EP1119776A1 - Radar device - Google Patents

Radar device

Info

Publication number
EP1119776A1
EP1119776A1 EP99934676A EP99934676A EP1119776A1 EP 1119776 A1 EP1119776 A1 EP 1119776A1 EP 99934676 A EP99934676 A EP 99934676A EP 99934676 A EP99934676 A EP 99934676A EP 1119776 A1 EP1119776 A1 EP 1119776A1
Authority
EP
European Patent Office
Prior art keywords
target
radar
radar device
magnifying glass
image
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Withdrawn
Application number
EP99934676A
Other languages
German (de)
French (fr)
Inventor
Wilfried Frerichs
Peter STÖCKIGT
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Wartsila SAM Electronics GmbH
Original Assignee
STN Atlas Marine Electronics GmbH
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by STN Atlas Marine Electronics GmbH filed Critical STN Atlas Marine Electronics GmbH
Publication of EP1119776A1 publication Critical patent/EP1119776A1/en
Withdrawn legal-status Critical Current

Links

Classifications

    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04—Display arrangements
    • G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
    • G01S7/24—Cathode-ray tube displays or other two dimensional or three-dimensional displays the display being orientated or displaced in accordance with movement of object carrying the transmitting and receiving apparatus, e.g. true-motion radar
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/04—Display arrangements
    • G01S7/06—Cathode-ray tube displays or other two dimensional or three-dimensional displays
    • G01S7/064—Cathode-ray tube displays or other two dimensional or three-dimensional displays using a display memory for image processing
    • G01S7/066—Cathode-ray tube displays or other two dimensional or three-dimensional displays using a display memory for image processing with means for showing the history of the radar trails, e.g. artificial remanence

