JP3091108B2 - Radar control transfer method and radar signal processing device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION The present invention relates to an airport surveillance radar (Airpor monitoring radar) for radar control of a target such as an aircraft entering an airport.
t Surveillance Radar (ASR) and secondary surveillance radar (Se
condary Surveillance Radar (SSR) to Airport Surface Detecting Equipment: AS
The present invention relates to a radar transfer method for transferring radar control to DE, and further relates to a radar signal processing device for executing the method.

[0002]

2. Description of the Related Art ASR, SSR, ASDE, PAR are radars for controlling targets such as aircraft entering an airport.
(Precision Approach Radar: PAR) and the like are known. As shown in FIG. 6, ASR / SSR coverage and A
There are areas between the SDE coverage that are not covered by either ASR / SSR or ASDE. Therefore,
ASR / SS as aircraft and other targets enter the airport
In order to transfer radar control from R to ASDE, it is necessary to perform an interpolation operation on the motion of the target between the time when the target leaves the ASR / SSR coverage area and enters the ASDE coverage area.

FIG. 7 shows a configuration of a radar signal processing device used to transfer radar control from ASR / SSR to ASDE.

In this conventional example, first, ASR / S
Information such as the target position and the traveling direction detected by the SR is input to the tracking processing unit 1. The tracking processing unit 1 includes an ASR
The target detected by the / SSR is tracked by a known method. The coverage determining unit 2 determines whether the target tracked by the tracking processing unit 1 has left the ASR / SSR coverage. If it is determined that the target has left the ASR / SSR coverage, that is, if the distance from the ASR / SSR antenna to the target is smaller than the minimum detection distance of the ASR / SSR, the landing runway estimator 3, the landing runway end estimation using the landing runway estimation table 4 is executed. Landing runway estimation table 4 is ASR / SS
This is a table that associates the position and traveling direction of the target at the time of leaving the coverage area of R, that is, the interpolation start position and traveling direction, with the runway where the target is expected to land when viewed from the position and traveling direction. The landing runway estimating unit 3 determines, for the target that has been tracked by the tracking processing unit 1 up to that point and that has been determined by the covered area determining unit 2 to be out of the covered area,
The landing runway is estimated by referring to the landing runway estimation table 4 based on the interpolation start position and the traveling direction obtained from the SR / SSR via the tracking processing unit 1. Interpolation calculation unit 5
It is assumed that the target performs a constant-velocity linear motion from the interpolation start position of the target determined to be out of the coverage area to the landing runway end obtained by estimation, and the position of the target is determined. , Interpolation direction, speed, etc. Correlation processing unit 6
Supplies information such as a target position obtained by the interpolation calculator 5 to a correlation process with the output of the ASDE. as a result,
When the correlation between the target detected by the ASDE and the information obtained by the interpolation calculation unit 5 is obtained, the transfer of the radar control from the ASR / SSR to the ASDE is performed. Thereafter, targets entering the airport will be radar controlled by ASDE.

[0005]

However, in the conventional apparatus having such a configuration, the ASR / SS
There was a problem that it was difficult to transfer radar control accurately and smoothly from R to ASDE. That is, the motion of the target is not uniquely determined by the position or the traveling direction at the time of leaving the ASR / SSR coverage, and therefore, the estimation of the landing runway based on these includes an error. The transfer of radar control performed based on the result of the calculation also lacks accuracy and smoothness.

SUMMARY OF THE INVENTION The present invention has been made to solve such a problem, and it is an object of the present invention to interpolate the behavior of a target from leaving an ASR / SSR coverage to entering an ASDE coverage. An object of the present invention is to make it possible to transfer radar control from ASR / SSR to ASDE more accurately and smoothly by estimating using auxiliary information in addition to information such as the position of time. Another object of the present invention is to achieve the above object while utilizing information obtained from existing facilities and systems. An object of the present invention is to enable radar control to be transferred accurately regardless of changes in the environment.

