JP2003107151A - Coverage control apparatus and sensor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a downsizable sensor which is dispersedly arranged. SOLUTION: The sensor is provided with a sensor section for detecting information regarding a target, a sensor position output means for outputting a position of the sensor, a transmission section for transmitting the sensor position outputted by the position output means to a coverage control apparatus that determines the coverage area of each sensor, a reception means for receiving a coverage area determined by the coverage control apparatus based on the transmitted sensor position and geographical information, and a coverage control means for controlling a coverage area of the sensor section based on the coverage area received by the reception means.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sensor device including a sensor such as a radar and a coverage control device for controlling coverage of a plurality of radar devices.

[0002]

2. Description of the Related Art Conventionally, when a plurality of sensor devices are used for area monitoring, the plurality of sensor devices have been distributed and arranged so that there is no coverage blind spot. For example, FIG. 13 is a schematic view illustrating a distributed arrangement state of a conventional radar device and its coverage area. In the figure, 35a to 35d are radar devices, 36a to 36d are coverage areas of the radar devices 35a to 35d, 37a and 37b are obstacles, and 38a and 38b.
Is the blind spot area caused by each obstacle 37a and 37b. Here, an obstacle 3 is present in the coverage area of the radar device 35a.
Coverage blind spots 38a and 38b are generated by 7a and 37b, and the radar device 35 is provided to complement the coverage blind spots.
b to 35d are arranged.

[0003]

By the way, it is desired that the sensor device be downsized so that it is difficult to find it from the target. Further, when the above distributed arrangement is performed, the coverage areas are unnecessarily duplicated, which causes a problem that the amount of calculation processing related to target detection increases. Further, in a radar device that emits radio waves into the coverage area and receives the reflected waves, if the coverage areas overlap more than necessary, there is a problem that unnecessary radio waves are duplicated and emitted into the space. .

The present invention has been made in view of the above circumstances, and it is an object of the present invention to obtain a sensor device which is distributed and which can be miniaturized. Also,
It is an object of the present invention to obtain a coverage control device capable of appropriately controlling the coverage of the sensor devices arranged in a distributed manner.

[0005]

In the coverage control device according to the present invention, a terrain information database for storing terrain information, a receiving means for receiving the position of each sensor device from a plurality of sensor devices, and a receiving means for receiving these. Based on the position of each sensor device and the terrain information stored in the terrain information database, a coverage area calculation means for determining a coverage area of each sensor device, and a coverage area determined by the coverage area calculation means for each sensor device. And a transmission means for transmitting to the coverage control means for controlling the coverage of each of the provided sensor devices.

Further, the coverage area calculating means in the coverage area control device according to the present invention determines the coverage area of each sensor device based on the coverage dead angle which is not monitored by any sensor device.

Further, the coverage calculation means in the coverage control device according to the present invention determines the coverage of each sensor device based on the overlap of the coverage of each sensor device.

Further, the coverage control apparatus according to the present invention further comprises a priority monitoring range input means for inputting a range to be monitored intensively, and the coverage calculation means should be monitored intensively. The coverage area of each sensor device is determined so that the coverage blind spot does not exist within the range.

Further, the coverage control apparatus according to the present invention further comprises a priority monitoring azimuth input means for inputting a azimuth to be monitored intensively, and the coverage calculation means should perform the priority monitoring. The coverage area of each sensor device is determined such that the coverage area of the azimuth is larger than the coverage areas of other azimuths.

Further, the coverage control apparatus according to the present invention further comprises a priority monitoring range input means for inputting a range to be monitored intensively, and the coverage calculation means should perform the priority monitoring. The coverage areas of the sensor devices are determined so that the coverage areas of the sensor devices overlap within the range.

Further, the coverage control apparatus according to the present invention further comprises a priority monitoring azimuth input means for inputting a azimuth to be monitored intensively, and the coverage calculation means should perform the priority monitoring. The coverage areas of the sensor devices are determined so that the coverage areas of the sensor devices overlap in the azimuth direction.