Definitions

  • the invention relates to a radar device of the type defined in the preamble of claim 1.
  • the targets detected by the radar are automatically tracked.
  • Course and speed information is superimposed in graphic form on the radar image and output in alphanumeric form.
  • a collision calculation determines whether a moving target is dangerous to your ship. In such a case, an alarm will sound and the target data will automatically appear on the screen.
  • the navigator To avoid a collision, the navigator must observe the target to determine whether it is maneuvering or not.
  • the detection of a risk of collision is usually carried out in the so-called "relative display” (relative motion), since it is possible to work with the "stationary bearing” method.
  • the invention has for its object to offer a help to the navigator in a radar device of the type mentioned at the outset, which enables him to better recognize maneuvers of a target and thus to better estimate the target behavior without a - albeit temporary - loss of information regarding. of the usual scenario has to be accepted.
  • the radar device has the advantage that, in addition to the radar image, the representation of the image section around the tracked target is enlarged in a magnifying window arranged next to the radar picture and by carrying the picture section with the aim of observing the maneuvering behavior of the tracked target very precisely and at the same time the scenario in which the radar image can be continuously kept up to date.
  • the navigator thus receives reliable information about possible collision possibilities very quickly and without the need for further preparation and considerations and can take suitable measures at an early stage.
  • the magnifying glass window offers the possibility of displaying the image section in a mode other than that of the radar image, for example in true motion, while the radar image is visible in the relative motion mode, so that the navigator can simultaneously perform the maneuver of the ship that is independent of his Target as well as the impact of this maneuver on the collision course (change in the bearing) and can make his navigational decisions much earlier.
  • the current target position as well as previous target positions are shown in the radar image and in the magnifying glass window as an afterglow trail characterizing the seniority.
  • Such trailing trails which clarify the immediate history of the current target position, bring the navigator a considerable gain in information about the target behavior.
  • a particularly impressive way of displaying such an afterglow trail is obtained according to a further embodiment of the invention in that the current target position is visible by activating a predetermined number of pixels covering a contiguous area and the temporally preceding target positions with a decreasing number of pixels with seniority can be displayed within this area.
  • target positions are shown with decreasing density depending on their seniority or age. The older the target position displayed, the less closed is the area marking the target position.
  • the target positions in the magnifying glass are shown in an earth-fixed reference system (true motion), which is shifted with the target movement so that the current target position is always at the same point, preferably in the middle, of the Magnifying glass remains.
  • a display allows the target maneuvers to be recognized and tracked very precisely.
  • a collision computer which compares the course of the ship of one's own with the course of the at least one pursued target and generates a signal if there is a risk of collision.
  • the computer signal initiates the display of the image section in the magnifying window in relation to the target causing the collision.
  • This collision calculator releases the navigator from detecting the target that is on a collision course.
  • the signal issued by the computer in the event of a collision not only gives the navigator a warning of the possible collision, but also automatically switches the image content of the magnifying glass display to the target that is endangering the ship of his own and is on a collision course.
  • 1 shows a block diagram of a radar device
  • Fig. 2 is an enlarged view of and 3 on the screen of the radar in
  • the radar device shown in the block diagram in FIG. 1 has, in a known manner, a rotating radar antenna 10 with which targets are detected according to the principle of retroreflection detection.
  • Each retroreflection or radar signal received with the antenna 10 is fed to a receiving device 11, there accordingly processed and reaches an image processor 12, which represents the position of the target in a radar image 14 shown on a screen 13.
  • an image processor 12 represents the position of the target in a radar image 14 shown on a screen 13.
  • the positions of the ship carrying the radar device hereinafter referred to as own vehicle or own ship, are also shown in the radar image 14.
  • the radar device has a device 15 for automatic target tracking and a collision computer 16, which compares the course of the ship of one's own with the course of the targets being tracked and generates a signal if there is a risk of collision.
  • a magnifying glass window 17 is visible on the radar or screen 13, in which an image section of the radar image 14 is shown enlarged around a tracked target. This image section in the magnifying glass window 17 is changed depending on the movement of the target.
  • a radar image 14 and a magnifying glass window 17 are shown enlarged in FIG. 2 for an arbitrarily chosen scenario.
  • the radar image 14 is shown in the so-called relative motion mode, that is to say the positions of detected targets are shown in a reference system which relates to the own ship. Therefore, the proprietary ship, identified by 20 in FIG. 2, is always on the radar image 14 at a fixed point, here in the middle of the radar image 14.
  • the radar image of FIG. 2 three different targets are detected by the radar device, which means the automatic target tracking device 15 can be tracked over a longer period of time.
  • the radar image 14 is renewed, the current position of the targets 21 to 23 being shown on the one hand, and previous target positions of the targets 21 to 23 on the other hand as an afterglow trail 24 characterizing the seniority are shown, so that with the help of this afterglow trail 24 the positions of the targets 21 to 23, which change over time, can be easily surveyed.
  • the display of the afterglow trail 24 at the individual targets 21 to 23 takes place in such a way that the current target position of the targets 21-23 by activating a predetermined number of pixels covering a coherent area on the radar image 14 and the temporally preceding target positions with one with the Priority decreasing number of pixels are visible within this area.
  • This is illustrated in the radar image 14 of FIG. 2 in that the current target position is covered with a black area which is interrupted point by point at the previous target positions. The older the target position shown, the larger the cut-outs in the closed area, so that a dot pattern is created for the previous target positions, which becomes lighter as the target position ages.
  • the collision computer 16 compares the course of the own ship with the course of the pursued targets and generates a signal if there is a risk of a collision.
  • the signal is used to trigger the representation of the image section in the magnifying glass window 17 in relation to the target causing the risk of collision.
  • a target running on a collision course is distinguished by a so-called standing bearing. This standing bearing is given with respect to target 23. Accordingly, an image section around the target 23 lying on the collision course is now shown enlarged in the magnifying glass window 17, and this image section is changed as a function of the target movement, in other words, the magnifying glass window is displaced with the target 23.
  • the target positions of the target 23 are shown in the same way as in the radar image 14 in a reference system related to the vehicle 20.
  • the magnifying glass 17, more precisely, the image section in the magnifying window 17, is shifted as a function of the target movement, i.e. is carried along with the target 23, the current position of the target 23 always remains in the same position within the magnifying window 17, and the afterglow trail 24 extends with increasing history.
  • the navigator can use the length of the afterglow trail 24 to estimate the speed of the target 23 traveling on a collision course.
  • the navigator now has the option of switching the representation of the image section in the magnifying window 17 into the so-called true motion mode, regardless of the type of representation in which the radar image 14 is displayed.
  • This switching of the magnifying glass is illustrated in FIG. 3. While the radar image 14 is still shown in the relative motion mode, the target positions of the target 23 are shown in the magnifying window 17 in relation to an earth-fixed reference system, which e.g. can be done in that the natural speed of the ship is compensated in the radar signals received by the radar antenna 10.
  • the reference system is shifted with the movement of the target 23, so that the current target position always remains at the same location within the magnifying glass window 17, here in the middle of the magnifying glass window 17.
  • This representation has the advantage that the navigator in the magnifying window 17 can immediately recognize a maneuver carried out by the target 23, so that he can adjust his own navigation accordingly.

Landscapes

  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Magnetic Resonance Imaging Apparatus (AREA)

Abstract

The invention relates to a radar device with a screen (13) representing the positions of a craft (20) fitted with said radar device and the positions of foreign crafts or targets (21-23) in a reference system, and a device (15) for automatic tracking of at least one target (21-23). A magnifying window (17) is visible on the screen (13) as an aid to the navigator in order to provide said navigator with better and earlier identification of the manoeuvres of a target without incurring any information loss with respect to the usual scenario. Said magnifying window contains an enlarged section of the radar image (14) around the tracked target (23), whereby said image section is modified according to the movement of the target.

