JP2000097596A - Impact point observation system for bullet - Google Patents

Abstract

PROBLEM TO BE SOLVED: To observe impact point even when the wave is high or a radar having a long beam irradiation interval is employed by calculating the tracking target position and the bullet tracking position based on a target observation value and a bullet observation value and determining the bullet tracking position for 0 altitude of bullet as an impact point of bullet thereby eliminating the need of detecting a water column. SOLUTION: A beam directing position is determined for a target predicting position calculated by a target tracking filter 10 and delivered from a beam controller 13 through a transceiver 7 to an antenna 6. Based on a signal from a radar signal processor 8, a plurality of target signals are detected and three- dimensional observation values of distance, azimuth and angular altitude are calculated. Calculated values are delivered from the target tracking filter 10 to the beam controller 13, a display 12, a plurality of target detectors 19 and a target correlation decision unit 20. A bullet tracking filter 21 calculates the position and speed of the bullet which are delivered to a bullet altitude calculator 22. Position of the bullet for 0 bullet altitude is determined as the impact point.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shooting commanding device using a tracking radar, and more particularly to a device for realizing a function of automatically judging the shooting accuracy and effectiveness of a gun.

[0002]

2. Description of the Related Art FIG. 5 shows an operation state of a conventional general artillery fire commanding apparatus.
Is radiated from the radar 3, the target position is observed based on the reflected wave received by the radar 3, the target predicted position and the velocity are calculated based on the observation position, and the gun pointing data is calculated based on these. The shot is fired at the target by 4, and the shot bullet hits near the tracking target, and a water column 5 is generated at the hit position. At this time, observing the error between the impact position and the tracking target is important for evaluating the effectiveness of shooting. An impact observation apparatus according to the present invention is an improved observation method of an error between an impact position of a bullet and a tracking target.

[0003] A conventional impact observation apparatus has a configuration as shown in FIG. 6, in which 6 is an antenna device, 7 is a transceiver,
8 is a radar signal processor, 9 is a time-division target detector, 10 is a target tracking filter, 11 is a water column position calculator, 12 is a display, and 13 is a beam controller.

The conventional impact observation device is configured as described above, and performs the following operation.

[0005] A beam is emitted from the antenna device 6 to the target, and a signal of the received reflected wave is output to the transceiver 7. The transmitter / receiver 7 amplifies the received signal and the like,
Output to the radar signal processor 8. The time-division target detector 9 performs signal detection at a total of three locations including the tracking target distance and the specific distance before and after the tracking target, and observes the respective three-dimensional positions. FIG. 9 shows an example of the received signal at this time. FIG.
In the figure, reference numeral 14 denotes a reception signal of a water column generated at the tracking target and the landing position, and shows reception signals before and after the tracking target. The horizontal axis represents distance, and the radar signal is proportional to the time from beam transmission. . The vertical axis represents the amplitude. Here, 15 is a received signal from the tracking target, and 16 is a received signal from the water column. Reference numerals 17 and 18 denote control states for the time-division target detector. Reference numeral 17 denotes detection control for the tracking target. The detection is performed at a time corresponding to the target predicted distance, and the tracking target is observed. Reference numeral 18 denotes detection control for the water column, which detects the water column at two locations before and after the tracking target. The water column is generated when the bullet deviates from the tracking target and hits the sea surface, and the position of the water column is the hit position.
Note that the positions of the two places where the water column detection process is performed are set as fixed values at distances before and after the target. In this way, the tracking target and the detection position of the water column are determined, and the target is observed in a time-sharing manner. The observed value of the tracking target detected at the timing corresponding to the predicted distance of the tracking target, which is observed in the above, is input to the target tracking filter 10, and calculates the target predicted position and the target speed at the next sampling time according to Equation 1. . Note that the algorithm of the tracking filter is a generally known αβ filter, and will be briefly described here.

[0006]

(Equation 1)

Here, Rot, Bot, and Eot are observation values input to the target tracking filter, and indicate a distance, an azimuth, and a high angle, respectively. n is the number of samplings, Rst
(N), Bst (n), and Est (n) are smooth positions at the number of samplings n, DRst (n), DBst
(N) and DEst (n) are the smoothing speed at the sampling number n, Rpt (n + 1), Bpt (n + 1), Ep
t (n + 1) is a predicted position at the sampling number n + 1. T is a sampling interval, α and β are smoothing constants, and are set to fixed values. The target predicted position is output to the beam controller 13, and an instruction for beam irradiation at the next sampling time is output to the transceiver 7.
Performs beam irradiation. The predicted position of the tracking target is output to the time-division detector 9, and is used as a detection control signal that determines the target detection distance at the next sampling time. In addition, bullets fired from our guns on the target fly in space, land near the target, and generate a water column in the beam illuminated on the target. At this time, the water column is detected by the time-division target detector 9, and the observed value is input to the water column position calculator 11. Water column position calculator 1
1 calculates the average value of the input observation value of the water column position within a predetermined time as the distance Rb, the azimuth angle Eb, and the high angle Bb of the landing position, and outputs the calculated value to the display 12.

