according to claim 1, further comprising a first and a second received power judging device for inputting the possibility of being present and outputting the judgment result to the judgment result integrating device. . 3. A first and second approach speed calculation device for calculating an estimated value of an approach speed from observation values of Doppler frequencies of first and second targets obtained by a target observation device, respectively.
The outputs of the first and second approach speed calculation devices are input, and a collision is detected based on a change in the approach speed of the first and second targets.
There was a possibility of determining respectively, the first and in the claims the first term or the second term, characterized by comprising a second speed change rate determination device that outputs the determination result to the determination result integration unit The target collision determination device according to any one of the preceding claims.