JP2010237022A - Radar device, target assimilation determination processing method, and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To facilitate assimilation determination processing of a target acquired by a primary radar and a secondary radar for scanning asynchronously. <P>SOLUTION: A radar device 1 including the primary radar 10, and the secondary radar 11 whose scanning speed is asynchronous with the primary radar 10 also includes: a track tracking unit 12 for estimating a target T position during a period when the primary radar 10 does not acquire the target T, based on information of moving speed and a moving direction of the target T on the position of the target T acquired by the primary radar 10; and a data processing unit 13 as a target assimilation decision unit for determining that a target t is the same as the target T used as a base for estimating the position by the track tracking unit 12, when the target T position estimated by the track tracking unit 12 corresponding to a time when the secondary radar 11 acquires the target t has a prescribed relationship with the target t position. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a radar apparatus, a target assimilation determination processing method, and a program.

  Aircraft surveillance radars used for air traffic control are broadly classified into primary radars (PSRs) and secondary surveillance radars (SSRs). The primary radar (PSR) emits radio waves from the ground, and receives position information of the aircraft by receiving and processing the reflected waves. On the other hand, the secondary radar (SSR) obtains various information about the aircraft by transmitting an interrogation signal to a transponder mounted on the aircraft and receiving a response signal thereto.

  As described above, in a radar apparatus equipped with a primary radar and a secondary radar, the primary radar and the secondary radar are generally scanned synchronously. On the other hand, in the radar apparatus described in Patent Document 1, the primary radar and the secondary radar scan asynchronously in order to satisfy the requirement for early detection of the target.

JP-A-7-128442 (paragraph "0011" etc.)

  In a radar apparatus equipped with a primary radar and a secondary radar, there may be a difference between target position information by the primary radar and target position information by the secondary radar. For example, even if the primary radar and the secondary radar are scanning synchronously, the position information acquired by the secondary radar is the position information notified from the target by a response signal from the target aircraft or the like. And depends on the position measurement accuracy of this target. On the other hand, the position information acquired by the primary radar is position information acquired by the primary radar itself, and depends on the position measurement accuracy of the primary radar. In this way, since two pieces of position information with different position measurement accuracies are acquired, there is a difference between target position information by the primary radar and target position information by the secondary radar.

  In addition, when the primary radar and the secondary radar scan asynchronously as in the radar apparatus described in Patent Document 1, the time when the primary radar captures the target and the time when the secondary radar captures the target. And away. For this reason, there is a great difference between the target position information acquired by the primary radar and the target position information acquired by the secondary radar.

  In this way, in the radar apparatus equipped with the primary radar and the secondary radar, the target position information acquired by the primary radar and the target position information acquired by the secondary radar are different, and therefore the target is the same. It is necessary to determine whether or not this is the target. Hereinafter, this process is referred to as an assimilation determination process.

  In the case of a radar apparatus in which the primary radar and the secondary radar are scanned synchronously, this assimilation determination process is performed between the target position information acquired by the primary radar and the target position information acquired by the secondary radar. The difference is small and accurate assimilation can be determined relatively easily. On the other hand, in the case of a radar apparatus in which the primary radar and the secondary radar scan asynchronously, the assimilation determination processing is performed between the target position information acquired by the primary radar and the target position information acquired by the secondary radar. The difference is large and accurate assimilation is difficult.

  The present invention has been performed under such a background, and a radar apparatus and a target capable of accurately performing assimilation determination processing of a target captured by a primary radar and a secondary radar that perform asynchronous scanning. An object is to provide an assimilation determination processing method and program.

  The first aspect of the present invention is a viewpoint as a radar apparatus. That is, the radar apparatus according to the present invention is a radar apparatus including a primary radar and a secondary radar having a scanning speed asynchronous with the primary radar, and the moving speed of the target T at the position of the target T captured by the primary radar. And a track tracking unit that estimates the position of the target T in a period in which the primary radar has not captured the target T based on the information on the moving direction and a track tracking unit that corresponds to the time when the secondary radar has captured the target t. When the position of the target T is in a predetermined relationship with the position of the target t, the target assimilation determination unit that determines that the target t and the target T from which the track tracking unit estimates the position are the same Are provided.