[0007]

In order to achieve such an object, a first aspect of the present invention provides an ASR and / or SSR.
From the ASR and / or SSR to the ASDE, with respect to the target entering the ASDE coverage from the SR coverage via an interpolation region that is not any of the ASR, SSR and ASDE coverages
In the radar control transfer method for transferring radar control, the target motion state when leaving the ASR and / or SSR coverage and entering the interpolation area is determined as the motion state at the start of interpolation from the ASR and / or SSR. Inputting,
Supplementary information indicating the behavior that the target can take after entering the interpolation area, including information indicating the runway length required by the target
Inputting auxiliary information, based on the motion state and the auxiliary information at the time of interpolation start, estimating a target movement state after entering the interpolation region, the output of the target motion state and ASDE obtained by estimating A fourth step of deeming that the target has left the interpolation area and has entered the ASDE coverage if the correlation is found, and transferring radar control from the ASR and / or SSR to the ASDE. It is characterized by.

In the second configuration of the present invention, when estimating the motion state of the target after entering the interpolation area, first, the runway on which the target is expected to land based on the motion state at the start of interpolation and the auxiliary information Calculating the target landing speed and / or the target landing position, and estimating the motion state of the target after entering the interpolation area based on the obtained runway, landing speed and / or landing position, and the motion state at the start of interpolation. It is characterized by doing.

[0009] The radar control transfer method according to the third configuration of the present invention further comprises a database for associating the motion state and auxiliary information at the start of the interpolation with the runway, landing speed and / or landing position. The runway, landing speed and / or landing position are obtained by referring to the motion state and the auxiliary information, and the target motion state and A obtained by estimation are obtained.
An estimation error of the target exercise state is detected based on the output of the SDE, and the contents of the database are modified and updated based on the detected estimation error so that the estimation error is reduced.

In the radar control transfer method according to a fourth configuration of the present invention, when estimating the motion state of the target after entering the interpolation area by the second configuration, at least the position of the target is determined as the motion state at the start of interpolation. the, airport weather conditions as auxiliary information
Also the information indicating the respective inputs, obtains the runway seen the targeted land based on the motion state and the auxiliary information at the time of interpolation start, based on the motion state of the runway and the interpolation start was determined and target constant speed It is characterized by estimating the motion state of the target after entering the interpolation area, assuming that the motion is linear.

In the radar control transfer method according to a fifth configuration of the present invention, when estimating the motion state of the target after entering the interpolation area by the second configuration, at least the position of the target as the motion state at the start of interpolation is determined. and the speed, even the information indicating the weather conditions of the airport as auxiliary information, respectively enter, determine the landing velocity of the target based on the motion state and the auxiliary information at the time of interpolation start, landing calculated velocity and interpolation starting exercise The motion state of the target after entering the interpolation area is estimated based on the state and assuming that the target moves linearly with uniform acceleration.

[0012] In the radar control transfer method according to the sixth configuration of the present invention, the auxiliary information used in the fourth and fifth configurations may be configured such that the auxiliary information used as the information indicating the weather condition of the airport is the wind direction and the wind direction around the airport. And / or including weather information indicating wind speed. In the radar control transfer method according to the seventh configuration of the present invention, the auxiliary information used in the first configuration includes, as information indicating a runway length required by the target, type information indicating a type of the target. It is characterized by.

In the radar control transfer method according to the eighth configuration of the present invention, when estimating the motion state of the target after entering the interpolation area by the second configuration, at least the position of the target as the motion state at the start of interpolation is estimated. The information indicating the target approach angle is also input as auxiliary information, and the runway where the target is expected to land and the landing position of the target on the runway are determined based on the motion state at the start of interpolation and the auxiliary information. The motion state of the target after entering the interpolation area is estimated based on the obtained runway and landing position and assuming that the target moves linearly at a constant speed.

In the radar control transfer method according to a ninth configuration of the present invention, when estimating the motion state of the target after entering the interpolation area by the second configuration, at least the position of the target as the motion state at the start of interpolation is estimated. And the speed and the information indicating the target approach angle as auxiliary information are also input, respectively, and the run state where the target is expected to land based on the motion state and the auxiliary information at the start of interpolation and the landing position of the target on the runway The motion state of the target after entering the interpolation area is estimated on the basis of the obtained runway and landing position and assuming that the target makes a linear motion with uniform acceleration.

In the radar control transfer method according to the tenth configuration of the present invention, when the auxiliary information is input in the eighth and ninth configurations, the ASR and / or the SSR are covered before entering the interpolation region after the ASR and / or the SSR are covered. And / or sequentially inputting the target altitude from the SSR, calculating the target altitude change rate based on the input altitude, and using the obtained altitude change rate as information indicating the target approach angle.

