JPH07249200A - Monitoring system for controlled object - Google Patents

Abstract

PURPOSE:To obtain position information of a controlled object in a short time with high precision. CONSTITUTION:Respective SSR codes are assigned to a time slot which is subjected to time division according to number of the SSR codes while controlling a monitoring cycle by GPS time, the respective control times of a controlled object subsystem 11, slave stations 2 and 3 and a master station 41 are made to be coincide by GPS time, a pulse is transmitted from the controlled object subsystem 11 at the time of starting the time slot corresponding to the SSR code, it is received by the slave stations 2 and 3 and the master station 41, time from the start of the time slot to pulse reception is measured by the respective stations, the master station 41 obtains the time difference of measurement time of the self station 41 from those of the respective slave stations 2 and 3, a hyperbolic function indicating a locus which can meet the time difference with the respective slave stations 2 and 3 is obtained and the intersecting position of hyperbolas is calculated so as to obtain position information of the controlled object 1. The SSR code is deduced from the time slot where reception is executed and the kind of the corresponding controlled object 1 is obtained.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a controlled object monitoring system for monitoring the position of an object to be controlled such as an aircraft or a vehicle in an airport plane.

[0002]

2. Description of the Related Art At present airports, the position of aircrafts and vehicles is monitored at the control tower by checking the displayed contents of the airport surface monitoring radar (primary radar) and directly visually checking them. However, with such a monitoring system, it is not possible to monitor an aircraft to be controlled such as an aircraft behind a building or a vehicle behind an aircraft, especially at an airport where congestion is progressing. Is worried.

For this reason, it has been conventionally considered to install a television camera for a blind spot from the primary radar or the control tower, but this method can only be partially implemented, and the weather can be improved. Is easily affected by
The reliability as monitoring information is low, and it cannot be said that it is a complete safety measure. In addition, the accuracy of the primary radar is low (a few tens of meters), and only a rough judgment can be made.
A high degree of skill is required for controllers.

In other countries, GPS is assigned to each controlled object.
A satellite navigation system such as (Global Positioning System) is used to position itself and a monitoring system that sends positioning data via a single-wave communication line in response to a request from a control facility is realized. ing. That is, this monitoring system synchronizes the management time of the control facility and the controlled object, time-divides the communication line, and instructs the controlled facility to allocate a transmission time slot of positioning data to each controlled object, It is possible to acquire positioning data from all controlled objects.

However, in the monitoring system according to the above method, the communication line must be divided into a transmission period and a reception period in order to individually assign a time slot from the control facility to each controlled object. Moreover, identification data of the controlled object is required for both transmission and reception. Therefore, a considerable time slot width is required only by requesting and responding to the position data of one controlled object. This is because the number of controlled objects is extremely limited considering the effective positioning data acquisition period for monitoring (at least about 1 second) (150
It is not possible to cope with the expected increase in controlled objects in the future.

Further, the satellite navigation device mounted on the aircraft to be controlled is for positioning the position during navigation, and its accuracy is only about several tens of meters. Therefore, it is hard to say that the positioning data acquired by such a satellite navigation device can be effectively used for monitoring the airport surface.

At airports with relatively few controlled objects,
A monitoring system is also realized in which each controlled object sends positioning data to the control facility at its own time. This method
This is because it is unlikely that a plurality of controlled objects will simultaneously transmit positioning data to the control facility at the same frequency. However, considering the accidents at airports, which are prone to catastrophe, it is considered that very few airports can adopt this type of monitoring system.

[0008]

As described above, conventionally, there is no effective system for monitoring the positions of a large number of controlled objects in a controlled area such as an airport, and it is expected that the controlled objects will be controlled in the future. There is a strong demand for immediate response to the increase in

The present invention has been made to solve the above problems, and it is possible to acquire position information of a large number of controlled objects in a controlled area with a small number of communication lines in a short time and with high accuracy. Moreover, it is an object of the present invention to provide a controlled object monitoring system which imposes less burden on the controlled object.

[0010]