Description

BESCHREIBUNG DESCRIPTION
RadargerätRadar
Die Erfindung betrifft ein Radargerät der im Oberbegriff des Patentanspruchs 1 definierten Gattung.The invention relates to a radar device of the type defined in the preamble of claim 1.
Bei einem bekannten Radargerät dieser Art werden die vom Radar erfaßten Ziele automatisch verfolgt. Kurs- und Geschwindigkeitsinformationen werden in graphischer Form dem Radarbild überlagert und in alphanumerischer Form ausgegeben. Durch eine Kollisionsrechnung wird festgestellt, ob ein sich bewegendes Ziel dem eigenen Schiff gefährlich wird. In einem solchen Fall wird ein Alarm ausgegeben und die Zieldaten erscheinen automatisch auf dem Bildschirm. Zur Vermeidung einer Kollision, muß der Nautiker das Ziel beobachten, um festzustellen, ob es Manöver durchführt oder nicht. Die Erkennung einer Kollisionsgefahr wird üblicherweise in der sog. "relativen Darstellung" (relative motion) durchgeführt, da dabei mit dem Verfahren der "stehenden Peilung" gearbeitet werden kann. Die Beobachtung, ob ein Fremdschiff manövriert, wird aber üblicherweise in der sog. "true Darstellung" (true motion) durchgeführt, da dann die Manöver des Eigenschiffes keinen Einfluß auf die Darstellung des Ziels, also des Fremdschiffes, haben. Hierzu ist erforderlich, daß der Nautiker das gesamte Radarbild von der Darstellungsart "relative motion" auf "true motion" umschaltet. Werden, was heutzutage üblich ist, verfolgte Ziele mit sog. Nachleuchtschleppen dargestellt, d.h. auch Zielpositionen angezeigt, die der aktuellen Zielposition zeitmäßig vorausgehen, so gehen diese Nachleuchtschleppen in der true motion-Darstellung verloren, was einen wesentlichen Informationsverlust für den Nautiker bedeutet.In a known radar device of this type, the targets detected by the radar are automatically tracked. Course and speed information is superimposed in graphic form on the radar image and output in alphanumeric form. A collision calculation determines whether a moving target is dangerous to your ship. In such a case, an alarm will sound and the target data will automatically appear on the screen. To avoid a collision, the navigator must observe the target to determine whether it is maneuvering or not. The detection of a risk of collision is usually carried out in the so-called "relative display" (relative motion), since it is possible to work with the "stationary bearing" method. The observation of whether a foreign ship is maneuvering, however, is usually carried out in the so-called "true representation" (true motion), since then the maneuvers of the ship of one's own have no influence on the representation of the destination, that is to say the foreign ship. For this it is necessary for the navigator to switch the entire radar image from the "relative motion" display type to "true motion". If what is common today, pursued goals with so-called Afterglow trails are shown, ie target positions are displayed that precede the current target position, so these afterglow trails are lost in the true motion display, which means a significant loss of information for the navigator.
Der Erfindung liegt die Aufgabe zugrunde, bei einem Radargerät der eingangs genannten Art dem Nautiker eine Hilfe anzubieten, die ihm Manöver eines Ziels besser erkennen und damit das Zielverhalten besser abschätzen läßt, ohne daß ein - wenn auch vorübergehender - Informationsverlust bzgl . des üblichen Szenarios in Kauf genommen werden muß.The invention has for its object to offer a help to the navigator in a radar device of the type mentioned at the outset, which enables him to better recognize maneuvers of a target and thus to better estimate the target behavior without a - albeit temporary - loss of information regarding. of the usual scenario has to be accepted.
Die Aufgabe ist erfindungsgemäß durch die Merkmale im Patentanspruch 1 gelöst.The object is achieved by the features in claim 1.