In the radar control transfer method according to the eleventh configuration of the present invention, the target motion state and AS obtained by estimation are obtained.
An estimation error of a target motion state is detected based on an output of the DE, and the detected estimation error is input as auxiliary information.

[0017] A radar control transfer method according to a twelfth configuration of the present invention is characterized in that a target motion state obtained by a PAR is input as auxiliary information.

A radar signal processing apparatus according to a thirteenth configuration of the present invention detects that a target has escaped from an area covered by ASR and / or SSR and has entered an interpolation area which is not an area covered by any of ASR, SSR and ASDE. Means for inputting from the ASR and / or SSR the movement state of a target when the target moves out of the ASR and / or SSR coverage area and enters the interpolation area as the movement state at the start of interpolation; after an auxiliary information indicating the behavior of the target can take, to target demand
Means for inputting auxiliary information including information indicating the runway length, and means for estimating a target motion state after entering the interpolation area based on the motion state and the auxiliary information at the time of starting interpolation. When a correlation is found between the motion state of the target and the output of the ASDE, the target leaves the interpolation area and A
ASR and / or SS deemed to have entered SDE coverage
Means for transferring radar control from R to ASDE.

[0019]

In the first and thirteenth configurations of the present invention, first, a target of an aircraft or the like escapes from the ASR and / or SSR coverage and enters an interpolation area that is not any of the ASR, SSR and ASDE coverages. Is detected. The target motion state at that time is input from the ASR and / or SSR as the motion state at the time of starting the interpolation. In estimating the motion state of the target after entering the interpolation area, in addition to the input motion state at the start of interpolation , auxiliary information indicating a behavior that the target can take after entering the interpolation area , particularly,
Information indicating the runway length is used. If a correlation is found between the resulting motion state of the target and the output of the ASDE, it can be assumed that the target has left the interpolation region and has entered the ASDE coverage, so that the ASR and / or SS
Radar control transfer from R to ASDE is implemented. Thus, in the present invention, the motion state at the start of interpolation, for example, not only information on the position of the target, the traveling direction, etc., but also using auxiliary information indicating a behavior that the target can take after entering the interpolation area, Since the motion state of the target after entering the interpolation area is estimated, the motion state of the target can be estimated with higher accuracy than before in the interpolation area where the target cannot be directly detected by any of ASR, SSR, and ASDE. Radar control can be transferred more smoothly and accurately. Goal
The information indicating the runway length required by the runway
Which runways are available for the target landing
Therefore, this information is used to determine the target
By using this together with the speed, the target
Runway with high probability that the target will land in terms of position and speed
What is the runway, or what is the target landing speed
You can know whether it will be a value.

The procedure for estimating the target motion state after entering the interpolation area can be constituted by, for example, a runway estimation procedure and an interpolation procedure. That is, in the second configuration of the present invention, first, the runway at which the target is supposed to land, the target landing speed, and / or the target landing position are estimated based on the motion state and the auxiliary information at the start of the interpolation. Then, based on the estimated runway, landing speed and / or landing position, and the motion state at the start of interpolation, the motion state of the target after entering the interpolation area is estimated. By adopting such a procedure, information obtained from an existing device or system can be used as auxiliary information, and the present invention can be realized relatively easily and at low cost.

Further, in the third configuration of the present invention,
The runway and the like are estimated using the database. At this time, the contents of the database are corrected and updated based on the detected estimation error and to reduce the estimation error. Therefore, the target motion state can be estimated with higher accuracy, and therefore, the radar control can be more smoothly and accurately transferred.

[0022] Examples of information that can be used as auxiliary information, other information indicating the weather conditions airports, information indicating the angle of approach goals, estimation error, the motion state of the target obtained by the PAR target exercise state Etc.

