DE19626645A1

DE19626645A1 - Automatic system for continuous discovery, measurement and following of movable object tracks

Info

Publication number: DE19626645A1
Application number: DE1996126645
Authority: DE
Inventors: Juergen Fryen
Original assignee: Individual
Current assignee: Individual
Priority date: 1996-03-19
Filing date: 1996-05-07
Publication date: 1997-12-04

Abstract

The system operates similarly to a digital scanning system to detect and track the position changes, direction and speed of movable objects or people, or even several dislocated targets. A cylindrical detection range of up to 360 degrees is scanned with an optoelectronic sensor, with several spectral ranges, continually and cyclically about an axis. The intensity variations determined over the circumference are registered and searched by suitable correlation with successive cycles. and interpreted as target candidates, registered and followed. The connection from the sensor to the target candidate is interpreted as a continuous directional beam tracking the target. The beam angles are determined from the ratio of the propagation time between an intensity track and the beam direction, to the total time between two reference intensity tracks. At least one further equivalent sensor system forms search beams to seek a target candidate. A candidate is interpreted as a target by the search beams and the target location is determined from the point of intersection of the directional beams at a given time. By tracking the location over time, the track of the target can be determined.

Description

Die Zusatzerfindung stellt eine weitere Ausbildung des Gegenstandes der Patentanmeldung Az. 196 10 770.9 (Hauptpatentanmeldung) vom 19.3.96 dar.The additional invention represents a further development of the subject of Patent application Az. 196 10 770.9 (main patent application) dated March 19, 1996.

Sie bezieht sich auf ein System zum automatischen und kontinuierlichen Entdecken, Vermessen und Verfolgen von Spuren beweglicher, auch mehrerer dislozierter Objekte/Personen (Ziele), wie in den Patentansprüchen 1 und 2 der Hauptpatentanmeldung angesprochen.It refers to a system for automatic and continuous Discovery, measurement and tracking of traces of moving, also several displaced Objects / people (targets), as in claims 1 and 2 of the Main patent application addressed.

Zweck der Erfindung, Stand der Technik und technische Aufgabe sind in der Hauptpatentanmeldung weitgehend beschrieben.Purpose of the invention, prior art and technical task are in the Main patent application largely described.

Die Aufgaben der Erfindung werden gelöst mit Hilfe passiver, optronischer Sensoren (Sensorsystem). Dieses kann in einem Spektralbereich, aber auch, wenn es die Aufgabenstellung erfordert, in mehreren arbeiten, vom ultravioletten bis zum infraroten Bereich.The objects of the invention are achieved with the aid of passive, optronic sensors (Sensor system). This can be in a spectral range, but also if it is The task requires, in several works, from the ultraviolet to the infrared Area.

Das einzelne Sensorsystem tastet zyklisch um eine Achse einen Winkelbereich bis zu 360 Grad in bis zu einer aufgabenmäßig hinreichender Entfernung ab. Dadurch bildet sich ein zylinderartiger Erfassungsbereich ähnlich dem Beleuchtungsbereich eines Leuchtturmes.The individual sensor system cyclically scans an angular range up to 360 around an axis Degrees up to a sufficient distance from the task. This creates an impression cylindrical detection area similar to the lighting area of a lighthouse.

Für das automatische Entdecken von Zielen in diesem Erfassungsbereich wird die systemgemäße Randbedingung genutzt, daß für den verfolgten Zweck nur das Entdecken von solchen Zielen von Interesse ist, die ihre Position verändern, also sich bewegen. Diese sich bewegenden Ziele stellen sich neben Festzielen als Intensitätsschwankungen auf dem Umfang des Erfassungsbereiches für das Sensorsystem dar. Die Entfernung von dem Sensorsystem innerhalb des Erfassungsbereiches wird von einem einzelnen Sensorsystem nicht diskriminiert und spielt für den Entdeckungsvorgang keine Rolle.For the automatic detection of targets in this detection area, the systematic boundary condition used that only the discovery for the pursued purpose is of interest to those goals that change their position, i.e. move. In addition to fixed targets, these moving targets are fluctuations in intensity on the scope of the detection range for the sensor system. The distance from the sensor system within the detection area is controlled by an individual Sensor system is not discriminated and plays no role in the discovery process.

Bewegliche Ziele unterscheiden sich nun von Festzielen dadurch, daß die von ihnen erzeugten Intensitätsschwankungen auf dem Umfang des zylinderartigen Bereiches wandern. Nur solche werden als Zielanwärter betrachtet und von da ab laufend registriert.Movable targets now differ from fixed targets in that they are generated intensity fluctuations on the circumference of the cylinder-like area hike. Only those are considered as target candidates and are continuously registered from then on.

Die Bewegung auf dem Umfang kann durch geeignete Korrelation sukzessiver Zyklen ermittelt werden. The movement on the circumference can be done by appropriate correlation of successive cycles be determined.

Der zyklische Abtastvorgang des Sensorsystems wird durch diesen Vorgang nicht unterbrochen, so daß sowohl ein Zielanwärter ständig weiter verfolgt werden kann, als auch weitere Zielanwärter über den Umfang des Erfassungsbereiches ermittelt werden können. Ferner wird ein einmal identifizierter Zielanwärter auch dann weiter kontrolliert/beobachtet, wenn er sich nicht mehr bewegen sollte.The cyclic scanning process of the sensor system is not affected by this process interrupted, so that both a target candidate can be constantly pursued, as well further target candidates can be determined over the scope of the detection area. Furthermore, once a target candidate has been identified, it continues controls / observes when he should no longer move.