Das erfindungsgemäße Radargerät hat den Vorteil, daß durch die zusätzlich zum Radarbild vergrößerte Darstellung des Bildausschnitts um das verfolgte Ziel herum in einem neben dem Radarbild angeordneten Lupenfenster und durch die Mitführung des Bildausschnitts mit dem Ziel, das Manöververhalten des verfolgten Ziels sehr genau beobachtet und zugleich mit dem Szenario in dem weiter fortlaufend auf dem aktuellen Stand gehaltenenen Radarbild verglichen werden kann. Der Nautiker erhält dadurch sehr schnell und ohne die Notwendigkeit weiterer Aufbereitung und Überlegungen eine zuverlässige Information über evtl. bestehende Kollisionsmöglichkeiten und kann frühzeitig geeignete Maßnahmen treffen. Zudem bietet das Lupenfenster die Möglichkeit, die Darstellung des Bildausschnitts nach einem anderen Modus als die des Radarbilds durchzuführen, z.B. in true motion, während das Radarbild im relative motion-Modus sichtbar ist, so daß der Nautiker zeitgleich sowohl das von seinem Schiff unabhängige Manöver des Ziels als auch die Auswirkungen dieses Manövers auf den Kollisionskurs (Veränderung der stehenden Peilung) beobachten und seine navigatorischen Entschlüsse damit sehr viel frühzeitiger treffen kann.The radar device according to the invention has the advantage that, in addition to the radar image, the representation of the image section around the tracked target is enlarged in a magnifying window arranged next to the radar picture and by carrying the picture section with the aim of observing the maneuvering behavior of the tracked target very precisely and at the same time the scenario in which the radar image can be continuously kept up to date. The navigator thus receives reliable information about possible collision possibilities very quickly and without the need for further preparation and considerations and can take suitable measures at an early stage. In addition, the magnifying glass window offers the possibility of displaying the image section in a mode other than that of the radar image, for example in true motion, while the radar image is visible in the relative motion mode, so that the navigator can simultaneously perform the maneuver of the ship that is independent of his Target as well as the impact of this maneuver on the collision course (change in the bearing) and can make his navigational decisions much earlier.
Zweckmäßige Ausführungsformen des erfindungsgemäßen Radargerätes mit vorteilhaften Weiterbildungen und Ausgestaltungen der Erfindung ergeben sich aus den weiteren Ansprüchen.Expedient embodiments of the radar device according to the invention with advantageous developments and refinements of the invention result from the further claims.
Gemäß einer bevorzugten Ausführungsform der Erfindung sind im Radarbild und im Lupenfenster die aktuelle Zielposition sowie zeitlich vorhergehende Zielpositionen als eine den Zeitrang kennzeichnende Nachleuchtschleppe dargestellt . Solche Nachleuchtschleppen, die die unmittelbare Historie zur aktuellen Zielposition verdeutlichen, bringen dem Nautiker einen erheblichen Informationsgewinn über das Zielverhalten. Eine besonders eindrucksvolle Art der Darstellung einer solchen Nachleuchtschleppe erhält man gemäß einer weiteren Ausführungsform der Erfindung dadurch, daß die aktuelle Zielposition durch Aktivieren einer vorgegebenen Anzahl von eine zusammenhängende Fläche abdeckenden Bildpunkten sichtbar ist und die zeitlich vorhergehenden Zielpositionen mit einer mit dem Zeitrang abnehmenden Anzahl von Bildpunkten innerhalb dieser Fläche dargestellt werden. Hierdurch werden Zielpositionen in Abhängigkeit von ihrem Zeitrang bzw. Alter mit abnehmender Dichte dargestellt. Je älter die jeweils angezeigte Zielposition ist, desto weniger geschlossen ist die die Zielposition markierende Fläche.According to a preferred embodiment of the invention, the current target position as well as previous target positions are shown in the radar image and in the magnifying glass window as an afterglow trail characterizing the seniority. Such trailing trails, which clarify the immediate history of the current target position, bring the navigator a considerable gain in information about the target behavior. A particularly impressive way of displaying such an afterglow trail is obtained according to a further embodiment of the invention in that the current target position is visible by activating a predetermined number of pixels covering a contiguous area and the temporally preceding target positions with a decreasing number of pixels with seniority can be displayed within this area. As a result, target positions are shown with decreasing density depending on their seniority or age. The older the target position displayed, the less closed is the area marking the target position.
Gemäß einer bevorzugten Ausführungsform der Erfindung sind die Zielpositionen im Lupenfenster in einem erdfesten Bezugssystem dargestellt (true motion) , das mit der Zielbewegung so verschoben wird, daß die jeweils aktuelle Zielposition stets an der gleichen Stelle, vorzugsweise in der Mitte, des Lupenfensters verbleibt. Eine solche Darstellung läßt die Zielmanöver sehr genau erkennen und verfolgen.According to a preferred embodiment of the invention, the target positions in the magnifying glass are shown in an earth-fixed reference system (true motion), which is shifted with the target movement so that the current target position is always at the same point, preferably in the middle, of the Magnifying glass remains. Such a display allows the target maneuvers to be recognized and tracked very precisely.