First, in the fourth or fifth configuration of the present invention, information indicating a weather condition at an airport is also used as auxiliary information. The information indicating the weather conditions at the airport indicates which runway it is preferable to land on given the weather conditions,
Also, since the information indicating the runway length required by the target indicates which of the runways of various lengths can be used for the landing of the target, this information is used to determine the position of the target at the start of interpolation. Together with speed and speed, it is possible to determine which runway is likely to land on the target in view of the target position and speed at the start of interpolation, or what value the target landing speed will be. You can know. Therefore, by using these pieces of information as auxiliary information, the target motion state after entering the interpolation area can be interpolated with high accuracy by a relatively simple estimation calculation relating to the constant velocity linear motion or the constant acceleration linear motion. It can be estimated. Further, in the sixth or seventh configuration of the present invention, the weather information indicating the wind direction and the wind speed at or around the airport and the type information indicating the type of the target (if the target is an aircraft, the flight plan) are provided at the airport. It is used as information indicating weather conditions or information indicating a runway length required by the target. Since such information is information conventionally used in airport radar control, no new device is required for acquisition.

Next, in the eighth or ninth configuration of the present invention, information indicating a target approach angle is used as auxiliary information. By using information indicating the target approach angle together with the target position and speed at the start of interpolation, which runway is likely to land on the target in view of the target position and speed at the start of interpolation And where on the runway it is likely to land.
Therefore, by using this information as auxiliary information, the motion state of the target after entering the interpolation area can be interpolated with higher accuracy by a relatively simple estimation calculation relating to the constant velocity linear motion or the constant acceleration linear motion. It can be estimated. Further, in the tenth configuration of the present invention, the ASR and / or the SSR
By sequentially inputting the altitude of the target from and obtaining the altitude change rate of the target based on the input altitude, information on the approach angle can be obtained, so that no new device is required for acquisition.

Further, in the eleventh configuration of the present invention, an estimation error of the target motion state is obtained based on the target motion state obtained by the estimation and the output of the ASDE, and the obtained estimation error is used as auxiliary information. Used. By using this information, it is possible to make corrections to the next estimation process so that the estimation error that has occurred in the previous estimation is eliminated. Even when information indicating the required runway length cannot be obtained, interpolation estimation of the target motion state after entering the interpolation area can be performed with higher accuracy. In addition, since the information of the estimation error is information obtained by, for example, determining the correlation with the ASDE output, no new device is required for acquisition.

Then, in the twelfth configuration of the present invention, the target exercise state obtained by the PAR is used as auxiliary information. By using this information, AS
A target can be tracked in an area that does not belong to any of the R, SSR, and ASDE coverage areas.

[0027]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of the present invention will be described below with reference to the drawings. The same components as those of the conventional example shown in FIG. 6 and FIG.

Embodiment 1 FIG. FIG. 1 shows a configuration of a radar signal processing device according to a first embodiment of the present invention. In this embodiment, a landing runway estimation table 7 for associating the interpolation start position / traveling direction, weather information, and flight plan with the landing runway is used as the landing runway estimation table. The landing runway estimating unit 8 uses the interpolation start position and the traveling direction obtained via the covered area determining unit 2, as well as weather information and a flight plan provided by existing facilities (not shown) or manually, and estimates the landing runway. By referring to Table 7, the position of the runway end at which the target is about to land is estimated.

The weather information used in this embodiment is information such as wind direction and wind speed at and around an airport. In general, when an aircraft attempts to land, a runway is selected so that the aircraft can make a landing by receiving a headwind. Therefore, the landing runway estimation table 7 receives a headwind when given weather information. The weather information and the landing runway information are associated with each other so that a runway that can be landed is obtained as a reference result. The flight plan is information indicating the model of the aircraft, and represents the landing runway length required by the aircraft of the model. That is,
Since a certain type of aircraft cannot land on a runway shorter than the landing runway length required by the type of aircraft, the landing runway estimation table 7 indicates that a certain flight plan is given. The flight plan and the landing runway information are associated with each other so that a runway having a length longer than the landing runway length required by the aircraft of the type according to the flight plan is obtained as a reference result.

Therefore, in this embodiment, for the target determined to be out of the ASR / SSR coverage by the coverage determining unit 2, the landing run is performed by using the weather information and the flight plan in addition to the interpolation start position and the traveling direction. The landing runway estimating unit 8 refers to the road estimation table 7, and based on the resulting landing runway end, the interpolation calculation unit 5 performs an interpolation calculation assuming constant linear motion. Therefore, by supplying the output of the interpolation calculation unit 5 to the correlation processing unit 6, a more accurate and smoother radar control transfer can be realized as compared with the conventional example.