In order to achieve the above object, a first aspect of the present invention is a controlled object monitoring system for monitoring the positions of a plurality of controlled objects existing in a controlled area on the control facility side. In the above, all of the plurality of controlled objects are given one of a plurality of identification codes prepared in advance, and the time cycle is divided by at least the number of the identification codes while managing the monitoring cycle at the reference time. And a system for allocating the plurality of identification codes to different time slots, each of which is mounted on each of the plurality of controlled objects, acquires the reference time information, and manages the time based on the reference time. From the time managed by the time management means and the reference time, the start timing of the time slot to which its own identification code is assigned is determined, and A subsystem to be controlled, which is provided with pulse signal transmitting means for transmitting a pulse signal of a predetermined frequency at a timing, and pulses which are respectively arranged at different known positions in the controlled area and are transmitted from the plurality of controlled objects. A pulse signal receiving unit that receives a signal, a time management unit that acquires the reference time information and manages the time based on the reference time, and measures the time from the slot start timing to the pulse signal reception timing for each time slot. A plurality of slave stations provided with time measuring means and a plurality of slave stations in the controlled area, which are arranged at known positions different from each other, and pulse signal receiving means for receiving pulse signals transmitted from the plurality of controlled objects. , Time management means for acquiring the reference time information and managing the time according to the reference time, Time measurement means for measuring the time from the slot start timing to the reception timing of the pulse signal for the Musslot, and each measurement time information is received from the plurality of slave stations, and the time difference between the measurement time and its own measurement time is obtained, A master station having position calculation means for calculating a hyperbolic function indicating a locus capable of obtaining the time difference with each slave station, and calculating a position of an intersection of at least two hyperbolas; The position of the intersection of the hyperbola obtained at the master station for each monitoring cycle is acquired as position information of the controlled object that is the transmission source, and the identification code is calculated from the received time slot to identify the corresponding controlled object type. Display processing was performed after asking for it.

According to a second aspect of the invention, in each of the time measuring means of the plurality of slave stations and the master station of the first aspect of the invention, the counter is started at the start timing of each time slot, and the pulse signal is received. The time is measured by stopping the counter at the timing.

The third aspect of the invention is utilized by the satellite navigation device in the time management means provided in each of the controlled upper subsystem, the plurality of slave stations, and the master station of the first aspect of the invention. The time managed by the existing navigation satellite was used as the reference time.

A fourth aspect of the present invention is a controlled object monitoring system for monitoring the positions of a plurality of controlled objects existing in a controlled area on the side of a control facility, wherein each of the plurality of controlled objects is prepared in advance. One of a plurality of identification codes is assigned, time slots are determined by time-sharing at least the number of the identification codes while managing the monitoring cycle at the reference time, and the plurality of identification codes are set to different times. A system for allocating to slots, each of which is mounted on each of the plurality of controlled objects, obtains the reference time information, and manages time based on the reference time, and time managed by the reference time. Determines the start timing of the time slot to which its own identification code is assigned, and sends a pulse signal of a predetermined frequency at that timing. A subsystem to be controlled which is provided with pulse signal transmitting means, and pulse signal receiving means for receiving pulse signals transmitted from the plurality of controlled objects, which are respectively arranged at different known positions in the controlled area. Slave stations provided with pulse signal transfer means for immediately transferring the received pulse signal obtained by this means, and the plurality of slave stations in the controlled area are arranged at known positions different from each other, and from the plurality of controlled objects Pulse signal receiving means for receiving a pulse signal to be transmitted, time management means for acquiring the reference time information and managing time according to the reference time, time from the slot start timing to the reception timing of the pulse signal for each time slot The first time measuring means for measuring, for each time slot, from the slot start timing Second time measuring means for measuring the time until the input timing of the pulse signal transferred from a plurality of slave stations, the measured time obtained by the first time measuring means and the second time measuring means for each time slot. In each of the slave stations, the measured time and each time difference are obtained, a hyperbolic function indicating a locus with which the time difference can be obtained is obtained with each slave station, and the position of the intersection of at least two hyperbolas is provided with a position calculation means. The control facility acquires the intersection position of the hyperbola obtained by the master station for each monitoring cycle as position information of the controlled object that is the transmission source, and the reception time slot. The identification code was calculated from the above, and the type of the controlled target corresponding to it was calculated and displayed.

In a fifth aspect of the invention, in each time measuring means of the master station of the fourth aspect of the invention, the counter is started at the start timing of each time slot, and the self pulse signal reception timing and each pulse signal reception timing. The time is measured by extracting the count value of the counter at the timing of receiving the pulse signal transferred from the slave station.

In a sixth aspect of the invention, the navigation satellite used by the satellite navigation device manages the time management means provided in the controlled subsystem and the master station of the fourth aspect of the invention. The time of day was set as the reference time.

In the invention having the seventh characteristic, the SSR code is used as the identification code of the invention having the first and fourth characteristics.