  The second aspect of the present invention is a viewpoint as a target assimilation determination processing method. That is, the target assimilation determination processing method of the present invention is a target assimilation determination processing method performed by a radar apparatus including a primary radar and a secondary radar having the primary radar and an asynchronous scanning speed. Performs a track tracking step for estimating the position of the target T in the period when the primary radar is not capturing the target T based on the information on the moving speed and direction of the target T at the position of the target T captured by the primary radar. When the position of the target T estimated by the track tracking unit corresponding to the time when the secondary radar captures the target t is in a predetermined relationship with the position of the target t, And a target assimilation determination step in which it is determined that the target T on which the track tracking unit estimates the position is the same.

  A third aspect of the present invention is a program. In other words, the program of the present invention is installed in the information processing apparatus to realize the function of the radar apparatus of the present invention in the information processing apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, the assimilation determination process of the target captured in the primary radar and secondary radar which scan asynchronously can be performed correctly.

1 is an overall configuration diagram of a radar apparatus according to an embodiment of the present invention. It is a figure for demonstrating the beam direction of the primary radar and secondary radar which are shown in FIG. It is a figure which shows a mode that the primary radar and secondary radar which are shown in FIG. 1 capture | acquire a target, and is a figure where one beam of a primary radar capture | acquires a target. It is a figure which shows a mode that the primary radar and secondary radar which are shown in FIG. 1 capture | acquire a target, and is a figure which the other beam of a primary radar capture | acquires a target. It is a figure which shows a mode that the primary radar and secondary radar which are shown in FIG. 1 capture | acquire a target, and is a figure which the beam of a secondary radar capture | acquires a target. It is a figure which shows a mode that the primary radar and secondary radar which are shown in FIG. 1 capture | acquire a target, and is a figure where one beam of a primary radar capture | acquires a target. It is a figure which shows a mode that the primary radar and secondary radar which are shown in FIG. 1 capture | acquire a target, and is a figure which the beam of a secondary radar capture | acquires a target. It is a figure which shows a mode that the primary radar and secondary radar which are shown in FIG. 1 capture | acquire a target, and is a figure which the other beam of a primary radar capture | acquires a target. It is a figure which shows the timing which the primary radar and secondary radar shown in FIG. 1 capture | acquire a target. It is a figure for demonstrating the measurement point in the primary radar shown in FIG. 1, and the estimated point in the track tracking part shown in FIG. It is a figure for demonstrating the mode of estimation of the position of the target in the measurement point and estimation point shown in FIG. It is a figure for demonstrating the gate which the data processing part shown in FIG. 1 sets. It is a figure which shows a mode that the position of the target in the estimation point shown in FIG. 11 was piled up on the gate shown in FIG. It is a figure which shows the pattern of the assimilation determination in the gate shown in FIG. 12, and is a figure which shows the state with the highest assimilation precision. It is a figure which shows the pattern of the assimilation determination in the gate shown in FIG. 12, and is a figure which shows the state with the lowest assimilation precision. It is a figure which shows the pattern of the assimilation determination in the gate shown in FIG. 12, and is a figure which shows the state which does not perform an assimilation determination. It is a figure which shows the pattern of the assimilation determination in the gate shown in FIG. 12, and is a figure which shows the state which does not perform an assimilation determination. It is a figure which shows the state which the loss | missing generate | occur | produced in the measurement point shown in FIG. It is a flowchart which shows the process sequence of the data processing part shown in FIG.

(Regarding the configuration of the radar apparatus 1 according to the embodiment of the present invention)
A configuration of a radar apparatus 1 according to an embodiment of the present invention will be described with reference to FIG. FIG. 1 is an overall configuration diagram of the radar apparatus 1. The radar apparatus 1 includes a primary radar (PSR) 10, a secondary radar (SSR) 11, a track tracking unit 12, a data processing unit 13, a radar information display control unit 14, and a display unit 15.

  The primary radar 10 emits radio waves from the ground, and acquires position information of the aircraft by receiving and processing the reflected waves. The secondary radar 11 transmits an interrogation signal to a transponder mounted on the aircraft and receives a response signal in response to the interrogation signal, thereby obtaining various information related to the aircraft. FIG. 2 shows the beams B 1 and B 2 of the primary radar 10 and the beam B 3 of the secondary radar 11.