Gemäß einer vorteilhaften Ausführungsform der Erfindugn ist ein Kollisionsrechner vorgesehen, der den Kurs des Eigenschiffs mit dem Kurs des mindestens einen verfolgten Ziels vergleicht und bei Kollisionsgefahr ein Signal generiert. Das Rechnersignal initiiert die Darstellung des Bildausschnitts im Lupenfenster bezogen auf das die Kollisionsgefahr herbeiführende Ziel. Dieser Kollisionsrechner entbindet den Nautiker davon, selbst das Ziel zu detektieren, das auf Kollisionskurs läuft. Das vom Rechner bei Kollisionsgefahr ausgegebene Signal gibt dem Nautiker nicht nur Warnung vor der möglichen Kollision, sondern stellt automatisch den Bildinhalt der Lupendarstellung auf das das Eigenschiff gefährdende, auf Kollisionskurs laufende Ziel um.According to an advantageous embodiment of the invention, a collision computer is provided which compares the course of the ship of one's own with the course of the at least one pursued target and generates a signal if there is a risk of collision. The computer signal initiates the display of the image section in the magnifying window in relation to the target causing the collision. This collision calculator releases the navigator from detecting the target that is on a collision course. The signal issued by the computer in the event of a collision not only gives the navigator a warning of the possible collision, but also automatically switches the image content of the magnifying glass display to the target that is endangering the ship of his own and is on a collision course.
Die Erfindung ist anhand eines in der Zeichnung dargestellten Ausführungsbeispiels im folgenden näher beschrieben. Es zeigen jeweils in schematischer Darstellung:The invention is described below with reference to an embodiment shown in the drawing. Each shows in a schematic representation:
Fig.l ein Blockschaltbild eines Radargerätes,1 shows a block diagram of a radar device,
Fig. 2 jeweils eine vergrößere Darstellung des und 3 auf dem Bildschirm des Radargerätes inFig. 2 is an enlarged view of and 3 on the screen of the radar in
Fig. 1 zu sehenden Radarbilds undFig. 1 to see radar image and
Lupenfensters .Magnifying glass.
Das in Fig. 1 im Blockschaltbild dargestellte Radargerät weist in bekannter Weise eine rotierende Radarantenne 10 auf, mit welcher Ziele nach dem Prinzip der Rückstrahlortung erfaßt werden. Jedes mit der Antenne 10 empfangene Ruckstrahlortungs- oder Radarsignal wird einer Empfangseinrichtung 11 zugeführt, dort entsprechend aufbereitet und gelangt zu einem Bildprozessor 12, der die Position des Ziels in einem auf einem Bildschirm 13 dargestellten Radarbild 14 darstellt. Zusätzlich werden in dem Radarbild 14 auch die Positionen des das Radargerät tragendenden Schiffes, im folgenden Eigenfahrzeug oder Eigenschiff genannt, dargestellt. Das Radargerät verfügt über eine Vorrichtung 15 zur automatischen Zielverfolgung sowie über einen Kollisionsrechner 16, der den Kurs des Eigenschiffs mit dem Kurs der verfolgten Ziele vergleicht und bei Kollisionsgefahr ein Signal generiert.The radar device shown in the block diagram in FIG. 1 has, in a known manner, a rotating radar antenna 10 with which targets are detected according to the principle of retroreflection detection. Each retroreflection or radar signal received with the antenna 10 is fed to a receiving device 11, there accordingly processed and reaches an image processor 12, which represents the position of the target in a radar image 14 shown on a screen 13. In addition, the positions of the ship carrying the radar device, hereinafter referred to as own vehicle or own ship, are also shown in the radar image 14. The radar device has a device 15 for automatic target tracking and a collision computer 16, which compares the course of the ship of one's own with the course of the targets being tracked and generates a signal if there is a risk of collision.
Zusätzlich zu dem Radarbild 14 ist auf dem Radar- oder Bildschirm 13 ein Lupenfenster 17 sichtbar, in dem ein Bildausschnitt des Radarbildes 14 um ein verfolgtes Ziel herum vergrößert dargestellt ist. Dieser Bildausschnitt im Lupenfenster 17 wird in Abhängigkeit von der Bewegung des Ziels verändert .In addition to the radar image 14, a magnifying glass window 17 is visible on the radar or screen 13, in which an image section of the radar image 14 is shown enlarged around a tracked target. This image section in the magnifying glass window 17 is changed depending on the movement of the target.
