JP2000009834A - Integrated processing apparatus for tracking of target - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain an integrated processing apparatus by which a tracking processing operation with respect to two or more adjacent different targets can be continued. SOLUTION: The apparatus is provided with a plurality of input parts 1-1,..., 1-N, in which the reflection cross-sectional area of a target is found on the basis of position information on the target obtained by received signals by radars 1-11,..., 1-N1 and on the basis of intensity information on the received signals, and a processing part 2 in which a correlation in the position information on the target from the respective input parts 1-1,..., 1-N is found, in which a correlation in the reflection cross-sectional area information on the target is found, in which information on the correlation of a position and information on the correlation of the reflection cross-sectional area are integrated and processed and, in which track information on the target is found.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an integrated processing device for processing a radar signal to track a target, and more particularly, to processing for tracking the same target using information from a plurality of radars. The present invention relates to an integrated processing device that enables continuation of tracking processing and improvement of tracking accuracy when two or more different targets approach each other.

[0002]

2. Description of the Related Art In tracking processing of a target machine using a conventional radar device, the position of the target machine at the next scan is predicted based on position information obtained by radar scanning. Then, the time transition state of the position of each target device is determined by determining the correlation between the position information of the target device and the position information of the target device actually obtained by the scan.

[0003]

However, in the above-described conventional tracking processing technology, when two or more target vehicles approaching each other are detected, an erroneous correlation determination may be performed based on only the position information. For this reason, there was a problem that tracking could not be continued. That is, when two or more different target aircraft are close to each other, the position information actually obtained by the next scan is determined based on the position information obtained during the previous scan. May occur in any of the predicted positions, and in this case, the subsequent tracking processing cannot be correctly continued.

The present invention has been made in view of the above circumstances, and when tracking the same target using information from a plurality of radars, even if there are two or more different targets approaching, An object of the present invention is to provide an integrated processing device capable of continuing tracking processing and improving tracking accuracy.

[0005]

According to a first aspect of the present invention, there is provided an integrated processing device for tracking a target, the position of the target being obtained by a radar reception signal. From the information and the intensity information of the received signal, a plurality of input means for obtaining the reflection cross-sectional area of the target, and the correlation in the position information of the target from each of the input means, and the correlation in the reflection cross-section information of the target It is characterized by comprising processing means for obtaining correlation and performing processing for integrating information with position correlation and information with reflection cross section correlation to obtain wake information of a target.

According to a second aspect of the present invention, there is provided an integrated processing apparatus for tracking a target according to the first aspect, wherein each of the input means includes an input processing means and a reflection cross-sectional area calculating means, Each of the input processing means performs coordinate transformation on the position information of the target from the radar and outputs information on the coordinate-transformed position to the processing means. The reflected cross-sectional area is output to a calculating means, and the reflected cross-sectional area calculating means is configured to obtain the reflected cross-sectional area of the target from the information on the distance to the target and the reception intensity.

According to a third aspect of the present invention, there is provided an integrated processing apparatus for tracking a target according to the first aspect, wherein the processing means comprises a position correlation processing means, a reflection cross-section correlation processing means, and a reflection cross-section correlation. A reference storage means and a tracking processing means, wherein the position correlation processing means obtains a correlation between position information obtained from a plurality of radars, and a reflection cross-section correlation processing means obtains position information having the correlation. The correlation of the reflection cross section is determined with reference to the correlation determination reflection cross section from the reflection cross section correlation reference storage means, and when there is a correlation of the reflection cross section, the position correlation processing means sets the reflection cross section to The position information obtained by performing weighted averaging on the plurality of correlated position data is output, and the tracking processing means performs tracking smoothing processing based on the position information of the weighted average result, and outputs wake information to the display means. It is characterized in that it is.

According to a fourth aspect of the present invention, there is provided an integrated processing device for tracking a target according to the third aspect, wherein the position correlation processing means comprises: a plurality of captured and coordinate-transformed position data; When the difference from the predicted position data based on the wake information is smaller than the corresponding position correlation constant in each of the orthogonal coordinate axis directions, it is determined that there is position correlation.