[0017]

In the controlled object monitoring system according to the first aspect of the invention, one of a plurality of identification codes prepared in advance is given to all of the controlled objects,
While managing the monitoring cycle at the reference time, the time slot is determined by time division of at least the identification code number or more,
The plurality of identification codes are assigned to different time slots, and the control times of the controlled subsystem, the plurality of slave stations, and the master station are matched. Then, the controlled subsystem transmits a pulse signal at the start timing of the time slot corresponding to the identification code, and this is received by multiple slave stations and master stations, and at each station, from the time slot start timing to the pulse reception timing. The time is measured, the master station calculates the time difference between the measurement time of its own station and the measurement time of each slave station, and calculates the hyperbolic function indicating the trajectory that can take the time difference between each slave station, and at least The position information of the controlled object is obtained by calculating the position of the intersection of the two hyperbolas. Also, the identification code is calculated from the received time slot to find the corresponding controlled object type.

In the system according to the second aspect of the invention, the time is measured by using the counter.

In the system according to the third aspect of the present invention, the time managed by the navigation satellite used by the satellite navigation device is used as the reference time to control the controlled subsystem, the plurality of slave stations, and The start timing of each time slot of the master station is matched.

In the system according to the fourth aspect of the invention, one of a plurality of identification codes prepared in advance is assigned to each of a plurality of controlled objects, and the monitoring cycle is managed at the reference time. While time-dividing at least the number of identification codes or more to determine a time slot, assigning the plurality of identification codes to different time slots, control time of each controlled subsystem, a plurality of slave stations, and a master station To match. Then, a pulse signal is transmitted from the controlled subsystem at the start timing of the time slot corresponding to the identification code, and this is received by a plurality of slave stations and the master station, and each slave station immediately receives the received pulse signal to the master station. The master station measures the time from the time slot start timing to the pulse reception timing at each station, finds the time difference between the own station's measurement time and each slave station's measurement time, and calculates the time difference between each slave station. The position information of the controlled object is obtained by obtaining a hyperbolic function indicating a trajectory capable of taking the time difference and calculating the position of the intersection of at least two hyperbolas. Also, the identification code is calculated from the received time slot to find the corresponding controlled object type.

In the system according to the fifth aspect of the present invention, the time is measured by using the counter.

In the system according to the sixth aspect of the present invention, the time managed by the navigation satellite used by the satellite navigation device is set as the reference time, so that each time of the controlled subsystem and master station is controlled. Matches the start timing of slots.

In the system according to the seventh aspect of the invention, by using the SSR code as the identification code,
When the controlled target includes an aircraft, the equipment already installed can be used.

[0024]

Embodiments of the present invention will be described in detail below with reference to the drawings.

FIG. 1 shows a first embodiment of a controlled object monitoring system according to the present invention. Here, a system configuration is shown in which aircraft and vehicles existing on the airport surface are monitored as control targets.

In FIG. 1, reference numeral 1 is an object to be controlled, 2 and 3 are first and second objects arranged at different known positions on the airport plane,
A second slave station, 4 is a control facility, 41 is a master station located at a known position on the airport surface different from the first and second slave stations 2 and 3 (here, the control facility 3 in the control tower). , 42 is a monitoring subsystem installed in the control facility 4, and 5 is a GPS satellite group used as a navigation satellite.

Reference numeral 11 denotes a controlled object upper subsystem which is mounted on each controlled object 1. This subsystem 11
Specifically, as shown in FIG. 2, the GPS antenna 111,
The GPS receiver 112, the SSR code generator 113, the transmission time management device 114, the pulse generator 115, the VHF transmitter 116, and the VHF antenna 117 are provided. In the case of an aircraft, the GPS antenna, GPS receiver, SSR code generator, VHF transmitter, and VHF antenna that are already installed can be used as they are. In the case of vehicles, the SSR codes assigned to airports are individually assigned and used.

That is, in this subsystem 11, the GPS receiver 112 receives the GPS signal from the GPS satellite group 5 through the GPS antenna 111 and receives the GPS signal.
The time is detected, and this GPS time information is sent to the transmission time management device 114. This transmission time management device 11
4 manages the GPS time as its own time and generates a transmission trigger signal at the start timing of the time slot to which the SSR code preset in the SSR code generator 113 is assigned. This transmission trigger signal is a pulse. It is sent to the generator 115.

The pulse generator 115 generates a pulse signal having a predetermined width when it receives a transmission trigger signal from the transmission time management device 114. This pulse signal is V
The HF transmitter 116 and the VHF antenna 117 allow the VH
First and second slave stations 2, 2
3 and the master station 41.

The first slave station 2 is specifically constructed as shown in FIG. 3, and has a GPS antenna 211, a GPS receiver 212, a VHF antenna 213, and a VHF receiver 21.
4, a time measuring device 215, and a communication line output device 216.

That is, in the first slave station 2,
The GPS receiver 212 receives G through the GPS antenna 211.
The GPS signal from the PS satellite group 5 is received to detect the GPS time. Further, the VHF receiver 214 receives the pulse signal transmitted from the controlled object 1 through the VHF antenna 213.