Embodiment 2 FIG. FIG. 2 illustrates a configuration of a radar signal processing device according to a second embodiment of the present invention. In this embodiment, a landing speed estimation table 9 is provided in place of the landing runway estimation table 7, and a landing speed estimation unit 10 is provided in place of the landing runway estimation unit 8. The landing speed estimation table 9 includes, in addition to the target position and speed (interpolation start position and speed) at the time of leaving the ASR / SSR coverage area,
It is a table which associates weather information and a flight plan with an estimated value of a target landing speed. The landing speed estimation unit 10
In addition to the interpolation start position / velocity obtained through the covered area determination unit 2 and the like, as well as weather information and flight plan information provided from an external device or manually input, the landing speed estimation table 9 is referred to, and the target To get an estimate of the landing speed of.
The interpolation calculation unit 5 performs an interpolation calculation assuming uniform acceleration linear motion, using the interpolation start position and speed as initial values and the landing speed estimation value obtained by the landing speed estimation unit 10 as end values. As a result, information such as the position of the target after leaving the ASR / SSR coverage is obtained. The correlation processing unit 6 provides the information obtained by the interpolation calculation unit 5 for correlation processing with the output of the ASDE. Therefore, also in this embodiment, the radar control can be transferred from ASR / SSR to ASDE more accurately and smoothly than in the prior art, as in the first embodiment.

Embodiment 3 FIG. Third Embodiment FIG. 3 shows the configuration of a radar signal processing device according to a third embodiment of the present invention. In this embodiment, the landing runway estimating unit 3 or 8 uses the landing runway estimation table 4 or 7 for the landing runway end with respect to the target determined to be out of the ASR / SSR coverage by the coverage determining unit 2. Estimation. On the other hand, ASR / S
The altitude change obtained via the tracking processing unit 1 with respect to the target detected by the SR is calculated by the altitude change calculating unit 11. The altitude change obtained as a result of the calculation indicates the target approach angle to the airport. Landing runway estimator 3
Or, the landing position estimating unit 12 provided after 8 is
In addition to the interpolation start position / velocity obtained through the covered area determination unit 2 and the landing runway estimation unit 3 or 8, the landing position estimation table 13 is obtained based on the altitude change obtained by the altitude change calculation unit 11.
Thus, the position at which the target lands on the landing runway estimated by the landing runway estimation unit 3 or 8 is estimated, and the result is supplied to the interpolation calculation unit 5. Therefore, on the landing position estimation table 13, the interpolation start position / velocity and altitude change are associated with the estimated value of the landing position. The interpolation calculation unit 5 executes an interpolation calculation relating to a constant velocity linear motion or an equivalent velocity linear motion using the interpolation start position / velocity as an initial value and the estimated value of the landing position / velocity as a final value, and performs a correlation process on the result. Supply to section 6.

Therefore, according to this embodiment, the interpolation calculation can be performed with higher accuracy than, for example, the first embodiment, and therefore, the ASSR / SSR can be more accurately and smoothly converted from the ASR / SSR.
Transfer of radar control to DE can be realized. That is, since not only the landing runway is estimated but also the position on the runway where the target lands, interpolation calculation with higher accuracy than in the first embodiment and the like can be realized.

Embodiment 4 FIG. FIG. 4 shows a configuration of a radar signal processing device according to a fourth embodiment of the present invention. This embodiment combines the first to third embodiments and uses the estimation error obtained by the correlation processing unit 6 to make the estimation database updating unit 14 use the landing runway estimation table 4 or 7, the landing position estimation table 13 and This is an embodiment in which the content of the landing speed estimation table 9 is updated.

In this embodiment, A
For the target determined to be out of the SR / SSR coverage area, the landing runway is estimated by the method of the related art or the first embodiment,
Using the result and the output of the altitude change calculator 11, the landing position is estimated by the method of the third embodiment, and the landing speed is estimated by the method of the second embodiment. Next, when interpolation calculation is performed by the interpolation calculation unit 5 based on the results of these estimations, the result is supplied to the correlation processing unit 6.
The estimation database updating unit 14 updates the contents of each estimation table using the position deviation and the velocity deviation obtained by the correlation processing, that is, the error of the output of the interpolation calculation unit 5 with respect to the output of the ASDE, so that the error is suppressed. I do.

