JP2010266228A - Device for locating radio-wave emission source - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To presume and display a position of a radio-wave emission source if the radio-wave emission source is at a standstill, and to presume and display a moving route of the radio-wave emission source if the radio-wave emission source moves. <P>SOLUTION: When it is determined by a standstill/moving determination section 3 that the radio-wave emission source ES is at a standstill, a standstill position presumption section 4 presumes that a position which is indicated by a coordinate having the highest density among histogram is a position where the radio-wave emission source ES is at a standstill. When it is determined by the standstill/moving determination section 3 that the radio-wave emission source ES moves, a moving-route presumption section 5 presumes a moving route of the radio-wave emission source ES from information on a plurality of bearing lines outputted from a bearing measuring section 1 and a presumed position and a presumed moving speed of the radio-wave emission source ES set previously. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a radio wave emission source locating device that measures the direction of a radio wave emission source and estimates the position of the radio wave emission source and the like.

Patent Document 1 below discloses a radio wave emission source locating apparatus that measures the direction of a radio wave emission source and estimates the position of the radio wave emission source.
This radio wave emission source locating device is composed of an azimuth line input device, an intersection calculation device, a position determination device, and a display device.
Hereinafter, processing contents of the radio wave emission source locating device will be described.

The azimuth line input device is mounted on a mobile platform such as an aircraft or a ship, for example, and by measuring the direction of the radio wave emission source at a plurality of different positions, information on the azimuth line indicating the direction of the radio wave emission source from the position is obtained. Output to intersection calculation device.
For example, if the azimuth of the radio wave emission source is measured at four positions A, B, C, and D, four azimuth lines a, b, and c indicating the azimuth of the radio wave emission source from the four positions A, B, C, and D are measured. , D are output to the intersection calculation device.

When the intersection calculation device receives information on the four azimuth lines a, b, c and d from the azimuth line input device, for example, the intersection I _a between one azimuth line a and the other azimuth lines b, c and d. _{-b, I} a-c, to calculate the _{I a-d.}

Position determining apparatus, the intersection computing device intersection _{I a-b, I a-} c, calculating the _{I a-d,} the intersection _{I a-b, I a-} c, I a-d of the X-coordinate (or Y (Coordinates) are stored in a histogram (for example, a histogram in which X coordinates are divided at intervals of 500 m) having a predetermined width set in advance.
Position determining apparatus, the intersection point _{I a-b, I a-} c, when storing the X-coordinate of _{I a-d} (or Y-coordinate) in the histogram, most dense coordinate position indicated in the histogram, Telecommunications Estimated to be the location of the launch source.
The display device acquires information of the azimuth lines a, b, c, and d from the azimuth line input device, displays the azimuth lines a, b, c, and d on the display, and the radio wave estimated by the position determination device. The position of the launch source is displayed on the display.

JP 2000-284039 A (paragraph number [0007], FIG. 1)

Since the conventional radio wave emission source locating apparatus is configured as described above, the position of the radio wave emission source can be accurately estimated if the radio wave emission source is stationary. However, if the radio wave emission source is moving, multiple coordinates with high density are obtained in the histogram, so the estimation accuracy of the position of the radio wave emission source deteriorates and the problem is that the estimated position with low accuracy is displayed. there were.
Further, although the position of the radio wave emission source can be estimated, there is a problem that the movement path of the radio wave emission source cannot be estimated.

  This invention was made to solve the above problems, and if the radio wave emission source is stationary, the position of the radio wave emission source is estimated and displayed, and if the radio wave emission source is moving, It is an object of the present invention to obtain a radio wave emission source locating device that can estimate and display a movement path of a radio wave emission source.

  The radio wave emission source locating device according to the present invention accumulates the coordinates of the intersection calculated by the intersection calculation means in a histogram set with a predetermined width, analyzes the distribution of the histogram, and the radio emission source is moving. If the radio wave emission source is determined to be stationary by the movement determination unit and the movement determination unit, the position indicated by the coordinate with the highest density in the histogram is When the radio wave emission source is determined to be moving by the stationary position estimating means for estimating that the position is stationary and the movement determining means, information on a plurality of azimuth lines output from the azimuth measuring means is set in advance. A moving path estimating means for estimating the moving path of the radio wave emission source from the estimated position and estimated moving speed of the radio wave emission source, and the position of the radio wave emission source estimated by the stationary position estimation means Are those so as to display the travel route estimated by the movement path estimator.