In Fig. 2 ist für ein willkürlich gewähltes Szenario ein Radarbild 14 und ein Lupenfenster 17 vergrößert dargestellt . Das Radarbild 14 ist im sog. relative motion-Modus dargestellt, d.h. die Positionen erfaßter Ziele sind in einem Bezugssystem dargestellt, das auf das Eigenschiff bezogen ist. Daher befindet sich das Eigenschiff, in Fig. 2 mit 20 gekennzeichnet, auf dem Radarbild 14 immer auf einem festen Punkt, hier in der Mitte des Radarbildes 14. In dem Radarbild der Fig. 2 sind von dem Radargerät drei verschiedene Ziele erfaßt, die mittels der Vorrichtung zur automatischen Zielverfolgung 15 über einen längeren Zeitraum hin verfolgt werden. Bei jedem Umlauf der Radarantenne 10 wird das Radarbild 14 erneuert, wobei einerseits die jeweils aktuelle Position der Ziele 21 bis 23 dargestellt, sowie andererseits zeitlich vorhergehende Zielpositionen der Ziele 21 bis 23 als eine den Zeitrang kennzeichnende Nachleuchtschleppe 24 dargestellt werden, so daß anhand dieser Nachleuchtschleppe 24 problemlos die mit der Zeit sich verändernden Positionen der Ziele 21 bis 23 überblickt werden können.A radar image 14 and a magnifying glass window 17 are shown enlarged in FIG. 2 for an arbitrarily chosen scenario. The radar image 14 is shown in the so-called relative motion mode, that is to say the positions of detected targets are shown in a reference system which relates to the own ship. Therefore, the proprietary ship, identified by 20 in FIG. 2, is always on the radar image 14 at a fixed point, here in the middle of the radar image 14. In the radar image of FIG. 2, three different targets are detected by the radar device, which means the automatic target tracking device 15 can be tracked over a longer period of time. Each time the radar antenna 10 rotates, the radar image 14 is renewed, the current position of the targets 21 to 23 being shown on the one hand, and previous target positions of the targets 21 to 23 on the other hand as an afterglow trail 24 characterizing the seniority are shown, so that with the help of this afterglow trail 24 the positions of the targets 21 to 23, which change over time, can be easily surveyed.
Die Darstellung der Nachleuchtschleppe 24 bei den einzelnen Zielen 21 bis 23 erfolgt in der Weise, daß die aktuelle Zielposition der Ziele 21 - 23 durch Aktivieren einer vorgegebenen Anzahl von eine zusammenhängende Fläche auf dem Radarbild 14 abdeckenden Bildpunkten und die zeitlich vorhergehenden Zielpositionen mit einer mit dem Zeitrang abnehmenden Zahl von Bildpunkten innerhalb dieser Fläche sichtbar sind. Dies ist im Radarbild 14 der Fig. 2 dadurch verdeutlicht, daß die aktuelle Zielposition mit einer schwarzen Fläche belegt ist, die bei den vorhergehenden Zielpositionen punktweise unterbrochen wird. Je älter die dargestellte Zielposition ist, desto größer sind die Aussparungen in der geschlossenen Fläche, so daß für die vorhergehenden Zielpositionen ein Punktmuster entsteht, das mit zunehmendem Alter der Zielposition immer lichter wird.The display of the afterglow trail 24 at the individual targets 21 to 23 takes place in such a way that the current target position of the targets 21-23 by activating a predetermined number of pixels covering a coherent area on the radar image 14 and the temporally preceding target positions with one with the Priority decreasing number of pixels are visible within this area. This is illustrated in the radar image 14 of FIG. 2 in that the current target position is covered with a black area which is interrupted point by point at the previous target positions. The older the target position shown, the larger the cut-outs in the closed area, so that a dot pattern is created for the previous target positions, which becomes lighter as the target position ages.