By providing such a learning function,
In the present embodiment, it is possible to perform the interpolation calculation with higher accuracy as compared with the above-described conventional example and with respect to each of the above-described embodiments. Therefore, the ASR / SRR can be performed more accurately and smoothly.
Transfer of the radar control from the ASR to the SRDE can be performed. When the conventional configuration is used as the landing runway estimating section and the landing runway table, it is not necessary to supply weather information and a flight plan to the landing runway estimating section. Need not include this information.

Embodiment 5 FIG. FIG. 5 shows a configuration of a radar signal processing device according to a fifth embodiment of the present invention. In this embodiment, the correlation processing unit 15 performs a correlation process between the target tracked by the tracking processing unit 1 and the target detected by the PAR. Correlation processing unit 1
When it is determined that there is a correlation according to 5, the tracking processing is performed by the tracking processing unit 16 based on the output of the PAR. The correlation processing unit 6 performs a correlation process on the target tracked by the tracking processing unit 16 with the target detected by the ASDE, and when the correlation is detected as a result, the radar control is transferred to the ASDE. . Therefore, in this embodiment, the ASR / SSR to ASDE
The radar control can be transferred accurately and smoothly.

[0038]

As described above, according to the first and thirteenth configurations of the present invention, the target is ASR and / or SSR.
ASR and / or SSR are defined as the motion state of the target at the time when interpolation is started by leaving the coverage area of the target and entering the interpolation area.
While input from an auxiliary information indicating the behavior of the target can take after entering the interpolation region, sliding the target requires
Auxiliary information including information indicating the path length is input, and the target motion state after entering the interpolation area is estimated using the motion state at the start of interpolation and the auxiliary information.
Even in the interpolation area where the target cannot be directly detected by either SSR or ASDE, the target motion state can be estimated with higher accuracy than before, and the landing runway and landing speed can be estimated.
Since it is possible to know, therefore ASR and / or SSR
Can transfer radar control from AS to ASDE more accurately and smoothly.

According to the second configuration of the present invention, first, the runway at which the target is to land, the target landing speed and / or the target landing position are determined based on the motion state and the auxiliary information at the start of the interpolation. Estimating, and then, based on the estimated runway, landing speed and / or landing position, and the motion state at the start of interpolation, the target motion state after entering the interpolation area is estimated. Information obtained from the system can be used as auxiliary information, and the present invention can be realized relatively easily and at low cost.

According to the third configuration of the present invention, in addition, the runway and the like are estimated using the database, and the contents of the database are corrected based on the detected estimation error and to reduce the estimation error. Since the update is performed, the target motion state can be estimated with higher accuracy.
And / or transfer radar control from SSR to ASDE more accurately and smoothly.

First, according to the fourth or fifth configuration of the present invention, information indicating the weather conditions at the airport is also used as auxiliary information, and this information is used together with the target position and speed at the start of interpolation. Since the runway and landing speed are estimated and interpolation estimation relating to constant velocity linear motion or constant acceleration linear motion is performed, the motion state of the target after entering the interpolation area can be calculated by a relatively simple interpolation estimation calculation. Interpolation estimation can be performed with high accuracy. Furthermore, according to the sixth or seventh configuration of the present invention, since the weather information indicating the wind direction and the wind speed around the airport or its surroundings and the type information indicating the target type are used, it is necessary to obtain the auxiliary information. It is not necessary to provide a new device, and the present invention can be implemented with a small facility load.

Next, according to the eighth or ninth configuration of the present invention, information indicating the target approach angle is used as auxiliary information, and this information is used together with the target position and speed at the start of interpolation. Since the runway and landing position are estimated and interpolation estimation relating to constant velocity linear motion or constant acceleration linear motion is performed, the motion state of the target after entering the interpolation area can be calculated by a relatively simple interpolation estimation calculation. Interpolation estimation can be performed with higher accuracy. Further, according to the tenth configuration of the present invention, the information of the approach angle is obtained by sequentially inputting the target altitude from the ASR and / or SSR and obtaining the target altitude change rate based on the input altitude. Therefore, it is not necessary to provide a new device for obtaining auxiliary information, and the present invention can be implemented with a small facility load.