  According to the present invention, the coordinates of the intersection calculated by the intersection calculation means are accumulated in a histogram set with a predetermined width, and the distribution of the histogram is analyzed to determine whether or not the radio wave emission source is moving. If the radio wave emission source is determined to be stationary by the movement determination unit and the movement determination unit, the position indicated by the highest density coordinates in the histogram is the position where the radio wave emission source is stationary. If the radio wave emission source is determined to be moving by the stationary position estimation means and the movement determination means, the information of the plurality of azimuth lines output from the azimuth measurement means and a preset radio wave emission source are determined. A movement path estimation means for estimating the movement path of the radio wave emission source from the estimated position and the estimated movement speed, and the position of the radio wave emission source estimated by the stationary position estimation means or the movement path estimation hand If the radio wave emission source is stationary, the position of the radio wave emission source is estimated and displayed. If the radio wave emission source is moving, the radio emission source is displayed. It is possible to estimate and display the movement route of

It is a block diagram which shows the radio wave emission source orientation apparatus by Embodiment 1 of this invention. It is a block diagram which shows the inside of the movement path | route estimation part 5 of the radio wave emission source orientation apparatus by Embodiment 1 of this invention. It is explanatory drawing which shows a mode that it is measured as the azimuth | direction of the radio wave emission source ES being (alpha) (angle with respect to a true north) when the position of the azimuth | direction measurement part 1 is "A". It is explanatory drawing of the azimuth | direction lines b, c, d, and e which show the azimuth | direction of the radio wave emission source ES from the position B, C, D, E. It is explanatory drawing which shows an example of the histogram in which the X coordinate of the intersection is accumulate | stored. It is explanatory drawing which shows the estimation process of the movement route estimation part. It is explanatory drawing which shows the estimation process of the movement route estimation part. It is a block diagram which shows the inside of the movement path | route estimation part 5 of the radio wave emission source orientation apparatus by Embodiment 2 of this invention.

Embodiment 1 FIG.
1 is a block diagram showing a radio wave emission source locating apparatus according to Embodiment 1 of the present invention.
In FIG. 1, an azimuth measuring unit 1 is mounted on a mobile platform such as an aircraft or a ship, and measures the azimuth of the radio wave emission source ES at a plurality of different positions, and indicates the azimuth of the radio wave emission source ES from the position. Performs processing to output line information. The direction measuring unit 1 constitutes a direction measuring unit.
The intersection calculation unit 2 acquires information on a plurality of azimuth lines from the azimuth measurement unit 1 and performs a process of calculating an intersection of one azimuth line and the other azimuth lines among the plurality of azimuth lines. The intersection calculation unit 2 constitutes an intersection calculation unit.

The stationary / movement determination unit 3 accumulates the X coordinate (or Y coordinate) of the intersection calculated by the intersection calculation unit 2 in a histogram having a predetermined width, analyzes the distribution of the histogram, and generates a radio wave emission source. A process of determining whether the ES is moving (determining whether it is stationary or moving) is performed. The stationary / movement determining unit 3 constitutes a movement determining means.
When the stationary / movement determining unit 3 determines that the radio wave emission source ES is stationary, the stationary position estimation unit 4 stops the radio wave emission source ES at the position indicated by the highest density coordinates in the histogram. The process which estimates that it is a position is implemented. The stationary position estimation unit 4 constitutes a stationary position estimation unit.