[0008] The display 12 displays the predicted position of the tracking target and the like, and also displays the position of the water column generated by the impact, and informs the operator as the impact position.

The conventional impact observation device observes the impact position in this way and displays the error of the impact point to the operator.

[0010]

In the conventional impact observation apparatus, there are some restrictions for performing the above operation.

First, since the detection process of the water column is performed within a specific distance range before and after the target, the water column cannot be detected when the vehicle hits the target very close. Also, when a bullet hits a target and no water column occurs, it is impossible to detect the water column.

Also, when the wave is high, it is difficult to accurately observe the impact because the high wave may be erroneously detected as a water column.

In addition, since the time during which the water column is generated is very short, it is necessary to continue target observation at an extremely short cycle in order to secure sufficient observation accuracy. It is difficult to obtain sufficient observation accuracy.

[0014] Further, since only the angle of impact for one shot is observed and displayed, if a shot is fired several times, statistical evaluation must be performed by an operator.

[0015] The impact observation apparatus according to the present invention solves the above-mentioned problems, and employs a radar system that irradiates a beam at a longer interval than in the past, even when a water column cannot be detected or when a wave is high. In this case, the object of the invention is to make it possible to perform the impact observation even when firing several times.

[0016]

According to a first aspect of the present invention, an impact observation apparatus performs a tracking process based on a target observation value detected from a signal received from a target, calculates a tracking target position,
Further, a tracking process is performed based on a bullet observation value detected by a received signal from the bullet to calculate a bullet tracking position, and a bullet tracking position when the altitude of the bullet becomes 0 is calculated as a bullet landing position. For this reason, it is not necessary to observe the water column, and the configuration is such that there is an opportunity to be observed for a long time from when the bullet can be observed by the multiple target detection process until it meets the target.

The impact observation device according to the second aspect of the present invention includes:
Performs tracking based on the target observation value detected from the signal received from the target, calculates the tracking target position, and performs tracking based on the bullet observation value detected by the received signal from the bullet Calculates the bullet tracking position, and sets the bullet altitude to 0.
The bullet tracking position at the time of is calculated as the impact position.
For this reason, the observation of the water column is unnecessary, and until the bullet meets the target after the bullet can be observed by the multiple target detection process.
The structure is such that there is an opportunity to be observed for a long time. Furthermore, in order to perform more accurate evaluation, the configuration is such that the statistical value of the impact position is displayed based on the result of several shots.

Further, the impact observation device according to the third invention is characterized in that:
Performs tracking based on the target observation value detected from the signal received from the target, calculates the tracking target position, and performs tracking processing by distinguishing several bullet observation values detected by the received signal from the bullet. Is performed, and the bullet tracking position is calculated, and the bullet tracking position when the height of each bullet becomes 0 is calculated as the bullet landing position. This eliminates the need for water column observation,
In addition to having a chance to be observed for a long time from when the bullets can be observed by the multiple target detection process until it meets the target, even if multiple bullets are fired continuously, the impact position of each bullet Is calculated.

The impact observation device according to the fourth aspect of the present invention includes:
Performs tracking based on the target observation value detected from the signal received from the target, calculates the tracking target position, and performs tracking processing by distinguishing several bullet observation values detected by the received signal from the bullet. Is performed, and the bullet tracking position is calculated, and the bullet tracking position when the height of each bullet becomes 0 is calculated as the bullet landing position. This eliminates the need for water column observation,
In addition to having a chance to be observed for a long time from when the bullets can be observed by the multiple target detection process until it meets the target, even if multiple bullets are fired continuously, the impact position of each bullet Is calculated. Furthermore, in order to perform more accurate evaluation, the configuration is such that the statistical value of the impact position is displayed based on the result of several shots.

[0020]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a block diagram showing Embodiment 1 of the present invention, in which 6 is an antenna device, 7 is a transceiver, 8 is a radar signal processor,
19 is a multiple target detector, 20 is a target correlation determiner, 10 is a target tracking filter, 21 is a bullet tracking filter, 22 is a bullet altitude calculator, 23 is a bullet position calculator, 12 is a display,
13 is a beam controller.

The principle of operation of the impact observation device configured as described above will be described with reference to FIG. The beam controller 13 determines a beam directing position so that the target predicted position calculated by the target tracking filter 10 at the previous sampling time is irradiated with the beam, and outputs the beam to the transceiver 7.
The transmitter / receiver 7 outputs a transmission signal corresponding to the beam directing position specified by the beam controller 13 to the antenna device 6. The antenna device 6 transmits a beam to the tracking target, and outputs a received signal to the transceiver 7.
The transceiver 7 performs processing such as amplification on the received signal, and outputs the signal to the radar signal processor 8. The radar signal processor 8 performs processing such as detection of the received signal and outputs the processed signal to the multiple target detector 19. The multiple target detector 19 detects a plurality of target signals by comparing the amplification of the target signal included in the received signal with a threshold set for detection. Here, the range in which the detection processing of a plurality of targets is performed is referred to as a “distance gate”, and the target predicted distance Rpt (n) calculated by the target tracking filter is set as the center of the tracking gate, and has a constant distance width Wg before and after.

FIG. 7 shows an example of a received signal in this case. FIG.
, 14 is a reception signal of the tracking target and the bullet, 15 is a reception signal from the tracking target, 16 is a reception signal from the bullet,
24 is the detection threshold, 25 is the target predicted distance Rpt
(N) and 26 are tracking gate widths Wg. In the tracking gate, a three-dimensional observation value Ro in the polar coordinate system of each distance, azimuth angle information and high angle information from the detected signal.
(I), Bo (i), Eo (i) (where i is the number of detections) are calculated and output to the target correlation determiner 20. Target correlation determiner 2
In the case of 0, is the detection result of the plurality of targets based on “a result of a received signal from the tracking target”? It is determined from Expression 2 whether or not “the signal is based on a received signal from a fired bullet”. Where Rpt
(N) is the tracking predicted distance at the sampling time n, Wr is the target predicted distance variation width, a fixed set value, Ro
(I) is the distance of the ith detected observation. Number 2
Satisfies the conditions of "the signal from the tracking target"
The i-th observation value determined as
The other observation values are determined to be “depending on the received signal from the bullet”, and are output to the bullet tracking filter 21.

[0023]

(Equation 2)

The target tracking filter 10 performs a smoothing process and a prediction process according to the above equation 1 based on the observed values, and calculates the position and speed of the tracking target. The calculated target predicted position is a beam controller 13 for beam irradiation at the next sampling, a display 12 for displaying a target position and a speed, and a plurality of target detectors 19 for setting a tracking gate center distance. Is output to the target correlation determiner 20 for correlation processing of a bullet or a tracking target. The bullet tracking filter 21 performs a smoothing process and a prediction process according to Equation 3 based on the above observation values, and calculates the position and velocity of the bullet. Where Ro
b, Bob, Eob are observation values input to the bullet tracking filter, n is the number of samplings, Rsb (n), Bsb
(N) and Esb (n) are smooth positions at the number of samplings n, DRsb (n), DBsb (n), DEsb
(N) is the smoothing speed at the sampling number n, Rpb
(N + 1), Bpb (n + 1) and Epb (n + 1) are predicted positions at the sampling frequency n + 1, T is a sampling interval, and α and β are smoothing constants. The calculated predicted position of the bullet is output to the bullet height calculator 22 and the bullet position calculator 23.

[0025]

(Equation 3)

The bullet height calculator 22 calculates the bullet height according to Equation 4 based on the above-described bullet smooth position. Here, n is the number of samplings, Hb (n), Rsb
(N) and Esb (n) are the bullet smooth positions at the sampling number n, and indicate the altitude, distance, and high angle, respectively. The calculated bullet altitude is output to the landing position calculator 23.

[0027]

(Equation 4)

In the bullet position calculator 23, the bullet height is set to 0 in accordance with Equation 5 based on the bullet height and the bullet smooth position.
Is calculated, that is, the bullet impact position. Here, t is time, tn is the time from the n-th sampling time to t, Hb (t), Rb (t), Bb
(T), Eb (t) are the position of the bullet at time t, To
Is the time when the bullet altitude becomes 0, Hb (To), Rb (T
o), Bb (To) and Eb (To) indicate the position of the bullet at the time To, and Rb, Bb and Eb indicate the impact positions. The calculated landing position is output to the display 12.

[0029]

(Equation 5)

The display 12 always displays the position and speed of the target tracking, and displays the position of the bullet when the bullet has landed, thereby transmitting the accuracy of the gun shooting to the operator.

Embodiment 2 FIG. 2 is a block diagram showing Embodiment 2 of the present invention, in which 6 is an antenna device, 7 is a transceiver, 8 is a radar signal processor, 19 is a multiple target detector, 20 is a target correlation determiner, 10 is a target tracking filter, 21 is a bullet tracking filter, 22 is a bullet height calculator, 23 is a bullet position calculator, 27 is a bullet position statistical calculator, 12 is a display, and 13 is a beam controller.

The principle of operation of the impact observation device configured as described above will be described with reference to FIG. The beam controller 13 determines a beam directing position so that the target predicted position calculated by the target tracking filter 10 at the previous sampling time is irradiated with the beam, and outputs the beam to the transceiver 7.
The transmitter / receiver 7 outputs a transmission signal corresponding to the beam directing position specified by the beam controller 13 to the antenna device 6. The antenna device 6 transmits a beam to the tracking target, and outputs a received signal to the transceiver 7.
The transceiver 7 performs processing such as amplification on the received signal, and outputs the signal to the radar signal processor 8. The radar signal processor 8 performs processing such as detection of the received signal and outputs the processed signal to the multiple target detector 19. The multiple target detector 19 detects a plurality of target signals by comparing the amplification of the target signal included in the received signal with a threshold set for detection. Here, the range in which the detection processing of a plurality of targets is performed is referred to as a “distance gate”, and the target predicted distance Rpt (n) calculated by the target tracking filter is set as the center of the tracking gate, and has a constant distance width Wg before and after. The target correlation determiner 20 determines whether the detection result of the plurality of targets is “based on a received signal from a tracking target” or “based on a received signal from a fired bullet” using the above equation (2). The observation value determined as “based on the received signal from the tracking target” is output to the target tracking filter 10, and the observation value determined as “based on the received signal from the bullet” is output to the bullet tracking filter 21. You. The target tracking filter 10 performs a smoothing process and a prediction process according to Equation 1 based on the observation value, and calculates the position and speed of the tracking target. The target predicted position calculated here is used as a beam controller 13 for beam irradiation at the next sampling, and a display 1 for displaying the target position and speed.
2. Multiple target detector 1 to set tracking gate center distance
9. The target is output to the target correlation determiner 20 for correlation processing of a bullet or a tracking target. The bullet tracking filter 21 performs a smoothing process and a prediction process according to the above Equation 3 based on the above observation values, calculates a smooth position and a velocity of the bullet, and outputs the bullets to the bullet height calculator 22 and the bullet position calculator 23. I do. The bullet height calculator 22 calculates the bullet height based on the above formula 4 based on the above-described bullet smooth position, and outputs the calculated bullet height to the bullet position calculator 23. The bullet position calculator 23 calculates the position of the bullet when the bullet height is 0, that is, the bullet position, based on the bullet height and the smooth position of the bullet, based on the bullet height and the bullet height. It outputs to the landing position statistics calculator 27. The landing position statistic calculator 27 calculates the average values Rbm, Ebm, Bbm and the variance values Rbs, EbS, Bbs from the start of the observation of the landing position to the latest observation value according to Equation 6. The number of bullets landed is represented by k, and the summation processing from the 1st to the kth is represented by Σ. The calculated landing position statistics are output to the display 12.

[0033]

(Equation 6)

The display unit 12 always displays the position and speed of the target tracking, displays the position of the bullet when the bullet has landed, and furthermore, the average value of the position of the bullet from the start of observation to the latest observation value. , The variance value is displayed, and the accuracy of the gun firing is transmitted to the operator.

Embodiment 3 FIG. FIG. 3 is a block diagram showing Embodiment 3 of the present invention, in which 6 is an antenna device, 7 is a transceiver, 8 is a radar signal processor, 19 is a multiple target detector, 20 is a target correlation determiner, 28 is a bullet correlation determiner, 10 is a target tracking filter, 29 is a multiple bullet tracking filter, 22 is a bullet height calculator, 23 is a bullet position calculator, 12 is a display, and 13 is a beam controller.

The principle of operation of the impact observation apparatus configured as described above will be described with reference to FIG. The beam controller 13 determines a beam directing position so that the target predicted position calculated by the target tracking filter 10 at the previous sampling time is irradiated with the beam, and outputs the beam to the transceiver 7.
The transmitter / receiver 7 outputs a transmission signal corresponding to the beam directing position specified by the beam controller 13 to the antenna device 6. The antenna device 6 transmits a beam to the tracking target, and outputs a received signal to the transceiver 7.
The transceiver 7 performs processing such as amplification on the received signal, and outputs the signal to the radar signal processor 8. The radar signal processor 8 performs processing such as detection of the received signal and outputs the processed signal to the multiple target detector 19. The multiple target detector 19 detects a plurality of target signals by comparing the amplification of the target signal included in the received signal with a threshold set for detection. Here, the range in which the detection processing of a plurality of targets is performed is referred to as a “distance gate”, and the target predicted distance Rpt (n) calculated by the target tracking filter is set as the center of the tracking gate, and has a constant distance width Wg before and after. FIG. 8 shows an example of a reception signal in the case where bullets are continuously fired and two bullets are detected in the tracking gate. In FIG. 8, reference numeral 14 denotes a reception signal in the tracking gate, that is, a reception signal of a tracking target and a bullet, a reception signal 15 from a tracking target, 16 a reception signal from a bullet, 24 a detection threshold, 25 is the target predicted distance Rp and the center of the tracking gate, 26 is the tracking gate width W
g. In such a case, it is necessary to track each bullet separately. From the detected signals, the observation values Ro (i), Eo of the respective distances, azimuths and high angles are obtained.
(I), Bo (i) (where i is the number of detections) are calculated and output to the target correlation determiner 20. In the target correlation determiner 20, the detection result of the plurality of targets is determined based on “the received signal from the tracking target” or “the received signal from the fired bullet”.
Is determined by the above equation (3). As a result, the observation value determined as “based on the received signal from the tracking target” is output to the target tracking filter 10, and the other observation values determined as “based on the received signal from the fired bullet” are:
It is output to the bullet correlation determiner 28. Bullet correlation determiner 28
Then, the predicted position of the bullet that has already been tracked is input from the multiple bullet tracking filter 29, and the bullet number is determined according to Equation 7. Here, Rb (L) (n) is the tracking predicted distance of the L-th bullet from the start of observation at the sampling time n, and Wb is the distance width of the bullet correlation processing, which is a fixed set value.

[0037]

(Equation 7)

With this processing, the observation values of the bullets are numbered, and the observation values of the L-th bullet are represented by Ro (L), Eo
(L) and Bo (L) are output to the multiple bullet tracking filter 29. The target tracking filter 10 performs a smoothing process and a prediction process according to Equation 1 based on the observation value, and calculates the position and speed of the tracking target. The calculated target predicted position is a beam controller 13 for beam irradiation at the next sampling, a display 12 for displaying a target position and a speed, and a plurality of target detectors 19 for setting a tracking gate center distance. Is output to the target correlation determiner 20 for correlation processing of a bullet or a tracking target. Multiple bullet tracking filter 29
Then, a smoothing process and a prediction process are performed according to Equation 8 based on the above observation values, and the smooth position and speed of each bullet are calculated.

[0039]

(Equation 8)

From the calculated predicted positions of the plurality of bullets, the bullet at the moment when the bullet meets the tracking target is selected,
Rpb (n + 1), Epb (n + 1), Bpb (n +
1) The bullet height calculator 22 and the bullet position calculator 23
Output to The bullet height calculator 22 calculates the bullet height based on the above formula 4 based on the above-described bullet smooth position, and outputs the calculated bullet height to the bullet position calculator 23. In the landing position calculator 23,
Based on the bullet altitude and the bullet smooth position, the bullet position when the bullet altitude becomes 0, that is, the bullet landing position, is calculated according to the above equation (5), and output to the display 12. Display 12
Then, the position and speed of the target tracking are always displayed, and when a bullet is hit, the hit position is displayed, and the accuracy of gun shooting is transmitted to the operator.

Embodiment 4 FIG. FIG. 4 is a block diagram showing a fourth embodiment of the present invention, in which 6 is an antenna device, 7 is a transceiver, 8 is a radar signal processor, 19 is a multiple target detector, 20 is a target correlation determiner, 28 is a bullet correlation determination device, 10 is a target tracking filter, 29 is a multiple bullet tracking filter, 22 is a bullet altitude calculator, 23 is a bullet position calculator, 27 is a bullet position statistical calculator, 12 is a display, 1
3 is a beam controller.

The principle of operation of the impact observation device configured as described above will be described with reference to FIG. The beam controller 13 determines a beam directing position so that the target predicted position calculated by the target tracking filter 10 at the previous sampling time is irradiated with the beam, and outputs the beam to the transceiver 7.
The transmitter / receiver 7 outputs a transmission signal corresponding to the beam directing position specified by the beam controller 13 to the antenna device 6. The antenna device 6 transmits a beam to the tracking target, and outputs a received signal to the transceiver 7.
The transceiver 7 performs processing such as amplification on the received signal, and outputs the signal to the radar signal processor 8. The radar signal processor 8 performs processing such as detection of the received signal and outputs the processed signal to the multiple target detector 19. The multiple target detector 19 detects a plurality of target signals by comparing the amplification of the target signal included in the received signal with a threshold set for detection. Here, the range in which the detection processing of a plurality of targets is performed is referred to as a “distance gate”, and the target predicted distance Rpt (n) calculated by the target tracking filter is set as the center of the tracking gate, and has a constant distance width Wg before and after. The target correlation determiner 20 determines whether the detection result of the plurality of targets is “based on a received signal from a tracking target” or “based on a received signal from a fired bullet” according to Equation (3). From this, the observation value determined as “based on the received signal from the tracking target” is output to the target tracking filter 10, and the other observation values determined as “based on the received signal from the fired bullet” are: It is output to the bullet correlation determiner 28. The bullet correlation determiner 28 inputs the predicted position of the already tracked bullet from the multiple bullet tracking filter 29, and determines the number of the bullet in accordance with the above equation (7). Here, Rb (L) (n) is the tracking predicted distance of the L-th bullet from the start of observation at the sampling time n, and Wb is the distance width of the bullet correlation processing, which is a fixed set value. This process numbers bullet observations,
Output to the multiple bullet tracking filter 29. The target tracking filter 10 performs a smoothing process and a prediction process according to Equation 1 based on the observation value, and calculates the position and speed of the tracking target. The calculated target predicted position is a beam controller 13 for beam irradiation at the next sampling, a display 12 for displaying a target position and a speed, and a plurality of target detectors 19 for setting a tracking gate center distance. Is output to the target correlation determiner 20 for correlation processing of a bullet or a tracking target. The multiple bullet tracking filter 29 performs a smoothing process and a prediction process according to Equation 8 based on the observation value, and calculates a smooth position and velocity of each bullet. Where Rob
(L), Eob (L), and Bob (L) are observation values from the “L-th bullet” input to the multiple bullet tracking filter 29. From the predicted positions of the multiple bullets calculated here,
Then, select the bullet at the moment of meeting the tracking target,
The values are output as b (n + 1), Epb (n + 1), and Bpb (n + 1) to the bullet height calculator 22 and the bullet position calculator 23. The bullet height calculator 22 calculates the bullet height based on the above formula 4 based on the above-described bullet smooth position, and outputs the calculated bullet height to the bullet position calculator 23. In the bullet position calculator 23, based on the bullet height and the bullet smooth position described above, according to Equation 5,
The position of the bullet when the bullet altitude becomes 0, that is, the bullet position, is calculated, and the display 12 and the bullet position statistical calculator 27 are calculated.
Output to The landing position statistic calculator 27 calculates the average values Rbm, Eb from the start of observation of the landing position to the latest observation value.
m, Bbm and variance values Rbs, EbS, Bbs are calculated according to the above equation (6). The display 12 constantly displays the position and speed of the target tracking, and displays the position of the bullet when the bullet has landed. Furthermore, the average and dispersion values of the position of the bullet from the start of observation to the latest observation value are displayed. Is displayed to inform the operator of the accuracy of gunfire.

[0043]

According to the first aspect, a tracking process is performed based on a target observation value detected from a received signal from a target,
When the target tracking position is calculated, the tracking processing is performed based on the bullet observation value detected from the received signal from the bullet, the bullet tracking position is calculated, the bullet altitude is calculated, and the bullet altitude becomes 0. To calculate the impact position from the bullet tracking position of
There is an opportunity to observe a bullet for a long time from when the bullet becomes observable by the multiple target detection process until it is hit. Therefore, even if the detection of the water column is impossible or the wave is high, the observation of the water column is not required, so that the measurement of the landing position can be performed. Furthermore, since there is an opportunity to observe a bullet for a long time, the present invention can be applied to a radar in which a beam irradiation time interval is longer than that of a conventional type.

According to the second aspect of the present invention, a tracking process is performed based on a target observation value detected from a signal received from a target, a target tracking position is calculated, and a target tracking position is calculated. The tracking process is performed based on the bullet observation value, the bullet tracking position is calculated, the bullet altitude is calculated, and the bullet altitude is 0.
Since the bullet position is calculated based on the bullet tracking position at the time of, there is an opportunity to observe the bullet for a long time from when the bullet becomes observable by the multiple target detection processing until when the bullet hits. Furthermore, based on the results of several shots, statistical values of the impact position are displayed. For this reason, even when the detection of the water column is impossible or the wave is high, the observation of the water column is not required, so that the measurement of the landing position can be performed. Furthermore, since there is an opportunity to observe a bullet for a long time, the present invention can be applied to a radar in which a beam irradiation time interval is longer than that of a conventional type. Furthermore, it is possible to perform a statistical evaluation of the impact position observed during several shootings.

According to the third aspect of the present invention, a tracking process is performed based on a target observation value detected from a signal received from a target, a target tracking position is calculated, and a target tracking position is calculated. The tracking process is performed based on the bullet observation value, the bullet tracking position is calculated, the bullet altitude is calculated, and the bullet altitude is 0.
Since the bullet position is calculated based on the bullet tracking position at the time of, there is an opportunity to observe the bullet for a long time from when the bullet becomes observable by the multiple target detection processing until when the bullet hits. For this reason, even when the detection of the water column is impossible or the wave is high, the observation of the water column is not required, so that the measurement of the landing position can be performed. Furthermore, since there is an opportunity to observe a bullet for a long time, the present invention can be applied to a radar in which a beam irradiation time interval is longer than that of a conventional type. Further, even when a plurality of bullets are simultaneously observed and a plurality of bullets are simultaneously observed, it is possible to evaluate the impact position of each bullet.

According to the fourth aspect of the present invention, a tracking process is performed based on a target observation value detected from a signal received from a target, a target tracking position is calculated, and a target tracking position is calculated. The tracking process is performed based on the bullet observation value, the bullet tracking position is calculated, the bullet altitude is calculated, and the bullet altitude is 0.
Since the bullet position is calculated based on the bullet tracking position at the time of, there is an opportunity to observe the bullet for a long time from when the bullet becomes observable by the multiple target detection processing until when the bullet hits. Furthermore, based on the results of several shots, statistical values of the impact position are displayed. For this reason, even when the detection of the water column is impossible or the wave is high, the observation of the water column is not required, so that the measurement of the landing position can be performed. Furthermore, since there is an opportunity to observe a bullet for a long time, the present invention can be applied to a radar in which a beam irradiation time interval is longer than that of a conventional type. Furthermore, it is possible to perform a statistical evaluation of the impact position observed during several shootings. In addition, even when shooting is continuously performed and a plurality of bullets are observed at the same time, the impact position of each shot can be evaluated.

[Brief description of the drawings]

FIG. 1 is a first embodiment of an impact observation apparatus according to the present invention;
FIG.

FIG. 2 is a second embodiment of the impact observation apparatus according to the present invention;
FIG.

FIG. 3 is a third embodiment of the impact observation apparatus according to the present invention;
FIG.

FIG. 4 is a fourth embodiment of the impact observation apparatus according to the present invention;
FIG.

FIG. 5 is a conceptual diagram of an operation state of the shooting commanding device.

FIG. 6 is a block diagram showing an impact observation device according to a conventional technique.

FIG. 7 is a conceptual diagram showing a reception signal at the time of one shot according to the present invention.

FIG. 8 is a conceptual diagram showing a received signal at the time of firing according to the present invention.

FIG. 9 is a conceptual diagram showing a reception signal at the time of shooting according to the related art.

[Explanation of symbols]

1 tracking target, 2 beams, 3 radars, 4 guns, 5
Water column, 6 antenna unit, 7 transceiver, 8 radar signal processor, 9 time-division target detector, 10 target tracking filter, 11 water column position calculator, 12 display, 13 beam controller, 14 tracking target and bullet reception Signal, 15
Received signal from tracking target, 16 Received signal from bullet, 17 Detection control for tracking target, 18 Detection control for water column, 19 Multiple target detector, 20 Target correlation determiner, 21 Bullet tracking filter, 22 Bullet altitude calculator, 23 hit position calculator, 24 detection threshold, 25
Target predicted distance, 26 tracking gate width, 27 bullet position statistical calculator, 28 bullet correlation determiner, 29 multiple bullet tracking filters.

Claims (4)

[Claims] 1. An antenna device for transmitting and receiving radio waves to and from a target, a transceiver for transmitting and receiving signals to and from the antenna device, and a radar signal processor for performing processing such as detection of a received signal. And a plurality of target signals are detected based on signals from the radar signal processor, and the distance, azimuth,
A multi-target signal detector that calculates a high-angle three-dimensional observation value; a target correlation determiner that performs processing to determine whether the observation value is from a tracking target or a bullet that fired; and a tracking target that is determined by the determination processing. A target tracking filter that calculates a predicted tracking value based on the determined observation value, a bullet tracking filter that performs tracking processing on an observation value determined to be a bullet fired from us by the determination process, and a bullet tracking filter that performs the tracking process. A bullet height calculator that calculates a bullet height from a tracking predicted value from a tracking filter, and a bullet position calculation that calculates a bullet tracking predicted value when the height from the bullet height calculator becomes 0 as a bullet position. And a display for displaying the impact position to the operator, and a beam controller for instructing the tracking target to irradiate a beam at the next sampling time. Wearing observation apparatus. 2. An antenna device for transmitting and receiving radio waves to and from a target, a transceiver for transmitting and receiving signals for transmission and reception to and from the antenna device, and a radar signal processor for performing processing such as detection of a received signal. And a plurality of target signals are detected based on signals from the radar signal processor, and the distance, azimuth,
A multi-target signal detector that calculates a high-angle three-dimensional observation value; a target correlation determiner that performs processing to determine whether the observation value is from a tracking target or a bullet that fired; and a tracking target that is determined by the determination processing. A target tracking filter that calculates a predicted tracking value based on the determined observation value, a bullet tracking filter that performs tracking processing on an observation value determined to be a bullet fired from us by the determination process, and a bullet tracking filter that performs the tracking process. A bullet height calculator that calculates a bullet height from a tracking predicted value from a tracking filter, and a bullet position calculation that calculates a bullet tracking predicted value when the height from the bullet height calculator becomes 0 as a bullet position. And fired a single shot several times,
An impact position statistic calculator that stores the impact position and calculates a deviation from the average value and an average impact position that is a statistic of the impact position; and an average impact position that is the impact position statistic. An impact observation apparatus comprising: a display for displaying a deviation from an average value to an operator; and a beam controller for instructing a target to be irradiated with a beam at the next sampling time. 3. An antenna device for transmitting and receiving radio waves to and from a target, a transceiver for transmitting and receiving signals to and from the antenna device, and a radar signal processor for performing processing such as detection of a received signal. And a plurality of target signals are detected based on signals from the radar signal processor, and the distance, azimuth,
A multi-target signal detector that calculates a high-angle three-dimensional observation value; a target correlation determiner that performs processing to determine whether the observation value is from a tracking target or a bullet that fired; and a tracking target that is determined by the determination processing. A target tracking filter that calculates a predicted tracking value based on the determined observation value, and a bullet correlation determiner that further discriminates the observation value determined to be a bullet fired from us by the above determination process as a fired bullet. , 1
A multiple bullet tracking filter that performs tracking processing on an observation value that is distinguished from a bullet for each bullet; a bullet height calculator that calculates a bullet height from a tracking predicted value from the multiple bullet tracking filter; and the bullet height An impact position calculator that calculates a bullet tracking predicted value when the altitude from the calculator becomes 0 as an impact position; an indicator that displays the impact position to an operator; A beam controller for instructing beam irradiation at the next sampling time. 4. An antenna device for transmitting and receiving radio waves to and from a target, a transceiver for transmitting and receiving signals to and from the antenna device, and a radar signal processor for performing processing such as detection of a received signal. And a plurality of target signals are detected based on signals from the radar signal processor, and the distance, azimuth,
A multi-target signal detector that calculates a high-angle three-dimensional observation value; a target correlation determiner that performs processing to determine whether the observation value is from a tracking target or a bullet that fired; and a tracking target that is determined by the determination processing. A target tracking filter that calculates a predicted tracking value based on the determined observation value, and a bullet correlation determiner that further discriminates the observation value determined to be a bullet fired from us by the above determination process as a fired bullet. , 1
A multiple bullet tracking filter that performs tracking processing on an observation value that is distinguished from a bullet for each bullet; a bullet height calculator that calculates a bullet height from a tracking predicted value from the multiple bullet tracking filter; and the bullet height An impact position calculator that calculates a predicted value of tracking a bullet when the altitude from the calculator becomes 0 as an impact position, and stores the impact position when performing multiple shots several times; An impact position statistic calculator for calculating a deviation from the average impact position and the average value, which is the statistic of the impact position, and a deviation from the average impact position and the average value as the impact position statistic, to the operator. An indicator to be displayed for
An impact observation apparatus comprising: a beam controller that instructs a tracking target to irradiate a beam at a next sampling time.