Further, according to the eleventh structure of the present invention,
The estimation error of the target motion state is obtained based on the target motion state obtained by the estimation and the output of the ASDE, and the obtained estimation error is used as auxiliary information to eliminate the estimation error. Even if information indicating the runway length required by the target or the like cannot be obtained, the motion state of the target after entering the interpolation area can be interpolated and estimated with higher accuracy. In addition, since the information of the estimation error is information obtained by, for example, determining the correlation with the ASDE output, no new device is required for acquisition.

According to the twelfth structure of the present invention,
ASR, SSR and ASDE are used because the target exercise state obtained by PAR is used as auxiliary information.
The target can be tracked even in an area that does not belong to any of the above areas, and the transfer of radar control from ASR and / or SSR to ASDE can be executed with high accuracy.

[Brief description of the drawings]

FIG. 1 is a block diagram illustrating a configuration of a radar signal processing device according to a first embodiment of the present invention.

FIG. 2 is a block diagram illustrating a configuration of a radar signal processing device according to a second embodiment of the present invention.

FIG. 3 is a block diagram illustrating a configuration of a radar signal processing device according to a third embodiment of the present invention.

FIG. 4 is a block diagram illustrating a configuration of a radar signal processing device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram illustrating a configuration of a radar signal processing device according to a fifth embodiment of the present invention.

FIG. 6 is a conceptual diagram showing the relationship between ASR / SSR coverage and ASDE coverage.

FIG. 7 is a block diagram showing a configuration of a radar signal processing device according to a conventional example.

[Explanation of symbols]

1, 16 tracking processing section, 2 covered area determination section, 3, 8 landing runway estimation section, 4, 7 landing runway estimation table, 5 interpolation calculation section, 6, 15 correlation processing section, 9 landing speed estimation table, 10 Landing speed estimating unit, 11 altitude change calculating unit, 12 landing position estimating unit, 13 landing position estimating table, 14 estimation database updating unit.

──────────────────────────────────────────────────続 き Continuation of the front page (56) References JP-A-3-92785 (JP, A) JP-A-2-254392 (JP, A) JP-A-1-180485 (JP, A) JP-A-6-1994 347542 (JP, A) JP-A-64-73275 (JP, A) JP-A-5-107353 (JP, A) JP-A-3-282389 (JP, A) JP-A-3-115885 (JP, A) Japanese Patent Laid-Open No. Sho 62-179682 (JP, A) Minoru Okada, Ed., "Avionics <Revised Edition>", Nikkan Kogyo Shimbun, Revised edition published on January 30, 1978, p. 165-195, [3.7 Automation of Air Traffic Management Services] (58) Fields surveyed (Int. Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95 G08G 5 / 00

Claims (13)