When the movement / path estimation unit 5 determines that the radio wave emission source is moving by the stationary / movement determination unit 3, the initial parameters (for example, the initial estimated position, the estimated moving speed, the initial movement speed, and the initial value of the radio wave emission source ES) are set. (Estimated time etc.) and information on a plurality of azimuth lines output from the azimuth measuring unit 1 are used to perform a process of estimating the movement path of the radio wave emission source ES.
That is, the movement path estimation unit 5 obtains the maximum movement range that can be moved at the estimated movement speed from the preset estimated position of the radio wave emission source ES, specifies the intersection of the maximum movement range and the bearing line, and determines the estimated position. A process of estimating a line segment connecting the intersection with the radio wave emission source ES as a moving path is performed. In addition, the movement route estimation part 5 comprises the movement route estimation means.
The display processing unit 6 acquires information on a plurality of azimuth lines from the azimuth measuring unit 1, displays the plurality of azimuth lines on the display, and the position or movement path of the radio wave emission source ES estimated by the stationary position estimation unit 4. A process of displaying the movement route estimated by the estimation unit 5 on the display is performed. The display processing unit 6 constitutes display means.

FIG. 2 is a block diagram showing the inside of the movement path estimation unit 5 of the radio wave emission source locating apparatus according to Embodiment 1 of the present invention.
In FIG. 2, an initial parameter setting processing unit 11 performs a process of setting initial parameters such as an initial estimated position, an estimated moving speed, and an initial estimated time of the radio wave emission source ES.
The movement path calculation processing unit 12 uses the initial parameters set by the initial parameter setting processing unit 11 and the information on the plurality of azimuth lines output from the azimuth measurement unit 1 to calculate the movement path of the radio wave emission source ES. To implement.

  In the example of FIG. 1, an azimuth measurement unit 1, an intersection calculation unit 2, a stationary / movement determination unit 3, a stationary position estimation unit 4, a movement path estimation unit 5, and a display processing unit 6 that are components of the radio wave emission source locating device. It is assumed that each is configured by dedicated hardware (for example, a semiconductor integrated circuit on which a CPU is mounted). However, when the radio wave emission source locating device is configured by a computer, the direction measuring unit 1, A program in which processing contents of the intersection calculation unit 2, the stationary / movement determining unit 3, the stationary position estimating unit 4, the moving path estimating unit 5 and the display processing unit 6 are described is stored in a computer memory, and the CPU of the computer A program stored in the memory may be executed.

Next, the operation will be described.
The azimuth measuring unit 1 is mounted on a mobile platform such as an aircraft or a ship, for example, measures the azimuth of the radio wave emission source ES at a plurality of different positions, and displays an azimuth line indicating the azimuth of the radio wave emission source ES from the position. Output information.
Here, the azimuth line information is information composed of the position of the azimuth measuring unit 1 (north latitude, east longitude) and azimuth information (an angle with reference to true north).

FIG. 3 shows a state where the azimuth of the radio wave emission source ES is measured as α (an angle with respect to true north) when the position of the azimuth measuring unit 1 is “A”.
Further, FIG. 4 shows that the azimuth measuring unit 1 mounted on the mobile platform measures the azimuth of the radio wave emission source ES at positions B, C, D, E while moving in the upper right direction in the figure, and the positions B, C , D, and E, information on azimuth lines b, c, d, and e indicating the direction of the radio wave emission source ES is output.

When the intersection calculation unit 2 acquires information on a plurality of azimuth lines from the azimuth measurement unit 1, the intersection calculation unit 2 calculates an intersection of one azimuth line and the other azimuth lines among the plurality of azimuth lines.
When the information of the azimuth lines b, c, d, e as shown in FIG. 4 is output from the azimuth measuring unit 1, for example, the intersection I _{b− of the} azimuth line b and the azimuth line c with reference to the azimuth line b _{. c} , an intersection I _b-d between the azimuth line b and the azimuth line _d , and an intersection I _b-e between the azimuth line b and the azimuth line e are calculated.

Stationary / moving determining portion 3, the intersection calculation unit 2 bearing lines b and bearing lines c, d, the intersection point _{I b-c} of _{e, I b-d,} calculating the _{I b-e,} the intersections _{I b-} The X coordinates (or Y coordinates) of _{c 1} , I _bd , and I _b-e are accumulated in a histogram having a predetermined width (for example, a histogram in which the X coordinates are divided at intervals of 500 m).
Here, FIG. 5 is an explanatory diagram showing an example of a histogram in which the X coordinates of intersections are accumulated.