Wie bereits erwähnt, vergleicht der Kollisionsrechner 16 den Kurs des Eigenschiffs mit dem Kurs der verfolgten Ziele und generiert bei Kollisionsgefahr ein Signal. Das Signal wird dazu verwendet, die Darstellung des Bildausschnittes im Lupenfenster 17 bezogen auf das die Kollisionsgefahr herbeiführende Ziel auszulösen. In der relative motion- Darstellung des Radarbildes 14 in Fig. 2 zeichnet sich ein auf Kollisionskurs laufendes Ziel durch eine sog. stehende Peilung aus. Diese stehende Peilung ist bezüglich des Ziels 23 gegeben. Demzufolge wird nunmehr im Lupenfenster 17 ein Bildausschnitt um das auf Kollisionskurs liegende Ziel 23 herum vergrößert dargestellt, und dieser Bildausschnitt wird in Abhängigkeit von der Zielbewegung verändert, mit anderen Worten, das Lupenfenster wird mit dem Ziel 23 verschoben. Der Bildausschnitt im Lupenfenster 17 der Fig. 2 ist im relative motion-Modus dargestellt, d.h. die Zielpositionen des Ziels 23 sind in gleicher Weise wie im Radarbild 14 in einem auf das Eigenfahrzeug 20 bezogenenen Bezugssystem dargestellt. Dadurch, daß das Lupenfenser 17, genauer gesagt, der Bildausschnitt im Lupenfenster 17, in Abhängigkeit von der Zielbewegung verschoben wird, also mit dem Ziel 23 mitgeführt wird, bleibt die aktuelle Position des Ziels 23 immer an der gleichen Stelle innerhalb des Lupenfensters 17, und die Nachleuchtschleppe 24 verlängert sich mit zunehmender Historiendarstellung. An der Länge der Nachleuchtschleppe 24 kann der Nautiker auf die Geschwindigkeit des auf Kollisionskurs fahrenden Ziels 23 abschätzen.As already mentioned, the collision computer 16 compares the course of the own ship with the course of the pursued targets and generates a signal if there is a risk of a collision. The signal is used to trigger the representation of the image section in the magnifying glass window 17 in relation to the target causing the risk of collision. In the relative motion representation of the radar image 14 in FIG. 2, a target running on a collision course is distinguished by a so-called standing bearing. This standing bearing is given with respect to target 23. Accordingly, an image section around the target 23 lying on the collision course is now shown enlarged in the magnifying glass window 17, and this image section is changed as a function of the target movement, in other words, the magnifying glass window is displaced with the target 23. The image section in the magnifying glass window 17 of FIG. 2 is shown in the relative motion mode, ie the target positions of the target 23 are shown in the same way as in the radar image 14 in a reference system related to the vehicle 20. Because the magnifying glass 17, more precisely, the image section in the magnifying window 17, is shifted as a function of the target movement, i.e. is carried along with the target 23, the current position of the target 23 always remains in the same position within the magnifying window 17, and the afterglow trail 24 extends with increasing history. The navigator can use the length of the afterglow trail 24 to estimate the speed of the target 23 traveling on a collision course.
Der Nautiker hat nunmehr die Möglichkeit, die Darstellung des Bildausschnitts im Lupenfenster 17 in den sog. true motion- Modus umzuschalten, und zwar unabhängig davon, in welcher Darstellungsart das Radarbild 14 angezeigt wird. Diese Umschaltung des Lupenfensters ist in Fig. 3 illustriert. Während das Radarbild 14 nach wie vor im relative motion-Modus dargestellt ist, sind die Zielpositonen des Ziels 23 im Lupenfensters 17 bezogen auf ein erdfestes Bezugssystem dargestellt, was z.B. dadurch erfolgen kann, daß die Eigengeschwindigkeit des Eigenschiffes in den von der Radarantenne 10 empfangenen Radarsignalen kompensiert wird. Das Bezugssystem wird mit der Bewegung des Ziels 23 verschoben, so daß die aktuelle Zielposition immer an der gleichen Stelle innerhalb des Lupenfensters 17, hier in der Mitte des Lupenfensters 17, verbleibt. Diese Darstellung hat den Vorteil, daß der Nautiker im Lupenfenster 17 sofort ein von dem Ziel 23 durchgeführtes Manöver erkennen kann, so daß er seine eigenen Navigation darauf einstellen kann. The navigator now has the option of switching the representation of the image section in the magnifying window 17 into the so-called true motion mode, regardless of the type of representation in which the radar image 14 is displayed. This switching of the magnifying glass is illustrated in FIG. 3. While the radar image 14 is still shown in the relative motion mode, the target positions of the target 23 are shown in the magnifying window 17 in relation to an earth-fixed reference system, which e.g. can be done in that the natural speed of the ship is compensated in the radar signals received by the radar antenna 10. The reference system is shifted with the movement of the target 23, so that the current target position always remains at the same location within the magnifying glass window 17, here in the middle of the magnifying glass window 17. This representation has the advantage that the navigator in the magnifying window 17 can immediately recognize a maneuver carried out by the target 23, so that he can adjust his own navigation accordingly.