According to a fifth aspect of the present invention, there is provided an integrated processing device for tracking a target according to the third aspect, wherein the reflection cross section correlation processing means determines that there is the position correlation.
When the difference between the two reflection cross sections is equal to or less than the correlation determination reflection cross section input from the reflection cross section correlation reference storage means, it is determined that there is a correlation between the two reflection cross sections. .

According to a sixth aspect of the present invention, there is provided an integrated processing device for tracking a target according to the fifth aspect, wherein the position correlation processing means determines a plurality of position data determined to have the reflection cross section correlation. Is weighted for each radar and averaged to generate weighted average position data.

The invention according to claim 7 relates to an integrated processing device for tracking a target according to claim 3, wherein the tracking processing means includes tracking smoothing processing means, prediction processing means, wake information storage means, Display processing means, wherein the tracking smoothing processing means calculates the predicted position data and the smoothing speed data from the track information storage means for the weighted averaged position data, and a tracking smoothing constant. Using the tracking smoothing process, the smoothing position data and the smoothing speed data at the next scan are output, and the prediction processing means determines the next time from the smoothed position data and the smoothing speed data at the next scan. The predicted position data at the time of scanning is calculated and stored in the wake information storage means, and the display processing means calculates the target movement azimuth obtained from the smoothing speed data at the next scan and the prediction at the next scan. And a position data by creating a track information is characterized by being configured to output to the display means.

According to an eighth aspect of the present invention, there is provided an integrated processing apparatus for tracking a target according to the seventh aspect, wherein the tracking smoothing processing means performs tracking smoothing processing according to the following formula. , For obtaining smoothed position data and smoothed speed data at the time of the next scan. Xsi + 1 = Xpi + α (Xi−Xpi) Ysi + 1 = Ypi + α (Yi−Ypi) dXsi + 1 = dXsi + β (Xi−Xpi) / T dYsi + 1 = dYsi + β (Yi−Ypi) / T where Xsi + 1 and Ysi + 1 are the smoothed position data at the next scan. dXsi + 1, dYsi + 1 are smoothing speed data at the next scan Xi, Yi are weighted average position data Xpi, Ypi are prediction position data Xsi, Ysi are smoothing position data α, β are tracking smoothing constants T is radar Rotation cycle

According to a ninth aspect of the present invention, there is provided an integrated processing device for tracking a target according to the seventh aspect, wherein the prediction processing means obtains predicted position data at the next scan by the following formula. It is characterized by being. Xpi + 1 = Xsi + 1 + (dXsi + 1) · T Ypi + 1 = Ysi + 1 + (dYsi + 1) · T where Xpi + 1 and Ypi + 1 are predicted position data at the next scan. Xsi + 1 and Ysi + 1 are smoothed position data dXsi + 1 and dYsi + 1 at the next scan. Time smoothing speed data T is the radar rotation cycle

According to a tenth aspect of the present invention, there is provided an integrated processing apparatus for tracking a target, wherein the apparatus displays a track of the target using radar information. In addition, by adding a correlation based on the reflection cross section of the target in addition to the correlation based on the position of the target, the tracking operation for the target can be continued and the tracking accuracy can be improved. It is characterized by.

[0015]

According to the structure of the present invention, an effective reflection area (Rader Cross Section; hereinafter referred to as a "reflection cross section") of a target is obtained from position information of the target obtained by a radar reception signal and intensity information of the reception signal. A plurality of input means for determining the position information of the target and the correlation of the position information of the target from each of the input means. And processing means for obtaining wake information indicating the tracking position of the target by performing an integration process with information having a correlation between areas, so that the same target is tracked using information from a plurality of radars. In the processing, even when there are two or more different targets approaching each other, the tracking processing can be continued and the integrated processing for improving the tracking accuracy can be realized.