Stationary / moving determining portion 3, the intersection point _{I b-c, I b-} d, the accumulated X-coordinate of _{I b-e} (or Y-coordinate) in the histogram, analyzes the distribution of the histogram, radio wave source ES Is determined to be moving (determining whether it is stationary or moving).
That is, the stationary / movement determining unit 3 calculates the standard deviation of the histogram, and if the standard deviation is larger than a reference value (a preset standard deviation), the radio wave emission source ES is moving. If the standard deviation is smaller than the reference value, it is determined that the camera is stationary.

When the stationary / movement determining unit 3 determines that the radio wave emission source ES is stationary, the stationary position estimation unit 4 is located at the position indicated by the highest density coordinates in the histogram. It is presumed that it is the position where
In the example of FIG. 5, it is estimated that the position where the X coordinate is “5” is the stationary position of the radio wave emission source ES.

When the stationary / movement determining unit 3 determines that the radio wave emission source is moving, the movement path estimation unit 5 sets preset initial parameters (for example, the initial estimated position of the radio wave emission source ES, the estimated movement speed, The process of estimating the movement path of the radio wave emission source ES is performed using the initial estimated time and the like and the information of the plurality of azimuth lines output from the azimuth measuring unit 1.
Hereinafter, the processing content of the movement path | route estimation part 5 is demonstrated concretely.

The initial parameter setting processing unit 11 of the movement path estimation unit 5 sets initial parameters such as the initial estimated position P ₀ , the estimated moving speed V ₀ , and the initial estimated time T ₀ of the radio wave emission source ES.
However, the initial parameter setting method is not particularly limited, and the user may manually set the parameter, or may acquire the parameter set by the external device.
As for the initial estimated position P ₀ of the radio wave emission source ES, the stationary position of the radio wave emission source ES estimated by the stationary position estimation unit 4 may be used when the radio wave emission source ES is stopped. .

The movement route calculation processing unit 12 of the movement route estimation unit 5 estimates the movement route of the radio wave emission source ES by performing the following calculation when the initial parameter setting processing unit 11 sets initial parameters.
Here, for convenience of explanation, as shown in FIG. 6 and FIG. 7, information of two azimuth lines a and b is output from the azimuth measuring unit 1, and the azimuth line among the two azimuth lines a and b is output. It is assumed that the acquisition time of a is the oldest and the acquisition time of the azimuth line b is the oldest.

First, as shown in FIG. 6, the movement route calculation processing unit 12 sets the initial estimated time T ₀ set by the initial parameter setting processing unit 11 (the time when the radio wave emission source ES exists at the initial estimated position P ₀ ). From the initial estimated position P ₀ of the radio wave emission source ES up to the acquisition time of the oldest azimuth line a, the maximum moving range M _0max having a radius that can be moved at the estimated moving speed V ₀ is calculated.
Next, as shown in FIG. 6, the movement route calculation processing unit 12 specifies the intersections I _a1 and I _a2 of the maximum movement range M _0max and the azimuth line a, and _sets the initial estimated position P ₀ of the radio wave emission source ES to The line segments P ₀ -I _a1 and P ₀ -I _a2 connecting the intersections I _a1 and I _a2 are estimated as movement paths.

When the movement route P ₀ -I _a1 and the movement route P ₀ -I _a2 are estimated as described above, the movement route calculation processing unit 12 estimates the movement route from the intersection point I _a1 and the intersection point I _a2 .
That is, as shown in FIG. 7, the movement route calculation processing unit 12 sets the distance that can be moved from the intersection I _{a1 at the} estimated movement speed V ₀ as the radius from the acquisition time of the azimuth line a to the acquisition time of the azimuth line b. The maximum movement range _M1max to be calculated is calculated.
Next, as shown in FIG. 7, the movement route calculation processing unit 12 specifies the intersections I _b1 and I _b2 between the maximum movement range M _1max and the azimuth line b, and determines the intersections I _a1 and I _b1 and I _b2 . The connecting line segments I _a1 -I _b1 and I _a1 -I _b2 are estimated as movement paths.