Further, in the coverage control device according to the present invention, target information detecting means for detecting target information based on the video signal received from each sensor device for monitoring the coverage transmitted from the transmitting means is provided. Prepare

Further, in the coverage control device according to the present invention, the signal received from each sensor for monitoring the coverage transmitted from the transmitting means includes a plurality of information about the same target as information about different targets. In the case of the above, the same target determination processing means for processing the information about the same target as the information about one target is provided.

Further, in the coverage control device according to the present invention, the coverage calculation means is based on target information included in a signal received from each of the sensors monitoring the coverage transmitted from the transmitting means. Determine the coverage of each sensor device.

Further, in the sensor device according to the present invention, the sensor section for detecting the information on the target, the sensor position output means for outputting the position of the own sensor device, and the sensor device position output by this position output means are provided. Transmitting means for transmitting to the coverage control device that determines the coverage of each sensor device, and the coverage determined based on the sensor device position transmitted by the coverage control device and the topographic information stored in the coverage control device. And a coverage area control means for controlling the coverage area of the sensor unit based on the coverage area received by the reception means.

Further, in the sensor device according to the present invention, the sensor section is composed of a passive sensor and an active sensor, and the coverage control means controls the passive sensor based on the coverage received by the receiving means. The coverage area is controlled, and the coverage area of the active sensor changes based on the target information detected by the passive sensor.

Furthermore, in the sensor device according to the present invention, the sensor section is composed of a passive sensor and an active sensor, and the coverage area control means is based on the coverage area received by the reception means. And controlling the coverage area of the active sensor.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. In the first embodiment, a sensor device including a sensor such as a radar transmits information about the position of its own sensor device to the coverage control device. The coverage control device determines each sensor based on the transmitted position information, the detection ability of each sensor device previously stored in the coverage control device, and the topographical information similarly stored in advance in the coverage control device. Determine the coverage of the device. The determined coverage area is transmitted to each sensor device and used for the coverage area control of each sensor device. Here, the position information is, for example, latitude / longitude, altitude / coordinates, area number, or the like. The detection capability of the sensor device is, for example, the relationship between the transmission power and the target detectable distance in the active sensor, and the sensor sensitivity in the passive sensor.

FIG. 1 is a block diagram illustrating the detection system of the first embodiment. In the figure, 1 is a command and control device,
2a to 2d are sensor devices. The command / control device 1 includes a coverage control unit 11, a target information integration unit 12, and a wireless communication unit 13. The coverage control unit 11 includes a terrain information database 111 and a sensor capability database 112.
, Sensor position storage means 113, and coverage calculation means 114
The target information integration unit 12 includes a target information storage unit 121, a same target determination processing unit 122, and a target information output unit 123. In addition, the sensor device 2a includes the sensor unit 20 and the target information detecting unit 24.
The wireless communication means 25, the coverage control means 26, and the sensor position output means 27. Sensor device 2a
Is a radar device, for example, and includes a transmitter 21, an antenna 22, and a receiver 23 as the sensor unit 20. In addition, the sensor devices 2b to 2d have the same configuration as the sensor device 2a.

FIG. 2 is an explanatory view illustrating the coverage area of the sensor device 2a. In the figure, the same or corresponding parts as in FIG. In FIG. 2, 3a
Is the coverage of the sensor device 2a, 4a and 4b are obstacles, 5a
And 5b are coverage blind spots caused by the obstacles 4a and 4b. In this way, the coverage blind spots 5a and 5b are generated in the coverage area of the sensor device 2a, and the sensor devices 2b to 2d are arranged to complement these coverage blind spots.
In the figure, 3b to 3d are the respective sensor devices 2b to 2
The coverage areas of d are illustrated respectively. Further, FIG. 3 is a diagram for explaining the XX ′ direction in FIG. 2 as its height direction, and in the figure, the same or corresponding portions as those in FIG. 2 are denoted by the same reference numerals.