The time measuring device 215 is a GPS receiver 212.
The start timing of each time slot in which the monitoring cycle is time-divided is detected based on the GPS time from, and the count of the counter COUNT is started at each timing. Then, when the reception pulse is input from the VHF receiver 214, the count of the counter COUNT is stopped,
The count value is converted into time, and the measured time is taken until the transmission pulse of the controlled object 1 is received by the first slave station 2. The information of this measurement time is the communication line output device 21.
6 to the master station 41 through a predetermined communication line.

The second slave station 3 is the first slave station 2
Since the configuration is exactly the same as the above, the description of the specific configuration will be omitted.

The master station 41 is specifically constructed as shown in FIG. 4, and includes a GPS antenna 411 and a GPS receiver 4.
12, a VHF antenna 413, a VHF receiver 414, a time measuring device 415, a communication line input device 416, and a positioning calculation device 417.

That is, in the master station 41, the GPS
The receiver 412 receives the GPS signal from the GPS satellite 4 through the GPS antenna 411 and detects the GPS time. Also, the VHF receiver 414 is the VHF antenna 413.
The pulse signal transmitted from the controlled object 1 is received through.

The time measuring device 415 is a GPS receiver 412.
The start timing of each time slot in which the monitoring cycle is time-divided is detected based on the GPS time from, and the count of the counter COUNT is started at each timing. Then, when the reception pulse is input from the VHF receiver 414, the time is detected and the counter COUNT is detected.
The counting of T is stopped, the count value is converted into time, and the measured time is taken until the transmission pulse of the controlled object 1 is received by the master station 4.

The time information measured in this way is input to the positioning calculation device 417 through the communication line input device 416 together with the measurement time information sent from each slave station 2, 3. This positioning calculation device 417 is based on the LORAN (Long Range Navigation System) system, and measures time at each slave station 2 and 3 and the master station 4
The time difference from the measurement time at each of the slave stations 2 and 3 is calculated, and the hyperbolic function indicating the locus with which the time difference can be taken is calculated, and the position of the intersection of the two hyperbolas is calculated. The positioning information of the controlled object 1 is acquired.

The GPS time information, pulse reception time information, and positioning information obtained by the master station 41 are all sent to the monitoring subsystem 42. The monitoring subsystem 42 is specifically configured as shown in FIG.
1, a monitoring processor 422, and a display device 423.

The target detecting device 421 is specifically constructed as shown in FIG.

First, the time slot management section i manages each time slot period which is time-divided based on the GPS time from the master station 41. The SSR code discrimination processing unit j discriminates the time slot number by referring to the time slot managed by the time slot management unit i regarding the pulse reception time from the master station 41, and refers to the SSR code allocation table k for the time slot number. And applicable S
Determine the SR code. The target report edit processing section 1 edits the time slot numbers and SSR codes sequentially obtained by the SSR code determination processing section j to create a target report. This target report is output processing part m
Sent to the monitor processor 422 via.

The monitoring processor 422 is specifically constructed as shown in FIG.

First, the FDP (Flight Plan Information Processing System), ARTS, by the other facility monitoring data communication processing unit n.
It communicates with other facilities such as (terminal radar information processing system) and ASDE (airport surface monitoring radar device), collects other facility monitoring data, sends it to the monitoring file storage section o, and stores it in the monitoring file.

On the other hand, when the target report created by the target detection device 421 is input through the target report input processing section p, the correlation processing section q performs correlation processing with the monitoring file for each target report,
The type data (aircraft identification code (call sign), vehicle number, etc.) of the controlled object 1 corresponding to the SSR code is determined and specified. Further, the tracking processing unit r performs tracking processing of the controlled object 1 for each correlation processing result,
The monitoring file is updated through the monitoring file update processing unit s.

Here, the airport data file storage unit t stores map data of the airport surface in advance. After the tracking processing, the display data edit processing unit u combines the map data stored in the airport data file storage unit t, the positioning data corresponding to each time slot number in the target report, and the type data obtained by the correlation processing unit q. Then, the display data is edited and created in a predetermined format. This display data is sent to the display device 423 through the display data output unit v.

The display device 423 is installed in the control room or related departments, and displays the display data from the monitor processor 422, for example, on the PPI to provide it to the controllers.

The operation of the above configuration will be specifically described below with reference to FIGS. 8 to 10.

First, in order to monitor the position of the controlled object, it is necessary to set the monitoring cycle to at least about 1 second. On the other hand, the SSR code generator of the transponder installed in the present aircraft can set a numerical value in the range of 1 digit 0 to 7 in 4 digits (0001 to 7777). Therefore, the SSR code generator 11 mounted on the controlled object 1
If this is used for No. 3, different codes can be assigned to 4096 controlled objects.