In addition, as shown in FIG. 7, the movement route calculation processing unit 12 sets the distance that can be moved from the intersection I _{a2 at the} estimated movement speed V ₀ as the radius from the acquisition time of the azimuth line a to the acquisition time of the azimuth line b. The maximum movement range M _2max to be calculated is calculated.
Next, as shown in FIG. 7, the movement route calculation processing unit 12 specifies the intersections I _b3 and I _b4 between the maximum movement range M _2max and the azimuth line b, and determines the intersections I _a2 and I _b3 and I _b4 . The connecting line segments I _a2 -I _b3 and I _a2 -I _b4 are estimated as movement paths.

From the above, the moving path _P 0 _-I a1 _{-I b1,} from the initial estimated position _{P 0} of the radio wave source ES to the intersection _{I b1,} the moving path _{P 0,} from the initial estimated position _{P 0} of the radio wave source ES to the intersection _{I b2} −I _a1 −I _b2 , a movement path P ₀ −I _a2 −I _b3 from the initial estimated position P ₀ of the radio wave emission source ES to the intersection I _b3, and an initial estimation position P ₀ of the radio wave emission source ES to the intersection I _b4 . The movement path P ₀ -I _a2 -I _b4 is estimated.

The display processing unit 6 acquires azimuth line information from the azimuth measuring unit 1 and displays a plurality of azimuth lines on a display.
Further, when the position of the radio wave emission source ES is estimated by the stationary position estimation unit 4, the display processing unit 6 displays the position of the radio wave emission source ES on the display.
On the other hand, when the movement path estimation unit 5 estimates the movement path of the radio wave emission source ES, the movement path of the radio wave emission source ES is displayed on the display.

  As apparent from the above, according to the first embodiment, the coordinates of the intersection calculated by the intersection calculation unit 2 are accumulated in a histogram set with a predetermined width, and the distribution of the histogram is analyzed, When the radio wave emission source ES is moving, the stationary / movement determination unit 3 that determines whether or not the radio wave emission source ES is moving, and when the radio wave emission source ES is determined to be stationary by the stationary / movement determination unit 3, The position indicated by the coordinates with the highest density is determined by the stationary position estimation unit 4 that estimates that the radio wave emission source ES is stationary, and the stationary / movement determination unit 3 determines that the radio wave emission source ES is moving. If so, a movement path estimation unit that estimates the movement path of the radio wave emission source ES from the information of the plurality of azimuth lines output from the direction measurement unit 1 and the preset estimated position and estimated movement speed of the radio wave emission source ES 5 and display Since the processing unit 6 is configured to display the position of the radio wave emission source ES estimated by the stationary position estimation unit 4 or the movement path estimated by the movement path estimation unit 5, the radio wave emission source ES is stationary. The position of the radio wave emission source ES is estimated and displayed. If the radio wave emission source ES is moving, the moving path of the radio wave emission source ES can be estimated and displayed.

Embodiment 2. FIG.
FIG. 8 is a block diagram showing the inside of the movement path estimation unit 5 of the radio wave emission source locating apparatus according to Embodiment 2 of the present invention. In the figure, the same reference numerals as those in FIG. To do.
The sorting selection unit 13 performs a process of discarding a movement route whose traveling direction changes by a predetermined angle or more among the movement routes estimated by the movement route calculation processing unit 12. Note that the sorting selection unit 13 constitutes sorting selection means.

Next, the operation will be described.
Similarly to the first embodiment, the movement route calculation processing unit 12 of the movement route estimation unit 5 has the movement route P ₀ -I _a1 -I _b1 , the movement route P ₀ -I _a1 -I _b2 , and the movement route P _0-. I _a2 -I _b3 and movement path P ₀ -I _a2 -I _b4 are estimated, and some of these movement paths include a movement path whose traveling direction is changing rapidly.
However, since the radio wave emission source ES is actually difficult to change the advancing direction suddenly, a moving path in which the advancing direction is abruptly changed may be erroneously estimated.

Therefore, in the second embodiment, among the movement routes estimated by the movement route calculation processing unit 12, a movement route whose traveling direction changes by a predetermined angle or more is discarded.
Specifically, the moving route whose traveling direction changes by a predetermined angle or more is discarded as follows.

First, the sorting selection unit 13 changes the traveling direction of the travel route P ₀ -I _a1 -I _b1 estimated by the travel route calculation processing unit 12, that is, the line segment P ₀ -I _a1 and the line segment I _a1 -I. _If the angle _b1 is calculated and the angle is equal to or greater than a predetermined threshold Th, the movement path P ₀ -I _a1 -I _b1 is discarded, and if the angle is less than the predetermined threshold Th, the movement path P ₀ -I _a1 -I _b1 is left.

The sorting unit 13 also performs the movement route P ₀ -I _a1 -I _b2 , the movement route P ₀ -I _a2 -I _b3 , and the movement route P ₀ -I _a2 -I _b4 estimated by the movement route calculation processing unit 12. If the angle is equal to or greater than the predetermined threshold Th, the movement path is discarded, and if the angle is less than the predetermined threshold Th, the movement is calculated. Try to leave a route.
In the example of FIG. 7, the movement route P ₀ -I _a1 -I _b2 and the movement route P ₀ -I _a2 -I _b3 are discarded, and the movement route P ₀ -I _a1 -I _b1 and the movement route P ₀ -I _a2- It is assumed that I _b4 is left.

  As is apparent from the above, according to the second embodiment, the sorting unit 13 discards the movement route whose traveling direction changes by a predetermined angle or more among the movement routes estimated by the movement route calculation processing unit 12. Since it comprised as mentioned above, there exists an effect which can display the movement path | route with high estimation precision.

  DESCRIPTION OF SYMBOLS 1 Direction measurement part (azimuth measurement means) 2 Intersection point calculation part (intersection point calculation means) 3 Still / movement determination part (movement determination means) 4 Still position estimation part (stationary position estimation means) 5 Travel path estimation part ( (Movement route estimation means), 6 display processing section (display means), 11 initial parameter setting processing section, 12 movement route calculation processing section, 13 sorting selection section (sorting selection means).

Claims (3)

  Measures the direction of the radio wave emission source at a plurality of different positions, outputs the direction line information indicating the direction of the radio wave emission source from the position, and acquires the information on the plurality of direction lines from the direction measurement means The intersection calculation means for calculating the intersection of one of the plurality of azimuth lines and the other azimuth line, and the coordinates of the intersection calculated by the intersection calculation means have a predetermined width. It is determined that the radio wave emission source is stationary by the movement determination means that accumulates in the histogram, analyzes the distribution of the histogram, and determines whether or not the radio wave emission source is moving, and the movement determination means. In this case, the position indicated by the coordinates with the highest density in the histogram is a stationary position estimation unit that estimates that the radio wave emission source is stationary, and the radio wave emission source is moved by the movement determination unit. I think If so, the movement path estimation means for estimating the movement path of the radio wave emission source from the information of the plurality of azimuth lines output from the direction measurement means and the preset estimated position and estimated speed of the radio wave emission source And obtaining information of a plurality of azimuth lines from the azimuth measuring means, displaying the plurality of azimuth lines, and estimating the position of the radio wave emission source estimated by the stationary position estimating means or the moving path estimating means A radio wave emission source locating device comprising display means for displaying the traveled path.   The movement path estimation means obtains the maximum movement range that can be moved at the estimated movement speed from the preset estimated position of the radio wave emission source, specifies the intersection of the maximum movement range and the azimuth line, and the estimated position and the intersection The radio wave emission source locating apparatus according to claim 1, wherein a line segment connecting the radio wave emission sources is estimated as a movement path of the radio wave emission source.   The radio wave emission source according to claim 1 or 2, further comprising: a selection unit that discards a movement route whose traveling direction changes by a predetermined angle or more among the movement routes estimated by the movement route estimation unit. Orientation device.

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