Die mit dem Abtastvorgang zyklisch repetierende virtuelle Verbindungslinie Sensorsystem-Zielanwärter wird als kontinuierlich gesetzter und dem Zielanwarter folgender Richtstrahl zum jeweiligen Zielanwärter interpretiert.The virtual connection line between sensor system and target candidate that repeats cyclically with the scanning process is set as a continuously set beam that follows the target expectant interpreted to the respective target candidate.

Ein weiteres Merkmal der Erfindung ist, daß der Winkel eines Richtstrahles bezüglich einer Referenzrichtung ermittelt wird aus dem Verhältnis der Teilumlaufzeit zwischen einem künstlich generierten, die Referenzrichtung repräsentierenden Intensitätssprung im Sensorsystem,der sich eindeutig von allen natürlich auftauchenden unterscheidet und dem Richtstrahl zur Gesamtabtastzeit zwischen zwei Referenzsprüngen.Another feature of the invention is that the angle of a directional beam with respect to a The reference direction is determined from the ratio of the partial orbital period between one artificially generated intensity jump representing the reference direction in the Sensor system that clearly differs from all naturally occurring and that Directional beam at the total sampling time between two reference jumps.

Zur Vermessung des Zielanwärters werden die Richtstrahldaten des entdeckenden Sensorsystems mindestens an ein weiteres, vom entdeckenden Sensorsystem disloziertes (dritte Sensorsysteme) weitergegeben (funktionell gesehen).To measure the target candidate, the directional beam data of the discovering Sensor system at least one other, dislocated by the discovering sensor system (third sensor systems) passed on (functionally speaking).

Diese dritten Sensorsysteme bilden nun einen virtuellen Suchstrahl entsprechend der Formierung eines Richtstrahles und suchen, ausgehend von den Koordinaten des entdeckenden Sensorsystems, virtuell auf dessen Richtstrahl fortlaufend ebenfalls einen Zielanwärter.These third sensor systems now form a virtual search beam corresponding to the Form a directional beam and search, starting from the coordinates of the discovering sensor system, virtually also continuously on its beam Target contender.

Mit Finden eines Zielanwärters durch dritte Sensorsysteme, der auf dem Richtstrahl des entdeckenden liegt,wird dieser Zielanwärter als Ziel gewertet, der jeweilige Suchstrahl des dritten Sensorsystems zum Richtstrahl uminterpretiert und aus dem jeweiligen Schnittpunkt zweier (oder mehrerer) Richtstrahlen der jeweilige Ort des Zieles ermittelt.By finding a target candidate through third sensor systems, which is on the beam of the discovering lies, this target candidate is counted as target, the respective search beam of the third sensor system reinterpreted as a directional beam and from the respective intersection two (or more) directional beams determine the respective location of the target.

Aus der Folge der Schnittpunkte der dem Ziel folgenden Richtstrahlen ergibt sich die Spur des Zieles.The trace results from the sequence of the intersections of the directional beams following the target of the goal.

Claims

1. System for automatic and continuous (system-oriented sufficient in the sense of digital scanning systems) discovery, measurement and tracking of tracks (changes in position, directions, speeds) of moving, also several dislocated objects / people (targets) according to patent claims 1 and 2 of Az. 19610770.9 , characterized,
that with passive optronic sensors (sensor system) in up to several spectral ranges, a cylinder-like detection range of up to 360 degrees of angle is continuously scanned,
that the intensity fluctuations determined over the scope of the detected area are registered in the spectral areas,
that the registered intensity fluctuations are searched for by suitable correlation with those of successive cycles for intensity fluctuations traveling on the circumference and that these are interpreted as target candidates, registered and followed up,
that the connecting lines between the sensor system and the target candidate are interpreted as a continuously set directional beam following the target candidate, and angles of directional beams with respect to a reference direction are determined from the ratio of the partial circulation time between an artificially generated intensity jump marking the reference direction and the directional beam at the total time between two reference intensity jumps ( a total swivel),
that from at least one other equivalent, displaced sensor system (third sensor systems) after a target candidate notification from the discovering sensor system and the transmission of relevant directional beam data from third sensor systems in accordance with the formation of a directional beam, search beams are formed with which, starting from the coordinates of the discovering sensor system, virtually running on its directional beam the third sensor systems are also looking for a target candidate,
that such a target candidate, found by third sensor systems and lying on the directional beam of the discovering sensor system, is evaluated as targets, the search beams of the third sensor systems are interpreted as directional beams and determines the respective locations of the targets from the intersection of the directional beams at a point in time, and from the traces of these destinations can be determined from the chronological sequence of these locations.

2. System according to claim 1, characterized in that in the case of the identification of several targets on the directional beam of the primary discoverer Sensor systems through third sensor systems these goals through further monitoring and Plausibility check for one, the actual goal can be reduced.

3. System according to claims 1 and 2, characterized in that sensor system reference directions are placed in detection-neutral angle ranges will.