Therefore, in the system of the present embodiment, the SSR code is assigned to the aircraft as the identification code as it is, and the SSR code assigned to the airport is assigned to the other vehicles as the identification code and does not overlap each other. To assign.

Then, as shown in FIG. 8, the airport surface monitoring cycle is set to 1 [second / cycle], and the monitoring cycle is from the first time slot to the 4096th time with reference to GPS time.
Time division into time slots (1 time slot = 24
4.14 ... Approximately 250 μs), the time slot number and the SSR code number are matched, and the controlled object 1 is made to transmit a pulse signal of a predetermined frequency at the time slot start timing corresponding to the SSR code number.

That is, in the example of FIG. 8, the aircraft to which the SSR code “0001” is assigned is the period of the first time slot, and the aircraft to which “0003” is assigned is the period of the third time slot, “7777”. Vehicles to which is assigned a pulse signal are transmitted in the 4096th time slot. Therefore, radio waves transmitted from a plurality of controlled objects do not overlap on the same airport surface.

Next, each slave station 2, 3 and master station 4
At 1, the time from the start timing of each time slot until the pulse signal from the controlled object 1 having the corresponding SSR code is received is measured. At this time, it is necessary to completely match the start timing of the time slot in the controlled object 1 and each station 2, 3, 41. Therefore, by using the GPS time managed by the GPS satellite group 5, the managed time of each of the controlled object 1 and each of the stations 2, 3 and 41 is adjusted to the GPS time, and 4096 is set based on each second.
The time slot is decided by time division.

Each of the slave stations 2 and 3 and the master station 41 uses a counter COUNT for time measurement, and each time slot start timing (every 1 second of GPS time).
Then, the counter COUNT is started and stopped at the pulse reception timing, and the pulse transmission time from the controlled object 1 is measured by converting the count value into time. The time information measured by each slave station 2 and 3 is collected by the master station 41, and the controlled object 1 that has transmitted the pulse 1
Is used for positioning calculation.

Here, the basic concept of the positioning calculation processing will be described with reference to FIG.

In FIG. 9, S1 is the first slave station 2, S2 is the second slave station 3, and M is the master station 41.

Now, a pulse signal is sent from the controlled object 1, and the measurement times at S1, S2, and M are Ts1, T, respectively.
s2, Tm. Considering the time difference Tm-Ts1 (= TLa) at each position of S1 and m, the locus of the position that can be the time difference TLa between S1 and m becomes like a hyperbola A. Similarly, considering the time difference Tm-Ts2 (= TLb) at each position of S2 and m, S2 and m
The locus of positions that can be the time difference TLb between and is
become that way.

As is apparent from the figure, the intersection of the hyperbolas A and B corresponds to the position of the controlled object 1. Each slave station S
Since the positions of 1, S2 and the master station M are known, and the pulse transmission radio wave is equal to the speed of light C, the functions of the hyperbolas A and B and the positions of their intersections can be calculated.
That is, the LOPs (line of position) a and LOPb of the hyperbolas A and B are expressed as LOPa = TLa × C LOPb = TLb × C, where C is the speed of light.

However, in actuality, the time synchronization of the controlled object 1, the slave stations 2 and 3, and the master station 41 is completely GPS.
It is difficult to match the time with each other, and some errors occur in the pulse signal transmission time and the count start timing. These errors are the positioning accuracy of this system. FIG. 10 shows the transmission / reception timing relationship of pulse signals.

In FIG. 10, TG is the start timing of the time slot managed by GPS time, and the pulse transmission timing of the controlled object 1 is delayed by δt from TG as shown in FIG. The count start timing is delayed by δts as shown in FIG. 10B, and the count start timing of the master station is shown in FIG.
It is assumed that there is a delay of δtm as shown in (c).

In this case, the measurement time of the slave station is Ts.
1. If the measurement time of the master station is Tm, the time difference TL between them becomes TL = (Tm-Ts) + (δtm-δts), and (δtm-δts) is the deterioration amount of accuracy.

However, a point to be noted here is that the LOP error, that is, the positioning error, is not related to the pulse transmission time error (or GPS time error) δt of the controlled object. Since the LOP error is (δt−δts) and each value is a variance value, it can be accurately expressed as {(δtm) ² + (δts) ² } ^1/2 .

In any case, the time measurement error of the master station and the slave station can be made to be negligible with respect to the positioning accuracy by a technique such as GPS common view.

The positioning data of the controlled object obtained by the above processing is sent to the monitoring subsystem 42 together with the information of GPS time and pulse reception time. The monitoring subsystem 42 determines the corresponding time slot number from the pulse reception time, calculates the SSR code corresponding to that number, and edits the target report. Further, the type is determined by the correlation processing with the monitoring file, and after the tracking processing, the display data is created together with the positioning data, the type data, and the airport surface map data, and the display data is provided to the controller by the PPI display.