Next, the operation of the detection system shown in FIG. 1 will be described. First, the sensor position output means 27 shown in FIG. 1 outputs its own position, that is, the position information of the sensor device 2a. The output position information is used as the sensor device 2a.
It is stored in the sensor position storage means 113 of the coverage area control unit 11 via the wireless communication means 25 and the wireless communication means 13 of the command and control device 1. Further, similarly, the sensor devices 2b to
The position information of 2d is also transmitted and stored in the sensor position storage means 113 from each of the sensor devices 2b to 2d.

Next, the coverage control means 11 of the coverage control unit 11
No. 4 is stored in the sensor position storage means 113, the position information of each of the sensor devices 2a to 2d, the surrounding topography of each of the sensor devices 2a to 2d stored in the topographic information database 111, and the sensor capability database 112. The coverage area of each sensor device 2a to 2d is determined based on the detection ability. At this time, within the range to be monitored,
Each of the sensor devices 2a to 2d should have a blind spot that is not covered by any of the sensor devices.
Determine the coverage area of.

The coverage area of the sensor device 2a determined by the coverage area calculation means 114 is controlled by the coverage area control means 2 of the sensor device 2a via the wireless communication means 13 and the wireless communication means 25.
6 is transmitted. The coverage control means 26 uses the sensor device 2a.
The transmitter 21 and / or the antenna 22 of the sensor unit 20 are controlled so that the coverage area of the sensor is the coverage area transmitted. Similarly, the sensor devices 2b to 2c are also controlled so that their respective coverage areas are the coverage areas determined by the coverage area calculation means 114.

The sensor unit 20 whose area is controlled transmits a high frequency signal which is the output of the transmitter 21 within the area.
This high frequency signal is reflected by the target object existing in the coverage area and is input to the target information detecting means 24 via the antenna 22 and the receiver 23. The target information detecting means 24 is
Information on a target such as a target position (hereinafter referred to as target information) is detected based on the input signal, and the detection result is transmitted to the command and control device 1 via the wireless communication means 25. The command and control device 1 receives this detection result, that is, the target information by the wireless communication means 13, and the target information storage means 12
Store in 1. Similarly, the target information detected by each of the sensor devices 2b to 2d is also stored in the target information storage means 121 via the wireless communication means 13.

The same target determination processing means 122 integrates the target information stored in these target information storage means 121. More specifically, when the target information storage unit 121 stores a plurality of pieces of target information about the same target as target information about different targets, the target information storage unit 121 stores them as target information about one target. Do it again. Whether or not the target information is the same target information includes the target position, the moving direction of the target, the speed, the spread of the Doppler spectrum, and the target attribute information such as RCS (radar scattering cross section) included in the target information. It can be determined by calculating the correlation. The target information thus integrated is output from the target information integrated output means 123 as a target detection result.

As described above, in the first embodiment, a plurality of sensor devices transmit their own positions to the same coverage area control device, and the coverage area control device recognizes the position of each sensor device thus transmitted. Since the coverage area of each sensor device is determined based on the terrain information stored in advance in the coverage area control device, the circuit related to the coverage area control of each sensor device can be omitted, and within the range to be monitored, It is possible to control the coverage area of each sensor device so that there are as few blind spots as possible that are not covered by the sensor device.

Although the case where the sensor devices 2a to 2d and the command and control device 1 wirelessly communicate with each other has been described here, they may communicate with each other by wire.
Further, although the example in which the radar device is used as the sensor unit is shown here, an active sensor other than the radar device, a passive sensor, or the like may be used.

Further, the coverage areas of the respective sensor devices are determined so that the coverage area blind spots which are not covered by any of the sensor devices exist as much as possible within the coverage area, but the coverage area is not shown. The input means may be used for inputting / instructing.

Although the command control device 1 and the four sensor devices 2a to 2d communicate with each other here, the sensor control device 1 may communicate with the command control device 1 even if less or more sensor devices communicate with the command control device 1. Good. In addition, the sensor device 2a
2d may be a fixed type on the ground or a mobile type. For example, as shown in FIG. 4, the sensor device 2b may be mounted on an aircraft, a helicopter, a balloon or the like, or may be mounted on a vehicle, a ship or the like. Further, it is preferable that the position information is three-dimensional position information including altitude rather than two-dimensional position information. The coverage area determined by the coverage area calculation means 114 shown in FIG. 1 may be only in the horizontal direction, or may be in both the horizontal and vertical directions.