(57) [Claims] An airport surveillance radar, comprising: an airport surveillance radar and / or a secondary surveillance radar set around an airport;
The airport surveillance radar and / or the secondary surveillance radar will provide information about the target to enter the airport surveillance radar coverage over the runway via an interpolated area that is neither the secondary surveillance radar nor the airport surveillance radar. In a radar control transfer method for transferring radar control to a surface monitoring radar, a motion state of a target when an airport surveillance radar and / or a secondary surveillance radar enters an interpolation area after being covered is determined by a motion state at the start of interpolation. A first step input from the airport surveillance radar and / or the secondary surveillance radar, and auxiliary information indicating a behavior that the target can take after entering the interpolation area, and information indicating a runway length required by the target. including
A second step of inputting auxiliary information, a third step of estimating a target motion state after entering the interpolation area based on the motion state and the auxiliary information at the time of starting interpolation, and a target of the target obtained by the estimation. If a correlation is found between the motion status and the output of the airport surveillance radar, it is considered that the target has left the interpolation area and has entered the coverage area of the airport surveillance radar, and the airport surveillance radar and / or the secondary surveillance radar has Transferring a radar control to an airport surveillance radar, comprising: a fourth step of transferring the radar control to an airport surveillance radar. 2. The radar control transfer method according to claim 1, wherein the third step is based on the motion state at the start of the interpolation and the auxiliary information, and the runway at which the target is supposed to land, the target landing speed and / or the target landing speed. Determining a target landing position, and estimating a target motion state after entering the interpolation area based on the determined runway, landing speed and / or landing position, and motion state at the time of starting interpolation. A radar control transfer method characterized by the above-mentioned. 3. The method for transferring radar control according to claim 2, wherein a database for associating the motion state and auxiliary information at the start of interpolation with the runway, landing speed and / or landing position is stored in the database. The runway, landing speed and / or landing position are obtained by referring to the information, and the estimation error of the target movement state is detected based on the target movement state obtained by the estimation and the output of the airport surveillance radar, A radar control transfer method, wherein the content of the database is corrected and updated based on the detected estimation error so that the estimation error is reduced. 4. The radar control transfer method according to claim 2, wherein at least a target position is set as a motion state at the time of starting interpolation.
Also the information indicating the weather conditions of the airport as auxiliary information, respectively enter the target based on the motion state and the auxiliary information at the time of interpolation start is expected to land seeking runway, obtained runway and interpolation starting exercise A radar control transfer method comprising estimating a motion state of a target after entering an interpolation area based on a state and assuming that the target moves linearly at a constant speed. 5. A radar control transfer method according to claim 2, the position and velocity of at least the target as the motion state at the interpolation start information indicating the weather conditions of the airport as auxiliary information
The target landing speed is calculated based on the motion state at the start of interpolation and the auxiliary information, and interpolation is performed based on the determined landing speed and the motion state at the start of interpolation, and assuming that the target moves linearly with uniform acceleration. A radar control transfer method characterized by estimating a motion state of a target after entering a region. 6. The radar control transfer method according to claim 4, wherein the auxiliary information includes weather information indicating a wind direction and / or wind speed at or around the airport as information indicating weather conditions at the airport. Radar control transfer method. 7. The radar control transfer method according to claim 1, wherein the auxiliary information includes type information indicating a type of the target as information indicating a runway length required by the target. . 8. The radar control transfer method according to claim 2, wherein at least a target position is set as a motion state at the time of starting interpolation.
Information indicating the approach angle of the target is also input as auxiliary information, and the runway where the target is expected to land and the landing position of the target on the runway are calculated based on the motion state at the start of interpolation and the auxiliary information. And estimating a motion state of the target after entering the interpolation area based on the runway and the landing position and assuming that the target moves linearly at a constant speed. 9. The radar control transfer method according to claim 2, wherein at least the target position and speed are set as the motion state at the time of starting interpolation, and information indicating the target approach angle is set as auxiliary information.
The runway where the target is expected to land and the target landing position on the runway are determined based on the motion state at the start of interpolation and the auxiliary information, and the target is determined based on the determined runway and landing position. A radar control transfer method characterized by estimating a target motion state after entering an interpolation area, assuming a uniform acceleration linear motion. 10. A radar control transfer method according to claim 8 or 9, wherein the airport surveillance radar and / or the secondary surveillance radar are moved out of the coverage area of the airport surveillance radar and / or the secondary surveillance radar before entering the interpolation area. A radar control transfer method characterized by successively inputting the target altitude from the system, calculating a target altitude change rate based on the input altitude, and using the obtained altitude change rate as information indicating a target approach angle. 11. The method according to claim 1, further comprising a fifth step of detecting a target motion state estimation error based on the target motion state obtained by the estimation and an output of the airport surveillance radar. And transmitting the detected estimation error as auxiliary information. 12. The radar control transfer method according to claim 1, wherein a target motion state obtained by the precision approach radar is also input as auxiliary information. 13. An interpolation area where a target falls outside the coverage area of an airport surveillance radar and / or a secondary surveillance radar set around an airport and is not any of the airport surveillance radar, the secondary surveillance radar, and the airport surveillance radar. Means for detecting that the vehicle has entered the airport surveillance radar and / or the airport surveillance radar and / or the motion state of the target when entering the interpolation area after leaving the area covered by the airport surveillance radar and / or the secondary surveillance radar. Or means input from the secondary surveillance radar, and auxiliary information indicating the behavior that the target can take after entering the interpolation area, including information indicating the runway length required by the target
Means for inputting auxiliary information ; means for estimating the target motion state after entering the interpolation area based on the motion state at the start of interpolation and the auxiliary information; and target motion state and airport surface monitoring obtained by the estimation. If a correlation is found between the radar output and the target, it is considered that the target has left the interpolation area and has entered the area covered by the airport surveillance radar, and the airport surveillance radar and / or the secondary surveillance radar has sent the signal to the airport surveillance radar. Means for transferring radar control, the radar signal processing apparatus comprising: