JP2000304853A - Tracking device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To eliminate a waiting time required after a start of tracking processing based on a target designation when a course and speed of a target is stably predicted so as to instantly display a predicted course and speed on an indicator after target designation by predicting the movement of the target in a tracking starting time on the basis of an estimated locus found by estimating the locus of the target before the tracking starting time and visually indicating a prediction result. SOLUTION: A target is indicated on the basis of radar video displayed on a display indicator 1 so as to be fed to a own machine position and attitude correction unit 2 with received video after a sweep correlation. Then own machine position and attitude correction unit 2 corrects own machine position and attitude on the basis of a navigation position information and feeds its result to a video accumulating memory 8. In this process, optionally, data for a fixed scanning range is accumulated, and every time when new scan data is inputted, the accumulated contents are added and updated. That is, on the basis of the radar video indicated on the display indicator 1, a target indication result is fed to a smoothing filter unit 7 constructed of a smoothing unit 4, a tracking gate forming unit (normal direction) 6, a tracking gate forming unit (reverse direction) 9 and the like via the own machine position and attitude correction unit 2.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking device for predicting and displaying the movement of a target specified to be tracked, such as a radar device having a tracking function.

[0002]

2. Description of the Related Art As a radar apparatus having a target tracking function, for example, there is an apparatus shown in FIG. FIG. 1 is a block diagram showing a schematic function relating to tracking processing in a conventional radar apparatus, and includes a display indicator 101, a position / posture correction unit 102, a scan correlation (forward direction) unit 103, and a smoothing filter 107. . Then, the smoothing filter 107
Is composed of a smoothing processing unit 104, a prediction calculation unit 105, and a tracking gate creation (positive direction) unit 106.

Next, the operation of the above-mentioned conventional radar device will be described. In the apparatus shown in FIG. 9, a target is designated based on the radar video displayed on the display indicator 101, and is sent to the own position / posture correction unit 102 together with the received video after the sweep correlation. The self-position / posture correction unit 102 performs the self-position and posture correction processing based on the navigation / posture information, and the result is a scan correlation (positive direction).
It is sent to the unit 103.

A scan correlation (positive direction) section 103 performs a correlation (positive direction) process between a target detected in a new scan and a target detected in a past scan in a set tracking gate. Do. The result of this correlation processing is sent to a smoothing filter processing section 107 composed of a smoothing processing section 104, a prediction calculation section 105, and a tracking gate creation (positive direction) section 106, and based on the smoothing processing result here. , The prediction calculation unit 105 calculates the predicted position of the next scan.

The tracking gate creating (positive direction) unit 106 calculates the scan correlation (positive direction) unit 10
Reference numeral 3 sets a tracking gate to be used for correlation processing in the next scan on the coordinate space. Further, the result of the prediction calculation unit 105 is used for the smoothing processing of the next scan.

[0006]

However, in the tracking processing in the above-mentioned conventional radar apparatus, it is necessary to perform a stable prediction of a course and a speed that require data for several to several tens of scans according to the target kinetic performance. After the start of the tracking process by specifying the target, there is a problem that a waiting time of several tens of seconds to several minutes is required for data collection.

SUMMARY OF THE INVENTION The present invention has been made in view of the above-mentioned problems, and an object of the present invention is to eliminate a waiting time required after starting a tracking process by designating a target when stably predicting a target course and speed. An object of the present invention is to provide a tracking device capable of displaying a predicted course and a speed on a display immediately after a target is specified.

[0008]

In order to achieve the above-mentioned object, the present invention provides a tracking device for displaying the trajectory of a moving target. In the tracking device, detection information before the tracking start time is accumulated for the target in chronological order. Accumulation means, means for correlating the target at a plurality of times before the tracking start time based on the detection information, and information obtaining means for obtaining the motion information of the target before the tracking start time from the correlation Means for estimating the trajectory of the target before the tracking start time based on the motion information, and means for predicting the movement of the target at the tracking start time based on the estimated trajectory, A tracking device for visually displaying the prediction result is provided.

Preferably, the tracking device according to the present invention further includes means for controlling a holding period of the detection information in the storage means based on the target performance. Preferably, the tracking device according to the present invention further includes means for determining a tracking gate area for tracking the target.

Preferably, the tracking device according to the present invention further comprises: means for controlling a holding period of the detection information in the storage means based on the kinetic performance of the target; Means for determining a tracking gate area.

Preferably, the tracking device according to the present invention further comprises means for correlating the target based on the detection probability of the target. Preferably, the tracking device according to the present invention further includes: a unit that controls a holding period of the detection information in the storage unit based on the kinetic performance of the target; and a detection probability of the target based on the detection probability of the target. Means for correlating targets.

Preferably, the tracking device according to the present invention further comprises means for determining a tracking gate area for tracking the target, and means for correlating the target based on the detection probability of the target. And

[0013] Preferably, the tracking device according to the present invention further comprises: means for controlling a holding period of the detection information in the storage means based on the target performance.
The apparatus includes means for determining a tracking gate area for tracking the target, and means for correlating the target based on the detection probability of the target.

[0014] More preferably, in the tracking device according to the present invention, the predicted target movement includes at least:
The course and speed of the target are included.

[0015]

Embodiments of the present invention will be described below in detail with reference to the accompanying drawings. Embodiment 1 FIG. First, Embodiment 1 of the present invention will be described. FIG. 1 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The apparatus shown in FIG. 1 includes a display indicator 1, a position / posture correction unit 2, a scan correlation (forward direction) unit 3, a smoothing filter unit 7, a video storage memory 8, and a scan correlation (reverse direction) unit. 10. The smoothing filter unit 7 is a filter including a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9.

Next, the operation of the radar apparatus will be described. Note that the processing in the radar apparatus according to the present embodiment can be divided into processing until the completion of the course / speed prediction processing at the target designation time and processing after the completion of the course / speed prediction processing at the target designation time. .

<Processing Up to Completion of Course and Speed Prediction Processing at Target Designation Time> In the radar apparatus shown in FIG. 1, a target is designated based on radar video displayed on the display indicator 1 ( The “(tracking) target instruction” shown in the figure is sent to the own-station position / posture correction unit 2 together with the received video after the sweep correlation. This own position / posture correction unit 2 performs own position / posture correction processing based on navigation / posture information, and the result is sent to the video storage memory 8.
Here, using this video storage memory 8,
Data for a fixed scan is stored, and the stored content is added or updated each time new scan data is input.

That is, in the present radar apparatus, the result of the instruction of the target based on the radar video displayed on the display indicator 1 is transmitted via the position / posture correction unit 2 of the own device.
As described above, the smoothing processing unit 4, the prediction calculation unit 5, the tracking gate creation (forward direction) unit 6, and the tracking gate creation (reverse direction)
It is sent to the smoothing filter unit 7 composed of the unit 9.

Among them, the prediction calculation section 5 calculates the predicted position of the previous scan, and generates a tracking gate creation (reverse direction) section 9.
Is the scan correlation (reverse direction) from the result of this prediction calculation.
A tracking gate used in the correlation process in the previous scan is set in the coordinate space by the unit 10. Scan correlation (reverse direction)
The unit 10 performs the correlation based on the detection information of the previous scan stored in the video storage memory 8 included in the tracking gate set as described above.

Here, the "reverse direction" means that the direction is temporally reverse. Specifically, it means that tracking is performed with respect to past records while going back in time. Also,
To process in the “forward direction” means to execute a predetermined process as time passes.

The above result is sent to the smoothing processing unit 4, and the prediction calculation processing unit 5 calculates the predicted position of the scan before the previous scan. Then, the calculation result is sent again to the tracking gate creating (reverse direction) section 9, and the tracking gate of the scan before the previous scan is set on the coordinate space.

The "pre-scan" and "pre-scan" mean scans in the past recording data collection period with reference to the scan at the time when the tracking target is specified. Also, the scan immediately after the tracking target is specified is called the “next scan”.
Call. The “tracking gate” is a range in which a correlation process is performed on a tracking target with respect to detection obtained in the next scan (see FIGS. 10 and 11).

The radar apparatus according to the present embodiment performs, as “correlation processing”, a parameter such as (1) a distance between a predicted tracking position and an observation position, and (2) a signal intensity of a tracking track, with respect to a detection target in a tracking gate. Based on this, it is determined whether or not they are the same goal. This process is a process for preventing, when there is a different detection in the vicinity, erroneous tracking with another target by mistake.

Here, the above series of processing is repeated several to several tens of times, and several scans to
The position before several tens of scans and the trajectory (position and speed) from the past to the designated target time are specified. Then, based on the target motion information before the target designation estimated by the above-described processing, the processing such as the prediction calculation in the prediction calculation unit 5 and the smoothing process in the smoothing processing unit 4 is repeated until the time of the target designation, and the designation is performed. The predicted course and speed of the target are calculated, and the predicted course and speed information is transmitted to the display indicator 1.

<Processing after Completion of Predicting Course and Speed at Target Designation Time> As processing after the prediction course and speed calculation processing at target designation time, the present radar apparatus uses the calculated predicted course and speed information. Next, the tracking gate creation (positive direction) unit 6 sets the tracking gate used in the correlation process in the next scan in the scan correlation (positive direction) unit 3.

The prediction result calculated by the prediction calculation section 5 is used for the smoothing processing of the next scan. And this result is
Correlation (positive direction) between the target detected in the new scan and the target detected in the past scan in the set tracking gate, which is sent to the scan correlation (positive direction) unit 3
Processing is performed.

FIGS. 10 and 11 are diagrams schematically comparing the tracking processing in the conventional radar apparatus and the tracking processing in the radar apparatus according to the present embodiment, respectively. In the figure, circles and black dots in the circles represent images on the display.

In the conventional device, as shown in FIG. 10, tracking is designated at an arbitrary point in time, and the tracking is designated as time elapses.
Repeat processing for each scan after the next scan,
Get the required wake. This makes it possible to predict (display) the course and speed. On the other hand, as shown in FIG. 11, the radar apparatus according to the present embodiment performs tracking designation at an arbitrary time, repeats processing for each scan while going back to the passage of time and sequentially going back with respect to past records. I do.

By obtaining the trajectory up to the designated tracking point, the course and speed at the designated tracking point can be predicted (displayed). That is, in the radar device according to the present embodiment, tracking information can be displayed without waiting for the next scan.

As described above, according to the present embodiment, instead of the prediction calculation using the collected data for several to several tens scans after the target is specified, the video information accumulated before the target is specified is used. By using the correlation process with the time relationship reversed, it is possible to obtain the tracking information at the time of the target designation without the waiting time required for data collection, and to calculate the predicted course and speed instantly after the target designation. Display on the display indicator becomes possible.

Embodiment 2 Hereinafter, Embodiment 2 of the present invention will be described. FIG. 2 is a block diagram showing a functional configuration of the radar device according to the present embodiment. Note that the radar apparatus shown in the figure has a configuration in which a video storage memory capacity determination unit 11 is newly added to the apparatus according to the first embodiment shown in FIG.

That is, the radar apparatus according to the present embodiment includes a display indicator 1, a position / posture correction unit 2, a scan correlation (positive direction) unit 3, a smoothing filter unit 7, a video storage memory 8, It comprises a correlation (reverse) section 10 and a video storage memory capacity determination section 11. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9 as its constituent elements.

In the radar device according to this embodiment, FIG.
As shown in (1), the type of the target is input together with the radar video displayed on the display indicator 1, and the target type is input to the video storage memory capacity determination unit 11 as input data indicating the target athletic performance.

The video storage memory capacity determination unit 11 controls data retention in the video storage memory 8 according to the target exercise performance indicated by the input target type. In other words, the video storage memory capacity determination unit 11 determines whether to hold the stored contents in order to make the memory storage period of the data for a certain scan stored in the video storage memory 8 an optimum period according to the target exercise performance. Control discards and updates.

The operations of the components other than the video storage memory capacity determination unit 11, such as the scan correlation (positive direction) unit 3 and the smoothing processing unit 4, are the same as those of the radar apparatus according to the first embodiment. Therefore, the description thereof is omitted here.

As described above, according to the present embodiment, for data of a fixed scan stored in the video storage memory, the period for holding the memory and the like is the optimum period according to the target exercise performance. By performing such control, the data can be retained in the memory for an optimal period, the memory use efficiency is improved, and more efficient correlation processing (reverse direction) is performed.
Can be performed.

Embodiment 3 Hereinafter, Embodiment 3 of the present invention will be described. FIG. 3 is a block diagram showing a functional configuration of the radar device according to the present embodiment. Note that the radar apparatus shown in the figure has a configuration in which a tracking gate area determination unit 12 is added to the apparatus according to the first embodiment shown in FIG.

The radar apparatus according to the present embodiment, like the apparatus according to the first embodiment, has a display indicator 1, its own position / posture correction unit 2, a scan correlation (positive direction) unit 3, and a smoothing filter unit. 7, a video storage memory 8, a scan correlation (reverse direction) section 10, and a tracking gate area determination section 12. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9 as its constituent elements.

In the radar device according to this embodiment, FIG.
As shown in (1), the type of the target is input together with the radar video displayed on the display indicator 1, and the target type is input to the tracking gate area determination unit 12 as input data indicating the target athletic performance.

The tracking gate area determination unit 12 creates a tracking gate (in the reverse direction) according to the input target motion performance.
The tracking gate creation area in the section 9 is determined, and the determined area information is input to the tracking gate creation (reverse direction) section 9. As a result, the tracking gate creation (reverse direction) unit 9 coordinates the tracking gate based on the calculation result of the predicted position of the previous scan calculated by the prediction calculation unit 5 based on the determined tracking gate creation area. Set on space.

The operation of the components other than the tracking gate area determining unit 12, such as the scan correlation (positive direction) unit 3 and the smoothing processing unit 4, is the same as that of the radar apparatus according to the first embodiment. Here, the description thereof is omitted.

As described above, according to the present embodiment, the tracking gate is set to the coordinate space based on the calculation area of the tracking gate creation area determined according to the target motion performance and the predicted position of the previous scan. With the above setting, it is possible to use the optimal memory according to the target motion and to execute the efficient correlation processing (in the reverse direction).

Embodiment 4 FIG. Hereinafter, Embodiment 4 of the present invention will be described. FIG. 4 is a block diagram showing a functional configuration of the radar device according to the present embodiment. It should be noted that the radar apparatus shown in the figure has a configuration in which a video storage memory capacity determining unit 11 and a tracking gate area determining unit 12 are newly added to the apparatus according to the first embodiment shown in FIG.

That is, the radar apparatus according to the present embodiment comprises a display indicator 1, a position / posture correction unit 2, a scan correlation (positive direction) unit 3, a smoothing filter unit 7, a video storage memory 8, Correlation (reverse) section 10, video storage memory capacity determination section 11, and tracking gate area determination section 1
2. Then, the smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, and a tracking gate creation (forward direction).
And a tracking gate creation (reverse direction) section 9.

In the radar device according to this embodiment, FIG.
As shown in the figure, the type of the target is input together with the radar video displayed on the display indicator 1, and the target type is used as input data indicating the target athletic performance and the video storage memory capacity determination unit 11 and the tracking gate area determination. Input to the section 12.

The video storage memory capacity determination unit 11 is configured as shown in FIG.
Similarly to the radar apparatus according to the second embodiment described above, data retention in the video storage memory 8 is controlled in accordance with the target exercise performance indicated by the input target type. In other words, the video storage memory capacity determination unit 11 determines the storage content of the data for a certain scan stored in the video storage memory 8 so as to optimize the storage period in accordance with the target exercise performance. Control the retention, destruction, and updating of

On the other hand, the tracking gate area determining unit 12
Similarly to the radar device according to the third embodiment described above,
A tracking gate creation area in the tracking gate creation (reverse direction) section 9 is determined according to the input target exercise performance, and the determined area information is used to create the tracking gate creation (reverse direction).
Input to section 9. As a result, tracking gate creation (reverse direction)
The unit 9 performs the following based on the determined tracking gate creation area.
A tracking gate is set on the coordinate space based on the calculation result of the predicted position of the previous scan calculated by the prediction calculation unit 5.

In the present embodiment, the operation of the components other than the video storage memory capacity determining unit 11 and the tracking gate area determining unit 12, such as the scan correlation (positive direction) unit 3 and the smoothing processing unit 4, are as described above. Since it is the same as the case of the radar device according to the first embodiment, the description thereof is omitted here.

As described above, according to the present embodiment, the target exercise performance is input to the video storage memory capacity determination unit as input data, and the data for a certain scan in the video storage memory is accordingly input. Is controlled in such a way that the period of memory retention and the like is optimized, while the tracking gate is set in the coordinate space based on the calculation area of the tracking gate creation area determined according to the target motion performance and the predicted position of the previous scan. By setting to, the data can be retained in the memory for the optimal period, the memory usage efficiency is improved, and the optimal use of the memory according to the target movement and the efficient execution of the correlation processing (reverse direction) are achieved. It becomes possible.

Embodiment 5 Hereinafter, a fifth embodiment of the present invention will be described. FIG. 5 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar apparatus shown in the figure has a configuration in which a multiple correlation determination unit 13 is added to the apparatus according to the first embodiment shown in FIG.

The radar apparatus according to the present embodiment, like the apparatus according to the first embodiment, has a display indicator 1, its own position / posture correction section 2, a scan correlation (positive direction) section 3, and a smoothing filter section. 7, a video storage memory 8, a scan correlation (reverse direction) unit 10, and a multiple correlation determination unit 13. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9.

In the radar device according to this embodiment, FIG.
As shown in (1), the type of the target is input together with the radar video displayed on the display indicator 1, and the target type is input to the multiple correlation determination unit 13 as the target detection probability. Here, the target detection probability is obtained from the effective reflection area (RCS) and radar performance by inputting the type of target to be detected. The effective reflection area is a statistically approximate value that needs to be registered in advance.

As a result, the multiple correlation determination section 13 acts on the video storage memory 8 and the scan correlation (reverse direction) section 10, and the scan correlation (reverse direction) section 10 performs a correlation process (reverse direction) corresponding to the type of the target. Reverse direction). That is, if the target detection probability is small, the multiple correlation determination unit 13 may not be able to perform scan detection. Therefore, the multiple correlation determination unit 13 determines whether it is necessary to perform (multiple) correlation processing over a plurality of scans.

The operations of the scan correlation (positive direction) unit 3 and the smoothing processing unit 4 are the same as those of the radar apparatus according to the first embodiment, so that the description thereof is omitted here.

As described above, according to the present embodiment, the target detection probability is input to the multiple correlation determination unit, and the correlation process is performed in the scan correlation (reverse direction) unit based on the output, so that the target detection probability is obtained. Accurate correlation processing (reverse direction) according to the type can be performed.

Embodiment 6 FIG. Hereinafter, Embodiment 6 of the present invention will be described. FIG. 6 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar device shown in the figure has a configuration in which a video storage memory capacity determining unit 11 and a multiple correlation determining unit 13 are added to the device according to the first embodiment shown in FIG.

The radar apparatus according to the present embodiment, like the apparatus according to the first embodiment, has a display indicator 1, a self-position / posture correction section 2, a scan correlation (positive direction) section 3, and a smoothing filter section. 7, a video storage memory 8, a scan correlation (reverse direction) unit 10, a video storage memory capacity determination unit 11, and a multiple correlation determination unit 13. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9.
Having.

In the radar apparatus according to the present embodiment, as shown in FIG. 6, the type of the target is input together with the radar video displayed on the display indicator 1, and the target type indicates the target athletic performance. The data is input to the video storage memory capacity determination unit 11 as input data (target exercise performance), and is input to the multiple correlation determination unit 13 as target detection probability.

As a result, the video storage memory capacity determining unit 1
1 controls data retention in the video storage memory 8 in accordance with the target exercise performance indicated by the input target type. In other words, the video storage memory capacity determination unit 11
Controls the holding, discarding, and updating of the stored contents so that the memory holding period of the data for a certain scan stored in the video storage memory 8 is set to an optimum period according to the target exercise performance.

On the other hand, since the multiple correlation determination section 13 acts on the video storage memory 8 and the scan correlation (reverse direction) section 10, the scan correlation (reverse direction) section 10 performs the correlation processing according to the above target type. (Reverse direction).

The operations of the scan correlation (positive direction) unit 3, the smoothing unit 4, and the like are the same as those of the radar apparatus according to the first embodiment, and therefore description thereof is omitted here.

As described above, according to the present embodiment, for data of a fixed scan stored in the video storage memory, the period for holding the memory and the like is the optimum period according to the target exercise performance. Control, on the other hand,
By inputting the target detection probability to the multiple correlation determination unit and performing correlation processing in the scan correlation (reverse direction) unit based on the output, data can be held in the memory for an optimal period, and the memory use efficiency is improved. At the same time, accurate correlation processing (reverse direction) according to the type of target can be performed, and more efficient correlation processing (reverse direction) can be performed.

Embodiment 7 FIG. Hereinafter, a seventh embodiment of the present invention will be described. FIG. 7 is a block diagram illustrating a functional configuration of the radar device according to the present embodiment. Note that the radar apparatus shown in the figure has a configuration in which a tracking gate area determination unit 12 and a multiple correlation determination unit 13 are added to the apparatus according to the first embodiment shown in FIG.

The radar apparatus according to the present embodiment, like the apparatus according to the first embodiment, has a display indicator 1, a self-position / posture correction section 2, a scan correlation (positive direction) section 3, and a smoothing filter section. 7, a video storage memory 8, a scan correlation (reverse direction) section 10, a tracking gate area determination section 12, and a multiple correlation determination section 13. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9 as its components.

In the radar device according to this embodiment, FIG.
As shown in (1), the type of the target is input together with the radar video displayed on the display indicator 1, and the target type is input to the tracking gate area determination unit 12 as input data indicating the target athletic performance. The target type is input to the multiple correlation determination unit 13 as a target detection probability.

Therefore, the tracking gate area determining section 12 determines a tracking gate creation area in the tracking gate creating (reverse direction) section 9 according to the input target motion performance, and uses the determined area information as the tracking gate. It is input to the creation (reverse direction) unit 9. As a result, the tracking gate creation (reverse direction) unit 9
Based on the determined tracking gate creation area, the tracking gate is set on the coordinate space based on the calculation result of the predicted position of the previous scan calculated by the prediction calculation unit 5.

On the other hand, the multiple correlation determination section 13 acts on the video storage memory 8 and the scan correlation (reverse direction) section 10 based on the input target detection probability, and receives the scan correlation (reverse direction). The direction) unit 10 executes a correlation process (reverse direction) according to the type of the target.

The operations of the scan correlation (positive direction) section 3 and the smoothing section 4 are the same as those of the radar apparatus according to the first embodiment, and therefore, the description thereof is omitted here.

As described above, according to the present embodiment, the tracking gate is set to the coordinate space based on the calculation area of the tracking gate creation area determined according to the target motion performance and the predicted position of the previous scan. On the other hand, by inputting the target detection probability to the multiple correlation determination unit and performing the correlation processing in the scan correlation (reverse direction) unit based on the output, the optimal detection according to the motion of the target is performed. It is possible to improve the use of the memory and its use efficiency, and to carry out efficient correlation processing (in the reverse direction).

Embodiment 8 FIG. Hereinafter, an eighth embodiment of the present invention will be described. FIG. 8 is a block diagram showing a functional configuration of the radar device according to the present embodiment. It should be noted that the radar apparatus shown in the figure is different from the apparatus according to the first embodiment shown in FIG. 1 in that a video storage memory capacity determining unit 11, a tracking gate area determining unit 12, and a multiple correlation determining unit are newly added. 13 is added.

Therefore, the radar apparatus according to the present embodiment includes a display indicator 1, a position / posture correction unit 2, a scan correlation (positive direction) unit 3, a smoothing filter unit 7, a video storage memory 8, It comprises a correlation (reverse) section 10, a video storage memory capacity determination section 11, a tracking gate area determination section 12, and a multiple correlation determination section 13. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction).
A section 9 is provided.

In the radar apparatus according to the present embodiment, as shown in FIG. 8, the type of the target is input together with the radar video displayed on the display indicator 1, and the target type indicates the target athletic performance. The data is input to the video storage memory capacity determination unit 11 and the tracking gate area determination unit 12 as input data (target exercise performance).

The video storage memory capacity determination unit 11 controls data retention in the video storage memory 8 according to the target exercise performance indicated by the input target type. In other words, the video storage memory capacity determination unit 11 holds the stored contents in order to make the memory storage period of the data for a certain scan stored in the video storage memory 8 an optimum period according to the target exercise performance. , Destroy, and update.

The tracking gate area determining section 12 generates a tracking gate (in the reverse direction) section 9 in accordance with the input target exercise performance.
Is determined, and the determined area information is input to the tracking gate creation (reverse direction) section 9. Therefore, the tracking gate creation (reverse direction) unit 9 performs the prediction calculation unit 5 based on the determined tracking gate creation area.
The tracking gate is set on the coordinate space based on the calculation result of the predicted position of the previous scan calculated in the above.

Further, the multiple correlation determining unit 13 inputs the above-mentioned target type as a target detection probability. As a result, the multiple correlation determination unit 13 acts on the video storage memory 8 and the scan correlation (reverse direction) unit 10, and the scan correlation (reverse direction) unit 10 performs a correlation process (reverse direction) according to the type of the target. )
Run

The operations of the scan correlation (positive direction) section 3 and the smoothing section 4 are the same as those of the radar apparatus according to the first embodiment, and therefore the description thereof is omitted here.

As described above, according to the present embodiment, the target exercise performance is input to the video storage memory capacity determination unit as input data, and the data for a certain scan in the video storage memory is correspondingly input. Is controlled in such a way that the period of memory retention and the like is optimized, while the tracking gate is set in the coordinate space based on the calculation area of the tracking gate creation area determined according to the target motion performance and the predicted position of the previous scan. At the same time, the target detection probability is input to the multiple correlation determination unit, and based on the output, the correlation processing is performed in the scan correlation (reverse direction) unit. As a result, it is possible to improve the use efficiency of the memory, use the optimal memory according to the movement of the target, and execute accurate and efficient correlation processing (reverse direction) according to the type of the target.

[0078]

As described above, according to the present invention,
In a tracking device that displays a trajectory of a moving target, for the target, a storage unit that accumulates detection information before the tracking start time in a time series, and based on the detection information, at a plurality of times before the tracking start time. Means for correlating the target, information obtaining means for obtaining the target motion information before the tracking start time from the correlation, and estimating the trajectory of the target before the tracking start time based on the motion information Means for predicting the movement of the target at the time of the tracking start based on the estimated trajectory, and the prediction result is visually displayed, so that the target course / speed of the target to be visually displayed as tracking information is provided. Predicted values can be obtained instantly, and the predicted course and
Calculation of speed and its display can be performed.

In particular, with respect to the target, detection information before the tracking start time is accumulated in chronological order, and based on the detection information, correlations of the targets at a plurality of times before the tracking start time are obtained. In order to obtain the motion information of the target before the start of tracking, data for several to several tens of scans after the target designation, which was conventionally required for stable prediction calculation, becomes unnecessary, and the time required for data collection is reduced. Can be shortened.

Further, the tracking device according to the present invention further comprises:
Based on the target athletic performance, a means is provided for controlling the storage period of the detection information in the storage means, so that the information can be stored in the storage means for an optimal period, and the use efficiency of the storage means is improved. , More efficient correlation processing can be performed.

Further, the tracking device according to the present invention further comprises:
By providing a means for determining a tracking gate area for tracking the target, it is possible to use an optimal storage means in accordance with the movement of the target and to execute efficient correlation processing.

The tracking device according to the present invention further comprises: means for controlling a retention period of the detection information in the storage means based on the kinetic performance of the target; and a tracking gate area for tracking the target. Means for determining information, the information can be held in the storage means in an optimal period, the use efficiency of the means is improved, and the use of the optimal storage means according to the target movement and the efficient correlation processing are performed. Execution is possible.

The tracking device according to the present invention further comprises:
By providing means for correlating the target based on the detection probability of the target, accurate correlation processing can be performed according to the type of the target.

The tracking device according to the present invention further comprises: means for controlling the holding period of the detection information in the storage means on the basis of the kinetic performance of the target; and With means to correlate goals,
The information can be held in the storage means for an optimal period, the use efficiency of the means can be improved, and accurate correlation processing can be performed according to the type of target, and more efficient correlation processing can be performed.

The tracking device according to the present invention further comprises means for determining a tracking gate area for tracking the target, and means for correlating the target based on the detection probability of the target. Thus, it is possible to use the optimal storage means according to the target exercise, improve the use efficiency thereof, and perform efficient correlation processing.

Further, the tracking device according to the present invention further comprises: means for controlling a holding period of the detection information in the storage means based on the kinetic performance of the target; and a tracking gate for tracking the target. By providing a means for determining the area and a means for correlating the target based on the detection probability of the target, information can be held in the storage means for an optimal period, and the use efficiency of the storage means can be improved. It is possible to use the optimum storage means according to the movement of the target and to execute the accurate and efficient correlation processing according to the type of the target.

Further, in the tracking device according to the present invention,
By including at least the course and speed of the target in the predicted movement of the target, the target can be accurately grasped.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a functional configuration of a radar device according to Embodiment 1 of the present invention.

FIG. 2 is a block diagram showing a functional configuration of a radar device according to Embodiment 2 of the present invention.

FIG. 3 is a block diagram showing a functional configuration of a radar device according to Embodiment 3 of the present invention.

FIG. 4 is a block diagram showing a functional configuration of a radar device according to Embodiment 4 of the present invention.

FIG. 5 is a block diagram showing a functional configuration of a radar device according to Embodiment 5 of the present invention.

FIG. 6 is a block diagram showing a functional configuration of a radar device according to Embodiment 6 of the present invention.

FIG. 7 is a block diagram showing a functional configuration of a radar device according to Embodiment 7 of the present invention.

FIG. 8 is a block diagram showing a functional configuration of a radar device according to Embodiment 8 of the present invention.

FIG. 9 is a block diagram illustrating a configuration of a conventional radar device.

FIG. 10 is a diagram schematically showing tracking processing in a conventional radar device.

FIG. 11 is a diagram schematically showing a tracking process in the radar device according to the present invention.

[Explanation of symbols]

REFERENCE SIGNS LIST 1 display indicator 2 self-position / posture correction unit 3 scan correlation (positive direction) unit 4 smoothing processing unit 5 prediction calculation unit 6 tracking gate creation (positive direction) unit 7 ... Smoothing filter unit, 8 ... Video storage memory, 9 ... Tracking gate creation (reverse direction) unit, 10 ... Scan correlation (reverse direction) unit, 11
... Video storage memory capacity determination unit, 12 ... Tracking gate area determination unit, 13 ... Multiple correlation determination unit

Claims (9)

[Claims] 1. A tracking device for displaying a trajectory of a moving target, comprising: a storage unit for storing, in a time series, detection information of the target before a tracking start time; and a tracking start time based on the detection information. From the means for correlating the target and the correlation at a plurality of previous time points,
Information obtaining means for obtaining the motion information of the target before the tracking start time, means for estimating the trajectory of the target before the tracking start time based on the motion information, based on the estimated trajectory, Means for predicting the movement of the target at the start of tracking, wherein the prediction result is visually displayed. 2. Further, based on the target athletic performance,
2. The tracking device according to claim 1, further comprising a unit that controls a period during which the storage unit holds the detection information. 3. The tracking device according to claim 1, further comprising means for determining a tracking gate area for tracking the target. 4. Further, based on the target athletic performance,
2. The tracking device according to claim 1, further comprising: means for controlling a holding period of the detection information in the storage means; and means for determining a tracking gate area for tracking the target. Further, based on the detection probability of the target,
2. The tracking device according to claim 1, further comprising means for correlating the target. 6. Further, based on the target athletic performance,
2. The tracking device according to claim 1, further comprising: means for controlling a holding period of the detection information in the storage means; and means for correlating the target based on the detection probability of the target. 7. The apparatus according to claim 1, further comprising: means for determining a tracking gate area for tracking the target; and means for correlating the target based on the detection probability of the target. 2. The tracking device according to 1. 8. Further, based on the target athletic performance,
Means for controlling a holding period of the detection information in the storage means, means for determining a tracking gate area for tracking the target, and means for correlating the target based on the detection probability of the target. The tracking device according to claim 1, further comprising: 9. The tracking device according to claim 1, wherein the predicted movement of the target includes at least a course and a speed of the target.