When the target position stored in the target information storage means 121 has a relative positional relationship with each of the sensor devices 2a to 2d, each of the sensor devices 2a to 2d is integrated when the target information is integrated. Although position information is required, this position information can be read from the sensor position storage means 113 of the coverage area control unit 11. In addition, here, each sensor device 2
Although the detection capabilities a to 2d are stored in the sensor capability database 112 in advance, the detection capabilities may be transmitted from each sensor device to the command and control device 1.

Embodiment 2. In the first embodiment, the coverage calculation means 114 shown in FIG. 1 determines the coverage of each sensor device so that the coverage dead angle that is not monitored by any sensor device exists as little as possible. If the coverage areas of the sensor devices are determined so that the coverage areas do not overlap each other, the amount of calculation processing required for target detection can be suppressed, and as a result, the scale of each sensor device can be reduced. In addition, when the sensor device is a radar device, the transmission power can be reduced, and each radar device can be downsized.

Embodiment 3. In the first embodiment, the coverage calculation means 114 shown in FIG. 1 determines the coverage of each sensor device so that the coverage dead angle that is not monitored by any sensor device exists as little as possible. If the coverage areas are determined so that the coverage areas overlap, the detection system with excellent durability can be obtained.

That is, anti-radar wave missile (Anti Rad)
iation missile: even if one of the sensor devices fails to operate due to an attack of ARM), a failure, or the like, a part or all of the covered area of the inactive sensor device is replaced by another sensor device. Since the coverage area covers
It is possible to obtain a detection system with excellent durability. Note that the target information that is redundantly detected by the overlapping coverage area is integrated by the target information integration unit 12 illustrated in FIG. 1.

Fourth Embodiment In the first embodiment, the coverage calculation means 114 shown in FIG. 1 determines the coverage of each sensor device so that coverage blind spots that are not monitored by any of the sensor devices exist as little as possible. In the fourth embodiment, the coverage area is determined in consideration of the azimuth and / or range to be monitored more intensively.

FIG. 5 is a block diagram illustrating a detection system according to the fourth embodiment. In the figure, the same or corresponding parts as in FIG. In the figure, 115 is an emphasis monitoring range input means. here,
The coverage calculation unit 114 includes the position information of the sensor devices 2a to 2d stored in the sensor position storage unit 113 and the sensor devices 2a to 2d stored in the terrain information database 111.
Based on the surrounding topography of d, the detection capability of each of the sensor devices 2a to 2d stored in the sensor capability database 112, and the azimuth and / or range to be intensively monitored input from the priority monitoring range input means 115, The area covered by each of the sensor devices 2a to 2d is determined.

For example, as shown in FIG. 6, the coverage areas of the respective sensor devices 2a to 2d are determined so as to expand the coverage area with respect to the azimuth or range input from the priority monitoring range input means 115. Alternatively, the coverage area of each of the sensor devices 2a to 2d is determined so that the azimuth or range input from the priority monitoring range input means 116 is monitored by a plurality of sensor devices in an overlapping manner. The coverage area thus determined by the coverage area calculation means 114 is transmitted to each of the sensor devices 2a to 2d, and each of the sensor devices 2a to 2d operates so as to monitor the coverage area.

As described above, according to the fourth embodiment, it is possible to detect the target by enlarging the coverage area with respect to a certain specific direction, so that the target can be found quickly. Alternatively,
Since a plurality of sensor devices can redundantly detect a target in a specific range, a detection system with excellent durability can be obtained.

Embodiment 5. Since the passive sensor does not emit radio waves by itself, it has the advantage that it is difficult for the other party to notice it, but it cannot acquire the distance to the target. Therefore, in the fifth embodiment, infrared rays (I
R) By using a passive sensor such as a sensor or an optical sensor in combination with an active sensor such as a radar device, a detection system with excellent durability can be obtained.