Therefore, according to the controlled object monitoring system having the above-mentioned configuration, it is possible to acquire the positioning data of a large number of controlled objects in the airport plane in a short time and with high accuracy through a small number of communication lines. Moreover, since the SSR code generator already installed in the aircraft is used, the burden on the controlled object is small, and a significant cost reduction is expected in its implementation.

In particular, there is no need to transmit anything from the control facility to the controlled facility, and since only the pulse signal needs to be transmitted from the controlled facility to the controlled facility, the monitoring cycle can be set in a relatively short time. Positioning information of many controlled objects can be collected and displayed.

Further, in the monitoring system having the above configuration,
Since the GPS time is used as a reference, it is possible to easily and highly accurately match the management times of all the controlled objects and the controlled facilities, and thereby to realize accurate time slot allocation.

Further, by adopting the LORAN system, it becomes possible to obtain highly accurate positioning data (on the order of 1 m) on the master station side, whereby the control facility side receives the pulse signal from each controlled object. By doing so, high-precision mapping display becomes possible, and it can be fully utilized for monitoring the controlled object.

Furthermore, the above-mentioned monitoring system needs to use only one frequency for transmitting the pulse signal, and is extremely effective when frequency allocation is difficult. The communication line from the slave station to the master station is preferably high-speed communication equipment such as optical communication, but even existing communication lines can withstand the delay if the line transmission time is taken into consideration in advance. .

By the way, in the above embodiment, the time required for pulse transmission / reception is measured at each of the first and second slave stations.
The system can be simplified, which is even more effective.
The configurations of the slave station 2 and the master station 41 in this case are shown in FIGS. 11 and 12, respectively, and will be described as a second embodiment. In FIGS. 11 and 12, the same parts as those in FIGS. 2 and 3 are designated by the same reference numerals, and the description thereof will be omitted.

FIG. 11 shows the configuration of the first slave station 2. This slave station 2 has a VHF antenna 21.
3, the VHF receiver 214 and the reception pulse transfer device 217 are provided. When the VHF receiver 214 receives the pulse signal transmitted from the controlled object 1 through the VHF antenna 213, the transfer device 217 transmits the pulse signal to a predetermined communication line. Through the master station 41. The configuration of the second slave station 3 is similar.

FIG. 12 specifically shows the configuration of the master station 41, particularly the time measuring device 415. The time measuring device 415 has first to third counters COUNT1 to COUNT1.
3 and all counters COUNT1 to COUNT1 at the same time at the start timing of each time slot calculated from the GPS time.
3 count is started and the first counter COUNT
T1 is stopped at the pulse reception timing at the master station 41, and the second and third counters COUNT2 and COUNT3 are stopped at the detection timing of the pulse signals transferred from the first and second slave stations 2 and 3. This makes the first
The counter can measure the pulse transmission time at the master station 41, and the second and third counters can measure the pulse transmission time at each slave station. The subsequent processing is the same as in the first embodiment.

In the above configuration, each slave station 2, 3
However, it is not necessary to manage the time, but it is necessary to consider the device delay from pulse reception to pulse transfer and the transfer delay from the slave stations 2 and 3 to the master station 41. FIG. 13 shows the pulse signal transmission / reception timing relationship for description.

In FIG. 13, TG is the start timing of the time slot managed by GPS time, and the pulse transmission timing of the controlled object 1 is delayed by δt from TG as shown in FIG. As shown in FIG. 13B, the slave station receives the signal from the TG after Ts time, and FIG.
It is assumed that the data is transferred and output after the dt time has elapsed as shown in FIG. 13C, and is received by the master station after the dts time has elapsed as shown in FIG. 13D. Further, as shown in FIG. 13D, it is assumed that the master station directly receives the pulse signal after Tm time from TG.

In this case, the time measured by the counter of the master station is Tm- (Ts + dt + dts). Therefore, the time difference TL between the reception time at the slave station and the reception time at the master station for the same pulse signal is TL = Tm-Ts = tsm + dt + dts. Here, the device delay time dt and the transfer delay time dts at the slave station can be obtained in advance by measurement.

Therefore, if the device delay time and the transfer delay time are measured in advance for each slave station 2 and 3, and the master station 4 cancels them, an accurate time difference between the slave and the master can be obtained. You can get information.

According to this configuration, as compared with the first embodiment, it is not necessary for the slave station to manage the time, so that the configuration of the slave station can be simplified, and the master station can collectively manage the time. Since the time is measured, it is not necessary to consider the time slot error, and more accurate positioning data can be obtained.

In each of the above embodiments, the case where the number of slave stations is two has been described, but a larger number of slave stations may be arranged according to the monitoring area, the position of the building, and the like. In this case, each processing can be realized in exactly the same manner as the above-mentioned embodiment.

Further, the case of monitoring the position of an aircraft or a vehicle on the airport side has been described, but the present invention is not limited to this. Position monitoring of a ship in a port, position monitoring of a tank or the like in a shooting range, etc. It can also be applied to. Needless to say, various modifications can be made in the same manner without departing from the scope of the present invention.

[0078]

As described above, according to the present invention, it is possible to obtain the position information of a large number of controlled objects in the controlled area with a small number of communication lines in a short time and with high accuracy, and the controlled objects can be controlled. It is possible to provide a controlled system for a controlled object that imposes less burden on the user.

[Brief description of drawings]

FIG. 1 is a first control target monitoring system according to the present invention.
3 is a block diagram showing the configuration of the embodiment of FIG.

FIG. 2 is a block diagram showing a specific configuration of a controlled upper subsystem of the above embodiment.

FIG. 3 is a block diagram showing a specific configuration of a slave station of the above embodiment.

FIG. 4 is a block diagram showing a specific configuration of a master station of the above embodiment.

FIG. 5 is a block diagram showing a specific configuration of the monitoring subsystem of the above embodiment.

FIG. 6 is a block diagram showing a specific configuration of the target detection apparatus of the above embodiment.

FIG. 7 is a block diagram showing a specific configuration of the monitoring processor of the above embodiment.

FIG. 8 is a diagram for explaining the relationship between time slots and SSR codes in the airport surface monitoring cycle of the above embodiment.

FIG. 9 is a diagram for explaining the basic concept of the positioning calculation process of the above embodiment.

FIG. 10 is a diagram showing a transmission / reception timing relationship of a pulse signal in order to explain a positioning error in the above embodiment.

FIG. 11 is a block diagram showing a specific configuration of a slave station according to a second embodiment of the present invention.

FIG. 12 is a block diagram showing a specific configuration of a master station of the above embodiment.

FIG. 13 is a diagram showing a transmission / reception timing relationship of pulse signals in order to explain the positioning error in the above-described embodiment.

[Explanation of symbols]

1 ... Controlled object, 2, 3 ... Slave station, 4 ... Control facility,
41 ... Master station, 42 ... Monitoring subsystem, 5 ... GPS
Satellites, 11 ... Subsystems to be controlled, 111 ... G
PS antenna, 112 ... GPS receiver, 113 ... SSR
Code generator, 114 ... Transmission time management device, 115 ... Pulse generator, 116 ... VHF transmitter, 117 ... VHF antenna, 211 ... GPS antenna, 212 ... GPS receiver, 213 ... VHF antenna, 214 ... VHF receiver,
215 ... Time measuring device, 216 ... Communication line output device, 2
17 ... Received pulse transfer device. COUNT ... counter, 4
11 ... GPS antenna, 412 ... GPS receiver, 413
... VHF antenna, 414 ... VHF receiver, 415 ... Time measuring device, 416 ... Communication line input device, 417 ... Positioning calculation device, 421 ... Target detection device, 422 ... Monitoring processor, 423 ... Display device, i ... Time slot management Department,
j ... SSR code discrimination processing section, k ... SSR code allocation table, l ... Target report editing processing section, m ... Output processing section, n ... Other facility monitoring data communication processing section, o ... Monitoring file storage section, p ... Target report Input processing unit,
q ... Correlation processing unit, r ... Tracking processing unit, s ... Monitoring file update processing unit, t ... Airport data file storage unit, u ... Display data edit processing unit, v ... Display data output unit, COUNT1
~ 3 ... Counter.

─────────────────────────────────────────────────── ─── Continuation of the front page (51) Int.Cl. ⁶ Identification code Office reference number FI Technical display location G08G 5/04 A 7531-3H 5/06 A 7531-3H H04B 7/15 H04Q 7/34 H04L 12 / 00 H04Q 9/00 9466-5K H04L 11/00 (72) Inventor Yunen Nagano 1 Komukai Toshiba Town, Komukai-ku, Kawasaki-shi, Kanagawa Prefecture Kobayashi Factory, Toshiba Corporation (72) Inventor Masataka Oka Kanagawa Prefecture Komukai Toshiba Town No. 1 Komukai-shi, Kawasaki City

Claims (7)

[Claims] 1. A controlled object monitoring system for monitoring the positions of a plurality of controlled objects existing in a controlled area on the side of a controlled facility, wherein a plurality of identification codes prepared in advance for all of the plurality of controlled objects are provided. In a system in which one of the identification codes is assigned, the time slot is determined by time-division at least the number of the identification codes while managing the monitoring cycle at the reference time, and the plurality of identification codes are assigned to different time slots. A time management unit that is mounted on each of the plurality of controlled objects, acquires the reference time information and manages the time based on the reference time, and assigns an identification code of itself from the time managed based on the reference time. The pulse signal transmitter that determines the start timing of the specified time slot and sends the pulse signal of a predetermined frequency at that timing. A subsystem to be controlled and a pulse signal receiving means for receiving pulse signals sent from the plurality of controlled objects, which are respectively arranged at different known positions in the controlled area, and the reference time information. A plurality of slave stations including a time management unit that acquires and manages the time based on the reference time, and a time measurement unit that measures the time from the slot start timing to the pulse signal reception timing for each time slot, and the control area Pulse signal receiving means arranged at a known position different from the plurality of slave stations, receiving pulse signals transmitted from the plurality of controlled objects, acquiring the reference time information, and obtaining a time based on the reference time. Time management means for managing the pulse signal of the pulse signal from the slot start timing for each time slot. Time measurement means for measuring the time to the reception timing, and each measurement time information is received from the plurality of slave stations, for each measurement time to obtain the time difference from its own measurement time, the time difference between each slave station A master station having position calculation means for calculating a hyperbolic function indicating a possible trajectory and calculating a position of an intersection of at least two hyperbolas; and a master station obtained at the master station at each monitoring cycle at the management facility. In addition to acquiring the intersection position of the hyperbola as the position information of the controlled object that is the transmission source, the identification code is calculated from the received time slot and the corresponding controlled object type is calculated and displayed. A characteristic monitoring system for controlled objects. 2. The time measuring means of each of the plurality of slave stations and the master station starts the counter at the start timing of each time slot and stops the counter at the pulse signal reception timing to measure the time. The controlled object monitoring system according to claim 1, wherein: 3. The time management means provided in each of the controlled subsystem, the plurality of slave stations, and the master station uses a time managed by a navigation satellite used by a satellite navigation device as a reference time. The controlled system according to claim 1, wherein the controlled system is a controlled system. 4. A controlled object monitoring system for monitoring the positions of a plurality of controlled objects existing in a controlled area at a control facility side, wherein a plurality of identification codes prepared in advance for all of the plurality of controlled objects are provided. In a system in which one of the identification codes is assigned, the time slot is determined by time-division at least the number of the identification codes while managing the monitoring cycle at the reference time, and the plurality of identification codes are assigned to different time slots. A time management unit that is mounted on each of the plurality of controlled objects, acquires the reference time information and manages the time based on the reference time, and assigns an identification code of itself from the time managed based on the reference time. The pulse signal transmitter that determines the start timing of the specified time slot and sends the pulse signal of a predetermined frequency at that timing. A controlled object subsystem, and pulse signal receiving means for receiving pulse signals transmitted from the plurality of controlled objects, which are respectively arranged at different known positions in the controlled area, and are obtained by this means. A slave station having pulse signal transfer means for immediately transferring the received pulse signal, and a pulse signal transmitted from the plurality of controlled objects, which are arranged at known positions different from the plurality of slave stations in the controlled area. Pulse signal receiving means for receiving the reference time information, time management means for acquiring the reference time information and managing time based on the reference time, and measuring time from the slot start timing to the pulse signal reception timing for each time slot. From the plurality of slave stations from the slot start timing for each time slot Second time measuring means for measuring the time until the input timing of the pulse signal to be sent, the measured time obtained by the first time measuring means for each time slot, and the second time measuring means for each slave station. A hyperbolic function showing a locus capable of taking the time difference between each slave station and the obtained measurement time, and a master station having a position calculating means for calculating the position of the intersection of at least two hyperbolas. In the management facility, the intersection position of the hyperbola obtained in the master station for each monitoring cycle is acquired as the position information of the controlled object that is the transmission source, and the identification code is calculated from the time slot in which the reception is performed. A controlled object monitoring system, characterized in that a corresponding controlled object type is obtained and displayed. 5. The time measuring means of the master station starts the counter at the start timing of each time slot, and the counter of the counter starts at its own pulse signal reception timing and the pulse signal reception timing transferred from each slave station. The controlled system monitoring system according to claim 3, wherein the time is measured by taking out the count value. 6. The time management means provided in each of the controlled subsystem and the master station uses a time managed by a navigation satellite used by a satellite navigation device as a reference time. 4. The controlled system for controlled objects according to 4. 7. The controlled object monitoring system according to claim 1, wherein the identification code is an SSR code.