Claims

P A T E N T A N S P R Ü C H E PATENT CLAIMS
1. Radargerät mit einem Bildschirm (13) , auf dem in einem Radarbild (14) Positionen eines das Radargerät tragenden Eigenfahrzeugs (20) und von Fremdfahrzeugen oder Zielen1. Radar device with a screen (13) on which in a radar image (14) positions of a vehicle carrying the radar device (20) and of foreign vehicles or targets
(21 - 23) in einem Bezugssystem dargestellt werden, und mit einer Vorrichtung (15) zur automatischen Zielverfolgung mindestens eines Zieles (21 - 23) , gekennzeichnet durch ein auf dem Bildschirm (13) sichtbares Lupenfenster (17) , in dem ein Bildausschnitt des Radarbildes (14) um das verfolgte Ziel (23) vergrößert dargestellt ist und in Abhängigkeit von der Zielbewegung verändert wird.(21-23) are represented in a reference system, and with a device (15) for automatic target tracking of at least one target (21-23), characterized by a magnifying window (17) visible on the screen (13), in which an image section of the Radar image (14) around the tracked target (23) is shown enlarged and is changed depending on the target movement.
2. Radargerät nach Anspruch 1, dadurch gekennzeichnet, daß im Radarbild (14) und im Lupenfenster (17) die aktuelle Zielposition sowie zeitlich vorhergehende Zielpositionen als eine den Zeitrang kennzeichnende Nachleuchtschleppe2. Radar device according to claim 1, characterized in that in the radar image (14) and in the magnifying glass (17) the current target position and previous target positions as a seniority-indicating afterglow trail
(24) dargestellt sind.(24) are shown.
3. Radargerät nach Anspruch 2, dadurch gekennzeichnet, daß die Darstellung der Nachleuchtschleppe (24) in der Weise erfolgt, daß die aktuelle Zielposition durch Aktivieren einer vorgegebenen Anzahl von eine zusammenhängende Fläche abdeckenden Bildpunkten und die zeitlich vorhergehenden Zielpositionen mit einer mit dem Zeitrang abnehmenden Anzahl von Bildpunkten innerhalb der Fläche sichtbar sind.3. Radar device according to claim 2, characterized in that the display of the afterglow trail (24) is carried out in such a way that the current target position by activating a predetermined number of pixels covering a contiguous area and the temporally preceding target positions with one with priority decreasing number of pixels are visible within the area.
Radargerät nach Anspruch 2 oder 3 , dadurch gekennzeichnet, daß die Zielpositionen im Lupenfenster (17) in einem erdfesten Bezugssystem dargestellt sind (true motion) , das mit der Zielbewegung so verschoben wird, daß die jeweils aktuelle Zielposition stets an der gleichen Stelle, vorzugsweise in der Mitte, des Lupenfensters (17) verbleibt.Radar device according to claim 2 or 3, characterized in that the target positions in the magnifying glass window (17) are shown in an earth-fixed reference system (true motion) which is shifted with the target movement in such a way that the current target position is always in the same place, preferably in the middle, the magnifying glass (17) remains.
Radargerät nach Anspruch 2 oder 3 , dadurch gekennzeichnet, daß die Zielpositionen im Lupenfenster (17) in einem auf das Eigenschiff (20) bezogenen Bezugssystem dargestellt sind (relative motion) , das mit der Zielbewegung so verschoben wird, daß die jeweils aktuelle Zielposition stets an der gleichen Stelle, vorzugsweise in der Mitte, des Lupenfensters (17) verbleibt .Radar device according to claim 2 or 3, characterized in that the target positions in the magnifying glass window (17) are shown in a reference system related to the ship (20) (relative motion), which is shifted with the target movement so that the current target position is always on remains in the same place, preferably in the middle, of the magnifying glass window (17).
Radargerät nach einem der Ansprüche 1 - 5, gekennzeichnet durch einen Kollisionsrechner (16) , der den Kurs des Eigenschiffs (20) mit dem Kurs des mindestens einen verfolgten Ziels (21 - 23) vergleicht und bei Kollisionsgefahr ein Signal generiert, und dadurch, daß das Rechnersignal die Darstellung des Bildausschnitts im Lupenfenster (17) bezogen auf das die Kollisionsgefahr herbeiführende Ziel (23) initiiert. Radar device according to one of Claims 1 - 5, characterized by a collision computer (16) which compares the course of the ship of one's own (20) with the course of the at least one tracked target (21 - 23) and generates a signal when there is a risk of collision, and in that the computer signal initiates the display of the image section in the magnifying glass window (17) in relation to the target (23) causing the risk of collision.
EP99934676A 1998-09-29 1999-07-13 Radar device Withdrawn EP1119776A1 (en)

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DE19844620A DE19844620A1 (en) 1998-09-29 1998-09-29 Radar
DE19844620 1998-09-29
PCT/EP1999/004912 WO2000019233A1 (en) 1998-09-29 1999-07-13 Radar device

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EP99934676A Withdrawn EP1119776A1 (en) 1998-09-29 1999-07-13 Radar device

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WO2000019232A8 (en) 2000-06-15
DE19844620A1 (en) 2000-05-11
DE59911380D1 (en) 2005-02-03
WO2000019233A1 (en) 2000-04-06
WO2000019232A1 (en) 2000-04-06
NO20011531L (en) 2001-05-14
US6522289B1 (en) 2003-02-18
NO20011531D0 (en) 2001-03-26

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