FIG. 7 is a block diagram illustrating a detection system according to the fifth embodiment. In the figure, the same or corresponding parts as in FIG. Here, the passive sensor 29 and the radar device 20 are combined to form the sensor device 2a. In addition, in FIG.
Is a first coverage area control means for controlling the coverage area of the passive sensor 29, 30 is a target orientation detection means for detecting a target orientation based on the output of the passive sensor 29, 31 is a radar device at the orientation detected by the target orientation detection means It is the second area control means for setting the area coverage. In addition, here, the sensor devices 2b to
2d also has the same configuration as the sensor device 2a, and the sensor capability database 116 stores the detection capability of the passive sensor 29 of each of the sensor devices 2a to 2d.

The operation will be described. First, the sensor position output means 27 outputs the self position, that is, the position information of the sensor device 2a. The output position information is stored in the sensor position storage unit 113 of the coverage area control unit 11 via the wireless communication unit 25 of the sensor device 2a and the wireless communication unit 13 of the command and control device 1. Similarly, regarding the position information of the sensor devices 2b to 2d, the sensor devices 2b to 2d are also included.
It is transmitted from 2d to the sensor position storage means 113 and stored. Next, the coverage calculation means 114, the position information of each of the sensor devices 2a to 2d stored in the sensor position storage means 113, the surrounding terrain of each of the sensor devices 2a to 2d stored in the terrain information database 111, and the sensor. Each of the sensor devices 2a to 2d stored in the ability database 116
Based on the detection ability of the passive sensor 29 of FIG.

The coverage area of the sensor device 2a determined by the coverage area calculation means 114 is transmitted to the first coverage area control means 28 of the sensor device 2a via the wireless communication means 13 and the wireless communication means 25. The first coverage area control unit 28 controls the coverage area of the passive sensor 29 to be the transmitted coverage area. Similarly, the sensor devices 2b to 2c are also controlled so that their respective coverage areas are the coverage areas determined by the coverage area calculation means 114.

The output of the passive sensor 29 whose coverage is controlled is input to the target azimuth detecting means 30, and the target azimuth detecting means 30 detects the target azimuth based on the input.
The detected target azimuth is input to the second area coverage control means 31, and the second area coverage control means 31 controls the antenna 22 and the transmitter 21 so that a high frequency signal is transmitted to the direction concerned for a short time. To do. The transmitted high frequency signal is reflected by the target and is input to the target information detecting means 24 via the antenna 22 and the receiver 23. The target information detection means 24 detects target information such as a target position based on the input signal, and transmits the detection result to the command and control device 1 via the wireless communication means 25. The detection result, that is, the target information is received by the wireless communication unit 13 of the command and control apparatus 1, input to the target information integration unit 12, and stored in the target information storage unit 121. Similarly, the target information detected by each of the sensor devices 2b to 2d is also transmitted to the target information integration unit 12 and stored in the target information storage means 121.

The same target determination processing means 123, based on the target information stored in these target information storage means 121,
Integrate goal information. More specifically, when a plurality of pieces of target information about the same target are stored in the target information storage means 121 as target information about different goals, they are stored again as target information about one goal. The target information integrated in this way is output as a detection result from the target information integrated output means 123.

Although the coverage control unit 11 determines the coverage of the passive sensor 29 and the sensor device 2a independently determines the coverage of the radar device 20, the passive sensor 2
The sensor device 2a independently determines the coverage area of the radar device 20 and the coverage area of the radar device 20 based on the detection result.
1 may be determined. Although the passive sensor 29 outputs the target azimuth here, it outputs the target azimuth / elevation angle and outputs the high frequency signal from the transmitter 21 only in the target azimuth / elevation direction. Good.

Sixth Embodiment In the fifth embodiment, the coverage area of the passive sensor and the coverage area of the active sensor are independently determined. In the sixth embodiment, the coverage area of the passive sensor and the coverage area of the active sensor are substantially the same. Figure 9
FIG. 4 is a diagram illustrating a coverage area of the sixth embodiment, in which 2a and 2b are sensor devices, 29 is a passive sensor, 20 is an active sensor such as a radar device,
6a is a coverage area of the passive sensor 29, and 3a is a coverage area of the active sensor 20.