  From the viewpoint of increasing the number of hits, the primary radar 10 always scans all directions by forming beams B1 and B2 in two directions different from each other by 180 degrees as shown in FIG. On the other hand, since the secondary radar 11 communicates with the aircraft, the beam B3 is formed in one direction and scanned in all directions. As described above, the primary radar 10 and the secondary radar 11 scan asynchronously. In the example of FIG. 2, the beam direction of the secondary radar 11 is orthogonal to the beam direction of the primary radar 10. This is for ease of illustration. If the scanning speeds of the primary radar 10 and the secondary radar 11 are different, the beam direction of the secondary radar 11 with respect to the beam direction of the primary radar 10 changes every moment.

  The track tracking unit 12 inputs position information when the primary radar 10 actually captures the target T, and the primary radar 10 captures the target T based on the moving speed and moving direction at the position where the target T is captured. The position of the target T during the period when it is not being estimated is output to the data processing unit 13.

  The data processing unit 13 inputs the estimated position information of the target T output from the track tracking unit 12 and the position information of the target t output from the secondary radar 11 and performs an assimilation determination process between the target T and the target t. To do.

  The radar information display control unit 14 performs processing for displaying the target subjected to assimilation determination processing by the data processing unit 13 on the display unit 15.

  The display unit 15 displays the output of the radar information display control unit 14 in a format that can be visually recognized by the operator.

(Operation of radar device 1)
Next, the operation of the radar apparatus 1 will be described. FIGS. 3 to 8 are diagrams showing how a primary radar 10 and a secondary radar 11 capture one flying object as a target T and a target t, respectively. In FIGS. 3 to 8, for the sake of easy understanding, it is assumed that the flying objects that are the target T and the target t are not moving. For example, this flying object is a helicopter that hovers without moving at a fixed point in the sky.

  In FIG. 3, the beam B1 of the primary radar 10 has captured the target T. In FIG. 3, the beam B3 of the secondary radar 11 is orthogonal to the directions of both beams B1 and B2 of the primary radar 10.

  In FIG. 4, the beam B2 of the primary radar 10 has captured the target T. In FIG. 4, the beams B <b> 1 and B <b> 2 of the primary radar 10 advance 180 degrees from the state of FIG. 3, and the beam B <b> 3 of the secondary radar 11 approaches the beam B <b> 2 of the primary radar 10. This shows that the scanning speed of the secondary radar 11 is faster than the scanning speed of the primary radar 10.

  In FIG. 5, the beam B3 of the secondary radar 11 is capturing the target t.

  In FIG. 6, the beam B1 of the primary radar 10 has captured the target T. In FIG. 6, the scanning of the primary radar 10 makes one round and returns to the state of FIG. Further, in FIG. 6, the beam B <b> 3 of the secondary radar 11 passes the beam B <b> 2 of the primary radar 10.

  In FIG. 7, the beam B3 of the secondary radar 11 that has overtaken the beam B2 of the primary radar 10 in FIG.

  In FIG. 8, the beam B2 of the primary radar 10 that has been overtaken by the beam B3 of the secondary radar 11 in FIG.

  FIG. 9 shows the capture timing of the target T and the target t shown in FIGS. 3 to 8 in the primary radar 10 and the secondary radar 11. The black circles in FIG. 9 are the capture timing of the target T by the primary radar 10. The white circles in FIG. 9 are the capture timing of the target t by the secondary radar 11. Further, in FIG. 9, the figure numbers corresponding to the black circle and the white circle are respectively attached.

  As can be seen from FIG. 9, the timing at which the primary radar 10 captures the target T is once every 180 degrees. On the other hand, the timing at which the secondary radar 11 captures the target t is once every 360 degrees. Further, since the scanning speed of the primary radar 10 and the scanning speed of the secondary radar 11 are different, the relationship between the timing at which the secondary radar 11 captures the target t with respect to the timing at which the primary radar 10 captures the target T is not constant. .

  The track tracking unit 12 of the radar apparatus 1 estimates the position of the target T between the detection timings of the target T of the primary radar 10 shown in FIG. That is, as shown in FIG. 10, an estimated point is provided between the measured points, and the position of the target T at this estimated point is estimated.