FIG. 3 shows an image of the integration processing in this case. Now, in FIG. 3, A1: position data when aircraft A was previously scanned by the first radar A1i: position data when aircraft A was scanned this time by the first radar A2: aircraft A, and A2i: Position data when aircraft A was scanned last time by radar, and A2i: Position data when scanned this time by second radar B1: Position data when aircraft B was scanned last time by first radar B1i: Aircraft B Is the position data of the current scan with the first radar B2: the position data of the previous scan with the second radar B2i: the position data of the current scan with the second radar on the second radar 10: Reflection cross section data of aircraft A 5: Reflection cross section data of aircraft B A1i, A2
i and B2i. In the case of the correlation determination based on only the position correlation, there may be two combinations of (A1i, B2i) in the position correlation gate of the aircraft A, and thus an erroneous determination may be made. However, by further determining the correlation of the reflection cross-sections of A1i, A2i and B2i, (A1i, B2i
The combination of i) can be correctly determined.
In the specification of this application, a process in which the determination based on the position correlation is further added with the determination based on the reflection cross-section correlation is referred to as an integration process.

[0017]

Embodiments of the present invention will be described below with reference to the drawings. The description will be made specifically using an embodiment. FIG. 1 is a block diagram showing an electric configuration of an integrated processing device according to an embodiment of the present invention, and FIG. 2 is a diagram for explaining an operation of the integrated processing device. As shown in FIG. 1, the integrated processing apparatus of this example includes, as shown in FIG. 1, input units 1-1 to 1-N for obtaining information on the position of a target and the reflection cross-sectional area of the target, and the position and reflection of the target. It comprises a processing unit 2 for calculating a tracking position from information on a cross-sectional area, and a display unit 3 for displaying wake information as a processing result.

The input units 1-1 to 1-N further include radars 1-11 to 1-N1 and input processing units 1-12 to 1-N2.
And reflection cross-sectional area calculation units 1-13 to 1-N3. The radars 11-1 to 1-N1 periodically emit radar waves while scanning in the circumferential direction, detect reflected waves from the target, and output information on the position of the target and the reception intensity. The input processing units 1-12-1-N2 are connected to the radar 1
-11 to 1-N1, information on the position of the target and the reception intensity is input, the coordinate-converted position information is output to the processing unit 2, and the information on the distance and the reception intensity is reflected on the reflection cross-sectional area calculation unit 1--1. 13
To 1-N3. Reflection cross section calculator 1-13 to 1
-N3 calculates the reflection cross-sectional area of the target from the input information of the distance and the reception intensity, and outputs the calculated cross-sectional area to the processing unit 2.

The processing unit 2 further includes a position correlation processing unit 21
, A reflection cross-section correlation processing unit 22, a reflection cross-section correlation reference file 23, and a tracking processing unit 24. The position correlation processing unit 21 includes input processing units 1-12 to 1-2.
1-N2, the presence / absence of a position correlation in the position information input is determined, and the information of the presence / absence of the correlation of the reflection cross section corresponding to the information of the position correlation is used to determine the position correlation information and the reflection cross section correlation. Perform the integration process with the information,
A process of outputting the position information of the result of the integration process is performed. The reflection cross section correlation processing section 22 includes reflection cross section calculation sections 1-13 to
With respect to the information on the reflection cross section input from 1-N3, the presence / absence of the reflection cross section correlation is determined using the reflection cross section correlation determination information output from the reflection cross section correlation reference file 23. In addition, the reflection cross section correlation reference file 23
Stores information serving as a criterion for determining the presence or absence of correlation of the reflection cross-section in the reflection cross-section correlation processing unit 22 and outputs the information as needed. The tracking processing unit 24 displays the wake information obtained by performing the tracking smoothing process using the position information integrated by the position correlation processing unit 21 using the information of the position correlation and the reflection cross-section correlation. Output to

Next, the operation of the integrated processing apparatus of this example will be described with reference to FIG. In this figure, the tracking processing unit 24 further includes a tracking smoothing processing unit 241, a prediction processing unit 242, a wake file 243, and a display processing unit 244.
However, the other parts are the same as those in FIG. The tracking smoothing processing unit 241 uses the predicted position data and the smoothing speed data from the wake file 243 and the smoothing constant of the tracking for the position data determined to be correlated by the position correlation processing unit 21. Perform tracking smoothing processing. The prediction processing unit 242 calculates predicted position data for the next scan. The track file 243 stores the calculated predicted position data for the next scan and the smoothing speed data. Display processing unit 24
Reference numeral 4 converts the wake information from the prediction processing unit 242 into a format suitable for display and outputs it.

In the input unit 1-1, the position data (distance R1, azimuth θ1) of the target aircraft A and the reception intensity data (A1) of the reflected radio wave captured by the radar 1-11 are:
Since the processing coordinates are different for each radar, the input processing unit 1-1
2, the data is separated into orthogonal position data (X1, Y1), distance data (R1), and reception intensity data (A1). Position data (X1, Y
1) sends the distance data (R1) and the received intensity data (A1) to the position correlation processing unit 21;
3, respectively. Other input units 1-2 to 1-N
Is the same as that of the input unit 1-1.

The position data (Xj, Yj) (j corresponds to the radars 1 to N) coordinate-transformed by the plurality of input processing units 1-12 to 1-N2 are input to the position correlation processing unit 21. . In the position correlation processing unit 21, N
Pieces of position data (Xj, Yj) and the track file 243
Is determined as to whether or not the difference from the predicted position data (Xpi.Ypi) input from within is within a certain range. In determining the position correlation, since the performances of the respective radar devices are different, when the constant of the position correlation in the radar j is (Xgj, Ygj), if there is a relationship of the formula (1), it is determined that there is a position correlation. Otherwise,
There is no position correlation. | Xj−Xpi | ≦ Xgj and | Yj−Ypi | ≦ Ygj (1)

When there are two or more different targets approaching each other, the determination of the position correlation by the above equation (1) is based on the correlation based only on the position data. May be done. In order to avoid such an error, the reflection cross section calculation unit 1-13 inputs the distance data (R1) and the reception intensity data (A1) from the input processing unit 1-12, applies a radar equation, and obtains the equation ( Calculating the reflection cross section σ1 given by 2),
Output to the reflection cross-section area correlation determination unit 22. Reflection cross section σ1 = K · A1 · R1-4 (2) where K is a constant. The operations of other reflection cross section calculators 1-23 to 1-N3 are the same as those of reflection cross section calculator 1-13. is there.

In the position correlation processing section 21, if there is a position correlation, the reflection cross section correlation determination section 22 calculates the reflection cross section σ1 calculated by the reflection cross section calculation section 1-13,
It is determined whether or not the difference from the reflection cross section σN calculated by the reflection cross section calculation unit 1-N3 is within the range of the correlation determination reflection cross section δ input from the reflection cross section correlation reference file 23. A reflection cross section correlation determination is performed, and an integration process of information with position correlation and information with reflection cross section correlation is performed.

In determining the reflection cross section correlation, equation (3) can be cited as an example of a determination equation. That is, if | σ1−σN | ≦ δ (3), it is determined that there is a reflection cross-section correlation, and otherwise, it is determined that there is no reflection cross-section correlation.

Using a maximum of N pieces of position data (XN, YN) determined to have a reflection cross-section area correlation, and letting W1 to WN (W1 +... + WN = 1) be weights determined by the radar performance, The current position data (Xi, Y
i) is calculated by a weighted average according to equations (4) and (5). Xi = (W1.X1 +... + WN.XN) / N (4) Yi = (W1.Y1 +... + WN.YN) / N (5)

The tracking and smoothing processing unit 241 calculates the predicted position data (Xpi, Ypi) input from the wake file 243.
And the smoothing speed data (dXsi, dYsi) and the tracking smoothing constants (α, β) using the position correlation processing unit 2.
The tracking smoothing process is performed on the weighted averaged position data (Xi, Yi) determined to be correlated by No. 1 and the prediction processing unit 242 is notified of the smoothed position data ( Xsi + 1, Ysi + 1) and smoothing speed data (dXsi + 1, dYsi + 1).

The tracking smoothing process uses a prediction calculation formula in the following reference document, and obtains the smoothing position data (Xsi + 1, Ysi + 1) and the smoothing speed data (dXsi + 1, dYsi + 1) at the next scan by a radar device. Is calculated by using equations (6) to (9), where T is the antenna rotation period of Xsi + 1 = Xpi + α (Xi−Xpi) (6) Ysi + 1 = Ypi + α (Yi−Ypi) (7) dXsi + 1 = dXsi + β (Xi−Xpi) / T (8) dYsi + 1 = dYsi + β (Yi−Ypi) / T (T) 9) References: JACK SKLANSKY, ^ OPTIMIZING THE DYNAMIC PA
RAMETERS OF A TRACK-WHILE-SCAN SYSTEM, "RCA REVIE
W, PP.163-185, June 1957

The prediction processing unit 242 converts the predicted position data (Xpi + 1, Ypi + 1) at the time of the next scan into the formula (1)
0) and (11), and calculate the wake file 243.
To store. Xpi + 1 = Xsi + 1 + dXsi + 1 · T (10) Ypi + 1 = Ysi + 1 + dYsi + 1 · T (11)

The display processing unit 243 calculates the ratio (dXsi + 1) / (dYsi +) of the smoothing speed data at the time of the next scan.
The corresponding angle is obtained by the arc-tangent of 1). This angle is determined by the smoothing position (X
(si + 1, Ysi + 1), the azimuth of the target aircraft with respect to the Y-axis is indicated. Output together with The display unit 3 converts this into a predetermined scanning signal and displays the wake including the predicted position at the next scan.

Although the embodiment of the present invention has been described in detail with reference to the drawings, the specific structure is not limited to this embodiment, and there are design changes and the like without departing from the gist of the present invention. Even this is included in the present invention. For example, processing unit 2
Instead of displaying the output of the display unit 3 on the display unit 3, the output may be directly used for a target location (sighting) process or an aircraft collision prevention process.

[0032]

As described above, according to the configuration of the present invention, in the process of tracking the same target using information from a plurality of radar devices, even if there are two or more different targets approaching each other, The tracking process can be continued, and the tracking accuracy can be improved.

[Brief description of the drawings]

FIG. 1 is a block diagram showing in detail an electrical configuration of an integrated processing apparatus according to an embodiment of the present invention.

FIG. 2 is a diagram for explaining the operation of the integrated processing device.

FIG. 3 is an image diagram for explaining an integration process;

[Explanation of symbols]

1-1, ..., 1-N input unit (input means) 1-11, ..., 1-N1 radar 1-12, ..., 1-N2 input processing unit (input processing means) 1-13, ..., 1- N3 Reflection cross section calculation unit (reflection cross section calculation unit) 2 Processing unit (processing unit) 21 Position correlation processing unit (position correlation processing unit) 22 Reflection cross section correlation processing unit (reflection cross section correlation processing unit) 23 Reflection cross section Correlation reference file (reflection cross-section correlation reference storage means) 24 Tracking processing unit (tracking processing means) 241 Tracking smoothing processing unit (tracking smoothing processing means) 242 Prediction processing unit (prediction processing means) 243 Track file (storage information storage) Means) 244 Display processing unit (display processing means) 3 Display unit (display means)

Claims (10)

[Claims] An integrated processing device for processing a radar reception signal to track a target, wherein the target information is obtained from position information of the target obtained from the radar reception signal and intensity information of the reception signal. A plurality of input means for calculating the reflection cross section of the target object, while obtaining the correlation in the position information of the target from each of the input means, obtaining the correlation in the reflection cross section information of the target, and information with a position correlation An integrated processing device for tracking a target, comprising: processing means for performing integration processing with information having a correlation of a reflection cross section to obtain wake information of the target. 2. Each of the input means includes an input processing means and a reflection cross-sectional area calculating means, and each of the input processing means performs coordinate conversion on position information of a target from a radar, and executes the processing means. And outputs information of the distance and reception intensity of the target to the reflection cross-section calculation means, and the reflection cross-section calculation means outputs the information of the distance and reception intensity of the target from the information of the distance and reception intensity of the target. The integrated processing apparatus for tracking a target according to claim 1, wherein the integrated processing apparatus is configured to calculate a reflection cross-sectional area of the target. 3. The processing means comprises a position correlation processing means, a reflection cross-section correlation processing means, a reflection cross-section correlation reference storage means and a tracking processing means, wherein the position correlation processing means comprises a plurality of radars. The correlation of the obtained position information is obtained, and the reflection cross-section correlation processing means refers to the correlation determination reflection cross-section from the reflection cross-section correlation reference storage means for the position information having the correlation, and calculates the correlation of the reflection cross-section. And when there is a correlation between the reflection cross-sections, the position correlation processing means outputs position information obtained by performing weighted averaging on the plurality of position data having the reflection cross-section correlation, and the tracking processing means outputs 2. The integrated processing apparatus for tracking a target according to claim 1, wherein the integrated processing apparatus is configured to perform tracking smoothing processing based on the averaged position information and output wake information to a display unit. 4. A difference between a plurality of position data captured and coordinate-transformed by the position correlation processing means and predicted position data based on past wake information corresponds to each orthogonal coordinate axis direction. 4. The integrated processing apparatus for tracking a target according to claim 3, wherein when the value is equal to or smaller than a constant of the position correlation, it is determined that there is a position correlation. 5. The reflection cross-section correlation processing means, wherein the difference between the two reflection cross-sections determined to have the position correlation is equal to or less than the correlation determination reflection cross-section input from the reflection cross-section correlation reference storage means. 4. The integrated processing apparatus for tracking a target according to claim 3, wherein it is determined that there is a correlation between the two reflection cross sections. 6. A weighted average by the position correlation processing means averaging a plurality of position data determined to have a reflection cross section correlation with weights determined for each radar. The integrated processing apparatus for tracking a target according to claim 5, wherein the integrated processing apparatus generates position data. 7. The tracking processing means comprises tracking smoothing processing means, prediction processing means, wake information storage means, and display processing means, wherein the tracking smoothing processing means comprises the weighted average position data. The tracking position is smoothed using the predicted position data and the smoothing speed data from the wake information storage means, and the tracking smoothing constant. The prediction processing means calculates the predicted position data at the next scan from the smoothed position data and the smoothed speed data at the next scan and stores it in the wake information storage means, and the display processing means The trajectory information is created from the target azimuth obtained from the smoothing speed data at the next scan and the predicted position data at the next scan, and is output to the display means. Consolidated processing device for tracking a target object according to claim 3, wherein a. 8. The tracking smoothing processing means performs tracking smoothing processing according to the following formula to obtain smoothed position data and smoothed speed data at the next scan. 8. An integrated processing device for tracking a target according to claim 7. Xsi + 1 = Xpi + α
(Xi−Xpi) Ysi + 1 = Ypi + α (Yi−Ypi) dXsi + 1 = dXsi + β (Xi−Xpi) / T dYsi + 1 = dYsi + β (Yi−Ypi) / T where Xsi + 1 and Ysi + 1 are smoothing position data dXsi + 1, dYsi + 1 is the smoothing speed data Xi, Yi for the next scan Xi, Yi is the weighted average position data Xpi, Ypi is the predicted position data Xsi, Ysi is the smoothed position data α, β is the tracking smoothing constant T Is the rotation period of the radar 9. The integrated processing apparatus for tracking a target according to claim 7, wherein said prediction processing means obtains predicted position data at the time of the next scan by the following formula. Xpi + 1 = Xsi + 1 + dXsi + 1 · T Ypi + 1 = Ysi + 1 + dYsi + 1 · T where Xpi + 1 and Ypi + 1 are predicted position data at the next scan Xsi + 1 and Ysi + 1 are smoothed position data at the next scan dXsi + 1 and dYsi + 1 are smoothed velocity data at the next scan T is the radar rotation period 10. A device for displaying a track of a target using radar information, wherein a correlation based on a reflection cross-sectional area of the target is added to two or more different targets approaching in addition to a correlation based on the position of the target. An integrated processing device for tracking a target, wherein the integrated tracking device is configured to enable the continuation of the tracking operation for the target and improve the tracking accuracy.