FIG. 8 is a block diagram illustrating a detection system according to the sixth embodiment. In the figure, the same or corresponding parts as in FIG. In the figure, 32 is a coverage control means for controlling the coverage of the passive sensor 29 and the radar device 20, and 33 is a passive sensor 29.
Target detecting means for detecting a target from the output of the transmitter, and reference numeral 34 denotes the transmitter 2 when the target is detected by the target detecting means 33.
It is a transmission power control means for controlling 1 to transmit a high frequency signal from the antenna 22 for a short time. In addition, here, the sensor capability database 117 includes the sensor devices 2a to 2a.
The detection capabilities of both the 2d passive sensor 29 and the radar device 20 are stored.

The operation will be described. First, the sensor position output means 27 outputs the self position, that is, the position information of the sensor device 2a. The output position information is stored in the sensor position storage unit 113 of the coverage area control unit 11. Similarly, the position information of the sensor devices 2b to 2d is also transmitted to and stored in the sensor position storage means 113.
Next, the coverage calculation means 114, the position information of each of the sensor devices 2a to 2d stored in the sensor position storage means 113, the surrounding terrain of each of the sensor devices 2a to 2d stored in the terrain information database 111, and the sensor. The coverage area of each sensor device is determined based on the detection capabilities of the passive sensor 29 of each sensor device 2a to 2d and the radar device 20 stored in the capability database 116.

The coverage area of the sensor device 2a determined by the coverage area calculation means 114 is transmitted to the coverage area control means 32 of the sensor device 2a, and the coverage area control means 32 performs both the passive sensor 29 and the radar device 20. The control is performed so that the coverage area is the transmitted coverage area. Similarly, the sensor devices 2b to 2c are also controlled so that their respective coverage areas are the coverage areas determined by the coverage area calculation means 114.

Next, the coverage area is monitored only by the passive sensor 29. At this time, a high frequency signal is not output from the antenna 22 and is difficult for the other party to find. The output of the passive sensor 29 is output to the target detecting means 33, and the target detecting means 33 detects the target from the output of the passive sensor 29. If the target is detected, the transmission power control means 34 indicates that. Notify to. In response to this, the transmission power control means controls the transmitter 21 of the radar device 20 to transmit the high frequency signal from the antenna 22 for a short time. The transmitted high frequency signal is reflected by the target object and is input to the target information detecting means 24 via the antenna 22 and the receiver 23, and the target information is detected.

Embodiment 7. In the first to sixth embodiments, the target information detecting means 24 provided in the sensor device 2a detects the target information and transmits the detection result to the command and control device 1. In the seventh embodiment, the receiver 2 of the sensor device 2a
The signal output from 3 is transmitted as a video signal to the command control device 1 of the command control device 1, and the command control device 1 detects target information.

FIG. 10 is a block diagram illustrating the detection system of the seventh embodiment. In the figure, the same or corresponding parts as in FIG. here,
The difference is that the target information detecting means 24 is provided not in the sensor device 2a but in the command and control device 1.

As described above, the signal received by the radar device is transmitted to the command and control device 1 as a video signal,
Since the target information is detected from the video signal on the command and control device 1 side, the scale of the sensor device 2a can be reduced.

Embodiment 8. In the eighth embodiment, the target detection performance is improved by predicting the target trajectory and position and changing the coverage of the sensor device so as to cover the predicted position. Further, by concentrating and transmitting the high-frequency signal to the predicted position, the time until the target detection is shortened.

FIG. 11 is a block diagram illustrating the detection system of the eighth embodiment. In the figure, the same or corresponding parts as in FIG. In FIG. 11, reference numeral 118 denotes a target position predicting means, which predicts the trajectory and the position of the target based on the target position output by the target information output means.