  As a method for estimating the position of the target T performed by the track tracking unit 12, various known estimation methods can be applied. As an example, it is assumed that the target T moves from the position at the actual measurement point to the original movement direction at the same movement speed based on the information on the movement direction and the movement speed at the actual position at the actual measurement point. If this happens, the position is estimated. Such an estimation process is called a tracking smoothing process. FIG. 11 shows the estimated position of the target T thus estimated. The targets T1 to T4 are graphics that are displayed in an imaginary manner corresponding to the estimated positions.

  In the description of FIGS. 3 to 8, for the sake of easy understanding, it has been described that the flying objects that are the target T and the target t are not moving, but in FIG. 11, the target T is moving in the southeast direction. It shall be. Therefore, as shown in FIG. 11, the track tracking unit 12 estimates the positions of the target T at the four estimation points between the measurement points as the targets T1 to T4.

  Further, as shown in FIG. 12, the data processing unit 13 sets the gates G1 to G3 in three stages of the distance direction and the azimuth direction around the position of the target t captured by the beam B3 of the secondary radar 11. Set. The gate G3 is a gate having the shortest distance from the position of the target t. The gate G1 is the gate having the longest distance from the target t position. The gate G2 is a gate located between the gate G1 and the gate G3.

  Subsequently, as shown in FIG. 13, the data processing unit 13 tries to superimpose the fictitious targets T1 to T4 at the estimated positions with respect to the target T described in FIG. 11 on the gates G1 to G3. As a result, the center of the target T4 (shown as a black dot) enters the gate G3. Further, the center of the target T3 also enters the gate G2. Therefore, the data processing unit 13 determines that the target T of the primary radar 10 that is the basis for estimating the positions of the targets T3 and T4 is the same as the target t of the secondary radar 11. Hereinafter, such a determination is referred to as an assimilation determination. Thereby, the target T and the target t are subjected to assimilation determination processing by the data processing unit 13. In the example of FIG. 13, since the targets T1 to T4 are circular, it is easy to specify the center. However, when the targets T1 to T4 have a complicated shape, the center of gravity is centered. What is necessary is just to set fixed rules, such as.

  In addition, the data processing unit 13 may record assimilation accuracy information which gate G1 to G3 determines the assimilation at the time of the assimilation determination. Further, the data processing unit 13 may display such assimilation accuracy information on the display screen of the radar apparatus 1. For example, when displaying the target on the display screen of the display unit 15, the radar information display control unit 14 may allow the operator to visually recognize the assimilation accuracy information by color-coding the target for each accuracy information.

  That is, when the center of the target Ti (i is any one of 1 to 4) enters the gate G3 closest to the target t of the secondary radar 11 and the assimilation is determined, “anabolic accuracy information = high” is set. When the center of Ti does not enter the gate G3 but enters the gate G2 and is determined to be assimilated, the assimilation accuracy information = medium is determined, and the center of the target Ti does not enter the gates G2 and G3 and is within the gate G1. If the assimilation determination is made only in the case of “Assimilation accuracy information = low”.

  Next, assimilation determination in various positional relationships among the gates G1 to G3, the target Ti (i = 1 to 4), the target t, and the irrelevant target TD will be described with reference to FIGS.

  In the example of FIG. 14, the center of the target Ti is in the gate G3. Thereby, it can be determined that the target T of the primary radar 10 that is the basis for estimating the position of the target Ti with respect to the target t of the secondary radar 11 is the same. At this time, the assimilation accuracy information = high.

  In the example of FIG. 15, the center of the target Ti does not enter the gates G3 and G2. However, the center of the target Ti is in the gate G1. Thereby, it can be determined that the target T of the primary radar 10 that is the basis for estimating the position of the target Ti with respect to the target t of the secondary radar 11 is the same. At this time, the assimilation accuracy information is low.

  In the example of FIG. 16, the center of the target Ti is not in the gate G3 but is in the gate G2. The center of the irrelevant target TD is not included in the gate G3 but is included in the gate G2. In this case, there are two assimilation determination targets, and it cannot be narrowed down to either one. In such a case, the assimilation determination is not performed.

  In the example of FIG. 17, none of the targets Ti and TD are in the gates G1 to G3. Therefore, in such a case, the assimilation determination is not performed.

  Further, as shown in FIG. 18, when a lack occurs in capturing the target T at the actual measurement point, the position estimation accuracy at the estimation point deteriorates. In such a case, it is preferable not to perform assimilation determination.

  Alternatively, the primary radar 10 actually captures the target T at the time when it is estimated that the primary radar 10 captured the target T corresponding to the target t, going back from the time when the secondary radar 11 captured the target t. The determination may not be performed when there is not.

  That is, as shown in FIG. 9, the time when the primary radar 10 captures the target T (FIGS. 3 and 4) by calculating backward from the time when the secondary radar 11 captures the target t (FIGS. 5 and 7). FIG. 6) can be calculated. In order to perform this calculation, the scanning speeds of the primary radar 10 and the secondary radar 11 need only be known.

  Accordingly, the time at which the target T of the primary radar 10 that is the basis for estimating the position of the target Ti that is determined to be the same as the target t is calculated by back-calculating, and the time of the obtained result is obtained. And the time when the target T is actually measured, and if they match, it can be determined that the target t and the target T are the same.

  Next, the processing procedure of the data processing unit 13 will be described with reference to the flowchart in FIG.

  START: When the radar apparatus 1 starts operation and the target t is input from the secondary radar 11 to the data processing unit 13, the data processing unit 13 proceeds to the process of step S1.

  Step S1: The data processing unit 13 determines whether or not the track tracking unit 12 is estimating the position of the target Ti. If the track tracking unit 12 is estimating the position of the target Ti (Yes in step S1), the data processing unit 13 proceeds to the processing in step S2. On the other hand, when the track tracking unit 12 has not estimated the position of the target Ti (No in step S1), the data processing unit 13 repeats the process of step S1.

  Step S2: The data processing unit 13 determines whether or not the estimated quality in the estimation of the position of the target Ti by the track tracking unit 12 satisfies the specified quality. When the estimated quality in the estimation of the position of the target Ti by the track tracking unit 12 satisfies the specified quality (Yes in step S2), the data processing unit 13 proceeds to the process of step S3. On the other hand, when the estimated quality in the estimation of the position of the target Ti by the track tracking unit 12 does not satisfy the specified quality (No in step S2), the data processing unit 13 returns to the processing in step S1.

  As described above, there are two methods for determining whether or not the estimated quality satisfies the specified quality. As shown in FIG. 18, the first method is a method of determining whether or not there is a lack in capturing the target T at the actual measurement point. In the second method, the primary radar 10 actually goes back to the time when it is estimated that the primary radar 10 has captured the target T corresponding to the target t. This is a method for determining whether or not T is captured.

  Step S3: The data processing unit 13 sets the gates G1 to G3, and proceeds to the process of step S4.

  Step S4: The data processing unit 13 determines whether or not the center of the target Ti is in the gate G1. If the center of the target Ti is in the gate G1 (Yes in step S4), the data processing unit 13 proceeds to the process of step S5. On the other hand, when the center of the target Ti is not present in the gate G1 (No in step S4), the data processing unit 13 returns to the process of step S1.

  Step S5: The data processing unit 13 determines whether or not the center of the target Ti is in the gate G2. If the center of the target Ti is present in the gate G2 (Yes in step S5), the data processing unit 13 proceeds to the process of step S9. On the other hand, when the center of the target Ti is not present in the gate G2 (No in step S5), the data processing unit 13 proceeds to the process in step S6.

  Step S6: The data processing unit 13 determines whether or not the target Ti whose center is in the gate G1 and whose centers are not in the gates G2 and G3 can be narrowed down to one. When the estimated target Ti that is centered at the gate G1 and is not centered at the gates G2 and G3 can be narrowed down to one (Yes in step S6), the data processing unit 13 proceeds to the processing of step S7. On the other hand, the data processing unit 13 returns to the process of step S1 when the estimated target Ti that is centered at the gate G1 and is not centered at the gates G2 and G3 cannot be narrowed down to one (No in step S6).

  Step S7: The data processing unit 13 assigns “anabolic accuracy information = low” to the target Ti narrowed down to one, and proceeds to the process of step S8.

  Step S8: The data processing unit 13 determines that the target T of the primary radar 10 from which the position of the target Ti to which the assimilation accuracy information is assigned is the same as the target t of the secondary radar 11 is the assimilation determination. Then, the process ends (END).

  Step S9: The data processing unit 13 determines whether or not the center of the target Ti is in the gate G3. If the center of the target Ti is in the gate G3 (Yes in step S9), the data processing unit 13 proceeds to the process of step S12. On the other hand, when the center of the target Ti is not present in the gate G3 (No in step S9), the data processing unit 13 proceeds to the process of step S10.

  Step S10: The data processing unit 13 determines whether or not the target Ti whose center is in the gate G2 and whose center is not in the gate G3 can be narrowed down to one. The data processing unit 13 proceeds to the process of step S11 when the center is entered in the gate G2 and the target Ti that does not enter the gate G3 can be narrowed down to one (Yes in step S10). On the other hand, when the center enters the gate G2 and the target Ti that does not enter the gate G3 cannot be narrowed down to one (No in step S10), the data processing unit 13 returns to the process of step S1.

  Step S11: The data processing unit 13 assigns “anabolic accuracy information = medium” to the target Ti narrowed down to one, and proceeds to the process of step S8.

  Step S12: The data processor 13 determines whether or not the target Ti centered at the gate G3 can be narrowed down to one. If the target Ti centered at the gate G3 is narrowed to one (Yes in step S12), the data processing unit 13 proceeds to the process of step S13. On the other hand, when the target Ti centered at the gate G3 cannot be narrowed down to one (No in step S12), the data processing unit 13 returns to the process of step S1.

  Step S13: The data processing unit 13 assigns “anabolic accuracy information = high” to the target Ti narrowed down to one, and proceeds to the process of step S8.

(Embodiment using program)
The track tracking unit 12 and the data processing unit 13 of the radar device 1 are a general-purpose information processing device (CPU (Central Processing Unit), DSP (Digital Signal) that operates according to a predetermined program.
Processor), a microprocessor (microcomputer), or the like. For example, a general-purpose information processing apparatus has a memory, a CPU, an input / output port, and the like. The CPU of the general-purpose information processing apparatus reads and executes a control program as a predetermined program from a memory or the like. Thereby, the functions of the track tracking unit 12 and the data processing unit 13 of the radar apparatus 1 are realized in the general-purpose information processing apparatus. As for other functions, functions that can be realized by software can be realized by a general-purpose information processing apparatus and a program.

  Note that the control program executed by the general-purpose information processing apparatus may be one stored in the memory of the general-purpose information processing apparatus before shipment of the track tracking unit 12 and the data processing unit 13 of the radar apparatus 1, It may be stored in a memory or the like of a general-purpose information processing device after shipment of the track tracking unit 12 and the data processing unit 13 of the radar device 1. Further, a part of the control program may be stored in a memory or the like of a general-purpose information processing device after shipment of the track tracking unit 12 and the data processing unit 13 of the radar device 1. A control program stored in a memory or the like of a general-purpose information processing apparatus after shipment of the track tracking unit 12 and the data processing unit 13 of the radar apparatus 1 is stored in a computer-readable recording medium such as a CD-ROM. What is installed may be installed, or what is downloaded via a transmission medium such as the Internet may be installed.

  The control program includes not only a program that can be directly executed by a general-purpose information processing apparatus, but also a program that can be executed by being installed on a hard disk or the like. Also included are those that are compressed or encrypted.

(Explanation of effect)
As described above, the position of the target T in the period in which the primary radar 10 does not capture the target T is estimated based on the information on the moving speed and direction of the target T at the position of the target T captured by the primary radar 10. When the position of the target T estimated corresponding to the time when the secondary radar 11 whose scanning speed is asynchronous with the primary radar 10 captures the target t has a predetermined relationship with the position of the target t, Since the assimilation determination is made that the target T whose position is estimated is the same, the assimilation determination processing of the target captured by the primary radar 10 and the secondary radar 11 that perform asynchronous scanning is accurately performed. be able to.

  For example, the predetermined relationship is a relationship in which the position of the target T estimated by the track tracking unit 12 corresponding to the time when the secondary radar 11 captures the target t is within a predetermined distance from the position of the target t.

  Thereby, the assimilation determination process can be performed while maintaining high accuracy.

  Furthermore, it is preferable that the assimilation determination is not performed when the target radar T is intermittently captured by the primary radar 10.

  Thereby, the position of the target Ti with low position estimation accuracy can be excluded, and the assimilation determination process can be performed while maintaining high accuracy.

  Alternatively, the primary radar 10 actually captures the target T at the time when it is estimated that the primary radar 10 captured the target T corresponding to the target t, going back from the time when the secondary radar 11 captured the target t. It is possible not to perform the assimilation determination when there is not.

  Thereby, the position of the target Ti having a low position estimation precision can be excluded, and the assimilation determination process can be performed while maintaining high accuracy.

(Other embodiments)
The embodiment of the present invention can be variously modified without departing from the gist thereof. For example, although the gates G1 to G3 are exemplified in three stages, the number of stages may be increased or decreased as appropriate.

  Further, although Patent Document 1 is a radar apparatus in which the primary radar 10 transmits a tracking beam, the radar apparatus 1 may be such.

  Further, the determination is made based on whether or not the center of the target Ti is located in the gates G1 to G3. In addition, the determination is made based on the ratio of the area of the target Ti to the gates G1 to G3, or the outline of the target Ti is the gates G1 to G1. It is possible to adopt a method such as determining based on whether or not it is in G3.

DESCRIPTION OF SYMBOLS 1 ... Radar apparatus, 10 ... Primary radar, 11 ... Secondary radar, 12 ... Track tracking part, 13 ... Data processing part (target assimilation part), 14 ... Radar information display control apparatus, 15 ... Display part

Claims (9)

In a radar apparatus comprising a primary radar and a secondary radar having the primary radar and an asynchronous scanning speed,
Track tracking for estimating the position of the target T in a period in which the primary radar is not capturing the target T based on information on the moving speed and moving direction of the target T at the position of the target T captured by the primary radar And
When the position of the target T estimated by the track tracking unit corresponding to the time when the secondary radar has captured the target t is in a predetermined relationship with the position of the target t, the target t and the track tracking unit are A target assimilation determination unit that determines that the target T from which the position is estimated is the same;
Comprising
Radar apparatus characterized by the above. The radar apparatus according to claim 1, wherein
The predetermined relationship is a relationship in which the position of the target T estimated by the track tracking unit corresponding to the time when the secondary radar captures the target t is within a predetermined distance from the position of the target t.
Radar apparatus characterized by the above. The radar apparatus according to claim 1 or 2,
When the acquisition of the target T in the primary radar is intermittent, the determination is not performed.
Radar apparatus characterized by the above. The radar apparatus according to claim 1 or 2,
The primary radar actually captures the target T at the time estimated that the primary radar has captured the target T corresponding to the target t going back from the time when the secondary radar captured the target t. If not, do not make the determination,
Radar apparatus characterized by the above. In a target assimilation determination processing method performed by a radar apparatus including a primary radar and a secondary radar having the primary radar and an asynchronous scanning speed,
The track tracking unit of the radar apparatus is based on the information on the moving speed and moving direction of the target T at the position of the target T captured by the primary radar, and the primary radar is not capturing the target T. Perform a track tracking step to estimate the position of the target T;
When the position of the target T estimated by the track tracking unit corresponding to the time when the secondary radar captures the target t is in a predetermined relationship with the position of the target t Performing a target assimilation step for determining that the target t and the target T from which the track tracking unit estimates the position are the same.
A target assimilation determination processing method characterized by the above. In the target assimilation determination processing method according to claim 5,
The predetermined relationship is a relationship in which the position of the target T estimated by the track tracking unit corresponding to the time when the secondary radar captures the target t is within a predetermined distance from the position of the target t.
A target assimilation determination processing method characterized by the above. The target assimilation determination processing method according to claim 5 or 6,
When the acquisition of the target T in the primary radar is intermittent, the determination is not performed.
A target assimilation determination processing method characterized by the above. The target assimilation determination processing method according to claim 5 or 6,
The primary radar actually captures the target T at the time estimated that the primary radar has captured the target T corresponding to the target t going back from the time when the secondary radar captured the target t. If not, do not make the determination,
A target assimilation determination processing method characterized by the above.   A program that, when installed in an information processing apparatus, realizes the function of the radar apparatus according to any one of claims 1 to 4 in the information processing apparatus.

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