The operation will be described. The target information output by the target information output unit 123 is the target position prediction unit 118.
Is output to. The target position prediction means 118 predicts the target trajectory and the target position based on the output of the information output means 123. The coverage calculation means 114 is the target position predicted by the target position prediction means 118, the position information of each of the sensor devices 2a to 2d stored in the sensor position storage means 113, and each sensor device stored in the terrain information database 111. The coverage area of each sensor device is determined based on the surrounding topography of 2a to 2d and the detection capability of each sensor device 2a to 2d stored in the sensor capability database 112. The coverage areas calculated by the coverage area calculation means 114 are the sensor devices 2a to.
It is transmitted to 2d and is used for each coverage control.

FIG. 12 is a diagram for more specifically explaining the area coverage control according to the eighth embodiment. In the figure, FIG.
The same or corresponding parts are designated by the same reference numerals and the description thereof will be omitted. The target P1 detected by the sensor device 2c is the obstacle 4
Since it is b, it cannot be detected by other sensor devices. The target information detected by the sensor device 2c is transmitted to the command and control device 1, and the target position predicting means 11 shown in FIG.
8 is input. The target position prediction means 118 predicts the trajectory of the target P1 based on the input information, and predicts the position of the target P1 based on the predicted trajectory. The coverage calculation means 116 determines the coverage expansion of the sensor device 2a based on the predicted position of the target P1 and transmits the determined coverage to the coverage control means 26 of the sensor device 2a. Upon receipt of this determination, the coverage control means 26 enlarges the portion of the coverage A shown in FIG.

As described above, in the eighth embodiment,
Since the coverage of the sensor device is changed based on the predicted target position, the target detection ability can be improved.

[0058]

Since the present invention is constructed as described above, it has the following effects. In the coverage control device according to the present invention, a terrain information database that stores terrain information, a receiving unit that receives the position of each sensor device from a plurality of sensor devices, the position of each sensor device that has received these, and the terrain information. Coverage calculation means for determining the coverage area of each sensor device based on the topographical information stored in the database, and the coverage area of each sensor device provided with the coverage area determined by this coverage calculation means. Since it has a transmitting means for transmitting to the coverage control means for controlling the, it is possible to omit the circuit related to the coverage control of each sensor device,
The sensor device can be downsized.

Further, in the sensor device according to the present invention, the sensor section for detecting the information on the target, the sensor position output means for outputting the position of the own sensor device, and the sensor device position output by this position output means are provided. Transmitting means for transmitting to the coverage control device that determines the coverage of each sensor device, and the coverage determined based on the sensor device position transmitted by the coverage control device and the topographic information stored in the coverage control device. Since a coverage area control unit for controlling the coverage area of the sensor unit based on the coverage area received by the reception means is included, a circuit related to the coverage area control can be omitted, and a small sensor The device can be obtained.

[Brief description of drawings]

FIG. 1 is a configuration diagram illustrating a detection system according to a first embodiment.

FIG. 2 is an explanatory diagram illustrating a coverage area of the sensor device 2a of FIG.

FIG. 3 is a diagram illustrating the XX ′ direction of FIG. 2 as its height direction.

FIG. 4 is a diagram showing an example in which the sensor device shown in FIG. 1 is mounted on an air vehicle.

FIG. 5 is a configuration diagram illustrating a detection system according to a fourth embodiment.

FIG. 6 is a diagram illustrating a coverage area according to a fourth embodiment.

FIG. 7 is a configuration diagram illustrating a detection system according to a fifth embodiment.

FIG. 8 is a configuration diagram illustrating a detection system according to a sixth embodiment.

FIG. 9 is an explanatory diagram illustrating a coverage area according to the sixth embodiment.

FIG. 10 is a configuration diagram illustrating a detection system according to a seventh embodiment.

FIG. 11 is a configuration diagram illustrating a detection system according to an eighth embodiment.

FIG. 12 is an explanatory diagram illustrating the area coverage control according to the eighth embodiment.

FIG. 13 is a schematic diagram illustrating a coverage area of a conventional radar device.

[Explanation of symbols]

P1 Target 1 Command / control device 2a-2d Sensor device 4a, 4b Obstacle 5a, 5b Coverage blind spot 11 Coverage control part 12 Target information integration part
13 wireless communication means 20 sensor section 21 transmitter 22 antenna 23 receiver 24 target information detection means 25 wireless communication means 26 coverage control means 27 sensor position output means
28 First Coverage Control Means 29 Passive Sensor
30 Target Direction Detection Means 31 Second Coverage Control Means 32 Coverage Control Means 33 Target Detection Means
34 Transmission Power Control Means 111 Topographic Information Database 112 Sensor Capability Database 113
Sensor position storage means 114 Coverage area calculation means 11
5 Priority Monitoring Range Input Means 118 Target Position Prediction Means 121 Target Information Storage Means 122 Same Target Judgment Processing Means 123 Target Information Integrated Output Means

Claims (13)

[Claims] 1. A terrain information database that stores terrain information, a receiving unit that receives the position of each sensor device from a plurality of sensor devices, the position of each sensor device that has been received, and the terrain that is stored in the terrain information database. Coverage calculation means for determining the coverage area of each sensor device based on the information, and coverage control for controlling the coverage area of each sensor device provided in each sensor device with the coverage area determined by the coverage calculation means A coverage area control device comprising: a transmission means for transmitting to a means. 2. The coverage control according to claim 1, wherein the coverage calculation means determines the coverage of each sensor device based on the coverage blind spot that is not monitored by any of the sensor devices. apparatus. 3. The coverage control apparatus according to claim 1, wherein the coverage calculation means determines the coverage of each sensor device based on the overlap of the coverage of each sensor device. . 4. The point coverage monitoring range input means for inputting a range to be focused on is further included, wherein the coverage area calculating means is configured such that the coverage dead zone does not exist within the range to be focused on. The coverage control device according to claim 2, wherein the coverage of each sensor device is determined. 5. The method further comprises an emphasis monitoring azimuth input means for inputting an azimuth to be intensively monitored, wherein the coverage area calculating means is a coverage area of the azimuth to be intensively monitored. The coverage control device according to claim 2, wherein the coverage of each sensor device is determined so as to be enlarged. 6. A coverage area input means for inputting a coverage area to be intensively monitored is further provided, wherein the coverage area calculation means overlaps coverage areas of the respective sensor devices within the coverage area to be intensively monitored. The coverage control device according to claim 3, wherein the coverage of each sensor device is determined as described above. 7. An emphasis monitoring direction input means for inputting an azimuth to be monitored intensively, wherein the coverage area calculation means is arranged so that the coverage areas of the respective sensor devices overlap in the azimuth to be monitored intensively. The area coverage control device according to claim 3, wherein the area coverage of each sensor device is determined. 8. The target information detecting means for detecting target information based on a video signal received from each sensor device for monitoring the coverage area transmitted from the transmitting means, the target information detecting means being provided. 7. The coverage control device according to any one of 7. 9. When the signals received from the respective sensors monitoring the coverage area transmitted from the transmitting means include a plurality of pieces of information about the same target as information about different targets, the information about the same target is included. The coverage control apparatus according to any one of claims 1 to 7, further comprising a same target determination processing unit that processes as information about one target. 10. The coverage calculation means determines the coverage of each sensor device based on target information included in a signal transmitted from the transmission means and monitored by the sensor to monitor the coverage. The coverage control device according to any one of claims 1 to 9, which is characterized in that. 11. A sensor section for detecting information on a target, a sensor position output means for outputting the position of its own sensor device, and a sensor device position output by this position output means for determining a coverage area of each sensor device. Transmission means for transmitting to the coverage control device; reception means for receiving the coverage determined by the coverage control device based on the sensor device position transmitted and the topographical information stored in the coverage control device; A coverage area control means for controlling the coverage area of the sensor unit based on the coverage area received by the means. 12. The sensor unit includes a passive sensor and an active sensor, and the coverage control unit controls the coverage of the passive sensor based on the coverage received by the reception unit. The sensor device according to claim 11, wherein the coverage area changes based on the target information detected by the passive sensor. 13. The sensor unit includes a passive sensor and an active sensor, and the coverage control unit controls the coverage of the passive sensor and the active sensor based on the coverage received by the receiving unit. The sensor device according to claim 11, wherein: