JP2012237473A - Fire distribution device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a fire distribution device that suppresses shoot-down failure or shooting miss of a target object due to delay or interruption of communication and occurrence of overshoot.SOLUTION: The fire distribution device determines whether it assigns the target object to own firearm based on target object information and a handling completion result stored in a target information storage processing part 7 and firearm information and a fire distribution result stored in a firearm information storage processing part 8. When the target object is not assigned to the own firearm, an assignment estimating firearm is set. The device includes: a fire distribution executing part 9 for setting standby time based on communication state between the own firearm and the assignment estimating firearm, and handling limit time stored in a communication state storage part 3; and a standby time monitoring processing part 10 for monitoring the target object information and the handling completion result stored in the target information storage processing part 7 and the standby time set by the fire distribution executing part 9 and assigning the target object to the own firearm when the target object not assigned to the own firearm is not completed for handling even after a lapse of the standby time.

Description

  This invention sets a target as a fire target of a firearm based on shared information acquired by communication when a target (for example, an aircraft, a flying object, etc.) that threatens the unit is detected. The present invention relates to a thermal power distribution device that determines whether or not to do so.

  Conventionally, in a thermal power distribution apparatus mounted on a firearm, the following two processes are performed in order to determine whether or not to set a target as a fire target of the firearm based on shared information within the unit. . First, as processing 1, based on the shared information, it is determined which target is assigned to which firearm in the unit. Next, as the process 2, when the determination result in the process 1 is the assignment to the firearm, the target is assigned to the firearm. On the other hand, when the determination result is assignment to another firearm, assignment to the selffirearm is not performed. Each firearm is equipped with a thermal power distribution device that performs these operations, and each firearm distributes the thermal power using the same algorithm based on the shared information. Decide whether or not to assign, and deal with targets in cooperation with other firearms.

  As such a thermal power distribution apparatus, Patent Document 1 discloses a configuration in which targets that are targets for thermal power distribution are classified into a plurality of groups, and processing corresponding to each group is performed. Specifically, four groups are classified according to the level of threat to the ship equipped with the thermal power distribution device and the level of threat to other ships, and depending on which group the target corresponds to The assigned firearm is determined.

JP 2010-2172 A

  However, in Patent Document 1 described above, the allocation of firearms is not determined in consideration of the communication state for sharing information held by each firearm. Therefore, if communication is delayed or blocked, inconsistency of shared information occurs. As a result, the fire power distribution result of each firearm becomes different, such as misrecognizing that assignment to other firearms occurs, and there was a problem of shooting the target without assigning the target to any firearm . Furthermore, there is a problem that the target information cannot be received from other firearms (interruption of communication), and the target information that is held is insufficient due to a delay in the reception of the target information. It was.

  The present invention was made to solve the above-described problems.When each firearm distributes thermal power in a distributed manner based on the shared information, the target can be shot down due to communication delay or interruption. An object of the present invention is to obtain a thermal power distribution device that suppresses spilling and suppresses the occurrence of overshoot on a target.

  A thermal power distribution apparatus according to the present invention includes a transmission unit that transmits information to another firearm, a reception unit that receives information from the other firearm, a communication state storage unit that stores a communication state between the selffirer and the other firearm, A firearm information acquisition unit that obtains firearm information of a firearm and generates a response completion result when the firearm completes the response of the target, a sensor unit that observes the target and acquires observation data, and a sensor unit The target information acquisition unit for acquiring target information from the acquired observation data, the target information acquired by the target information acquisition unit, and the target information received from other firearms received by the reception unit, and generated by the firearm information acquisition unit The target information storage processing unit that stores the countermeasure completion result and the countermeasure completion result received from the other firearms received by the information receiving unit, the firearm information of the self-firearm acquired by the firearm information acquiring unit, and the other weapons received by the information receiving unit Firearm A firearm information storage processing unit for storing a firepower distribution result indicating an allocation result of the self-firearm or other firearms with respect to the target, target information stored in the target information storage processing unit, a countermeasure completion result, and firearm information Based on the firearm information stored in the storage processing unit and the thermal power distribution result, it is determined whether the target is assigned to the self-firearm, and the assigned firearm is estimated when the target is not assigned to the firearm. A thermal power distribution execution unit that sets a waiting time based on a communication state between the self-fired device stored in the storage unit and the estimated pre-assigned firearm and a countermeasure limit time for the target, and target information stored in the target information storage processing unit , Monitor the waiting time set by the response completion result and the thermal power distribution execution unit, even after the waiting time has elapsed for the target not assigned to the self-firearm If the processing has not been completed, in which and a waiting time monitoring unit for allocating a target to own firearms.

  According to the present invention, it is possible to suppress failure to shoot a target and shoot out, and to suppress the occurrence of overshoot on the target.

It is a block diagram which shows the structure of the thermal power distribution apparatus by Embodiment 1. FIG. It is a figure which shows the structure of the firearm system by Embodiment 1. FIG. 4 is a flowchart showing an operation of a target information storage unit of the thermal power distribution apparatus according to Embodiment 1. 4 is a flowchart showing an operation of a thermal power information storage processing unit of the thermal power distribution apparatus according to Embodiment 1. 4 is a flowchart showing an operation of a thermal power distribution execution unit of the thermal power distribution device according to the first embodiment. 4 is a flowchart showing an operation of a standby time monitoring processing unit of the thermal power distribution apparatus according to Embodiment 1. It is a block diagram which shows the structure of the thermal power distribution apparatus by Embodiment 2. FIG. It is a flowchart which shows operation | movement of the waiting time monitoring process part of the thermal power distribution apparatus by Embodiment 2. It is a block diagram which shows the structure of the thermal power distribution apparatus by Embodiment 3. 10 is a flowchart showing an operation of a thermal power distribution execution unit of the thermal power distribution apparatus according to the third embodiment. 10 is a flowchart showing an operation of a standby time monitoring processing unit of the thermal power distribution apparatus according to Embodiment 3. It is a block diagram which shows the structure of the thermal power distribution apparatus by Embodiment 4. FIG.

Embodiment 1 FIG.
1 is a block diagram showing a configuration of a thermal power distribution apparatus according to Embodiment 1 of the present invention.
The thermal power distribution device 100 includes an information transmission unit 1, an information reception unit 2, a communication state storage unit 3, a firearm information acquisition unit 4, a sensor unit 5, a target information acquisition unit 6, a target information storage processing unit 7, and a firearm information storage. The processing unit 8 includes a thermal power distribution execution unit 9 and a standby time monitoring processing unit 10.
Moreover, the thermal power distribution apparatus 100 shown in FIG. 1 is mounted on each firearm of a unit (not shown). As shown in FIG. 2, thermal power distribution devices 100a, 100b, 100c,... Are mounted on a plurality of firearms 200a, 200b, 200c,. In addition, it is configured to determine whether to assign the target object to the self-firearm at each timing based on the shared information.

Next, the detail of each structure of the thermal power distribution apparatus 100 is demonstrated. In addition, below, the process of the thermal power distribution apparatus 100 mounted in the firearm of the unit will be described as an example. In addition, the other firearm which the thermal power distribution apparatus 100 of a self-fired device performs communication connection is called another firearm.
The information transmission unit 1 transmits information to other firearms, and the information reception unit 2 receives information from other firearms.
The communication state storage unit 3 stores a communication state (for example, communication interruption or delay) with another firearm. The firearm information acquisition unit 4 acquires firearm information (such as the position of a firearm, range, speed, bullet type, upper limit of target allocation number, remaining number of bullets, and position of protection target). Moreover, the firearm information acquisition unit 4 determines whether or not the handling of the target has been completed, and generates a handling completion determination result. The sensor unit 5 is configured by a sensor device such as a radar, for example, detects a target located in a predetermined detection area, observes the detected target at an arbitrary sampling interval, and detects the position of the target, the moving speed, Generate observation data such as direction and size of movement. Here, the target is an object that becomes a threat to the unit on which the firearm is mounted, such as an aircraft or a flying object.

  The target information acquisition unit 6 converts the observation data generated by the sensor unit 5 into target information indicating, for example, the observation time, position, speed, and type of the target. The target information storage processing unit 7 includes a storage unit 7a and a target information processing unit 7b. The storage unit 7 a stores the target object information and the countermeasure completion determination result of the self-fired device, and the target object information and the countermeasure completion determination result of the other firearms input via the information receiving unit 2. When the target information processing unit 7b refers to the information stored in the storage unit 7a and the target information of the firearm is updated, or when the firearm fires fire on the target and the countermeasure is completed The contents are notified to other firearms via the information transmission unit 1.

The firearm information storage processing unit 8 includes a storage unit 8a and a firearm information processing unit 8b.
The storage unit 8a stores self-firearm information (firearm position, range, speed, bullet type, upper limit of target allocation number, remaining number of bullets, position of protection target, etc.) and other firearm information input via the information receiving unit 2 Remember. Further, the thermal power distribution result indicating the target assigned to the self-firearm, the waiting time for the target not assigned to the self-firearm, the pre-assigned pre-estimator for the target not assigned to the firearm, and the like are stored. Further, the storage unit 8 a stores the target assignment notification from the other firearms input via the information receiving unit 2. When the firearm information processing unit 8b refers to the information stored in the storage unit 8a and the firearm information of the firearm is updated, or when the firepower distribution result of assigning the target to the firearm is stored, the content is Notify other firearms via the information transmitter 1. Furthermore, the firearm information processing unit 8b refers to the information stored in the storage unit 8a, and outputs the assignment of the target to the self-fired device when the thermal power distribution result for assigning the target to the self-fired device is stored.

  The thermal power distribution execution unit 9 includes the target information stored in the storage unit 7 a of the target information storage processing unit 7, the result of determination of completion of handling of the target, and the self-firearm stored in the storage unit 8 a of the firearm information storage processing unit 8. With reference to the information, other firearm information, and the thermal power distribution result, a thermal power distribution process for determining whether or not to assign the target to the self-firearm is performed. When the result of the thermal power distribution process is the allocation of the target to the self-firearm, the allocation result is output to the firearm information storage processing unit 8. On the other hand, when the result of the thermal power distribution process is the assignment of the target to another firearm, the communication state of the target with the estimated pre-arranged firearm and the target fire limit time (the range of the firearm) The waiting time is set in accordance with the time limit within which the target can be dealt with or the time limit with which the target can be dealt with before the unit is damaged), and is output to the firearm information storage processing unit 8 .

  The waiting time monitoring processing unit 10 is stored in the storage unit 8a of the firearm information storage processing unit 8 and the target information stored in the storage unit 7a of the target information storage processing unit 7 and the response completion determination result for the target. The waiting time set for the target that is not assigned to the firearm is monitored, and if the response to the target is not completed even after the waiting time has elapsed, the target is assigned to the firearm. .

Next, the operation of the thermal power distribution apparatus 100 according to the first embodiment will be described with reference to the processing of the target information storage processing unit 7, the firearm information storage processing unit 8, the thermal power distribution execution unit 9, and the standby time monitoring processing unit 10 with reference to FIG. Will be described with reference to the flowchart of FIG.
First, the operation of the target information storage processing unit 7 of the thermal power distribution apparatus 100 according to Embodiment 1 will be described with reference to the flowchart of FIG.
When the target information storage processing unit 7 acquires the data regarding the target of the firearm input from the target information acquisition unit 6 and the data regarding the target of the other firearm via the information receiving unit 2 (step ST1), The target information including the observation time, position, speed, and type of the target is stored in the storage unit 7a (step ST2). Also, the self-firearm handling completion determination result input from the firearm information acquisition unit 4 and the other-arms handling completion determination result input via the information receiving unit 2 are acquired and stored in the storage unit 7a (step ST3). .

  The target object information processing unit 7b refers to the storage unit 7a and determines whether or not the target information of the self-fired device has been updated or the response completion determination result of the self-fired device has been determined to be complete (step ST4). When the target information of the self-fired device has been updated or when it is determined that the self-fired device has been dealt with (step ST4; YES), the content is output to the information transmitting unit 1 (step ST5), and the process is terminated. On the other hand, when the target information of the firearm is not updated and the firearm is not completely dealt with (step ST4; NO), the process ends.

Next, the operation of the firearm information storage processing unit 8 of the thermal power distribution apparatus 100 according to Embodiment 1 will be described with reference to the flowchart of FIG.
The firearm information storage processing unit 8 receives the firearm information (position, range, speed, bullet type, upper limit of target allocation number, remaining number of bullets, position of protection target, etc.) and information received from the firearm information acquisition unit 4 The other firearm information input from the other firearms via the section 2 is stored in the storage section 8a (step ST11). In addition, the thermal power distribution results input from the thermal power distribution execution unit 9 and the standby time monitoring processing unit 10 (estimated to the target allocated to the self-firearm, the standby time for the target allocated to other firearms, and the target allocation destination). Information on other firearms) is stored in the storage unit 8a (step ST12), and a target assignment notification input from the other firearms via the information receiving unit 2 is stored in the storage unit 8a (step ST13).

  The firearm information processing unit 8b refers to the storage unit 8a and determines whether or not the self-firearm information has been updated or a target has been assigned to the firearm (step ST14). When the self-firearm information is updated, or when a target is assigned to the self-firearm (step ST14; YES), the content is output to the information transmission unit 1, and the assignment of the target is output to the firearm. ((Step ST15), the process is terminated. On the other hand, if the self-firearm information is not updated, and if the target is not assigned to the firearm (step ST14; NO), the process is terminated.

  Next, the operation of the thermal power distribution execution unit 9 of the thermal power distribution apparatus 100 according to Embodiment 1 will be described with reference to the flowchart of FIG. In the flowchart of FIG. 5, as the thermal power distribution process of the thermal power distribution execution unit 9, the effectiveness of each firearm for the target is calculated, and when the effectiveness of the firearm is first, the target is assigned to the firearm. An example of the process of performing is described. When there are a plurality of target objects, the thermal power distribution process is performed in descending order of the threat level of the target object.

  The thermal power distribution execution unit 9 is stored in the storage unit 8 a of the firearm information storage processing unit 8, the target information of each firearm stored in the storage unit 7 a of the target information storage processing unit 7, and the response completion determination result of the target. Based on the firearm information of each firearm and the thermal power distribution result, the effectiveness of each firearm relative to the target is calculated (step ST21). The thermal power distribution execution unit 9 refers to the effectiveness calculated in step ST21, and determines whether the effectiveness of the self-fired device is first (step ST22). When the effectiveness of the firearm is first (step ST22; YES), a thermal power distribution result for assigning the target to the firearm is generated and stored in the storage section 8a of the firearm information storage processing section 8 (step ST23). The process ends.

  On the other hand, when the effectiveness of the self-firearm is not first (step ST22; NO), the other firearm having the first highest effectiveness is a firearm that is estimated to generate the target (hereinafter referred to as an assignment estimated firearm). ) (Step ST24), and with reference to the communication state storage unit 3, it is determined whether the communication state between the self-fired device and the assigned estimated fired device is good (step ST25). When it is determined that the communication state between the firearm and the estimated firearm is good (step ST25; YES), the standby time of the firearm is set as the shooting limit time (step ST26).

  On the other hand, when it is determined that the communication state between the self-fired device and the assigned estimated fire device is not good (step ST25; NO), a standby time corresponding to the communication state is set (step ST27). Specifically, the shorter the communication state, the shorter the standby time of the firearm. Thereafter, the thermal power distribution execution unit 9 outputs the information related to the allocation estimated firearm set in step ST24 and the standby time set in step ST26 or ST27 to the firearm information storage processing unit 8 (step ST28), and ends the process.

Next, the evaluation of whether or not the communication state described in the flowchart of FIG. 5 is good and the setting of the standby time when the communication state is bad will be described in more detail.
The evaluation of the communication state is performed based on the communication state between the self-fired device and the allocation estimation fired device (other firearms) stored in the communication state storage unit 3, specifically, communication interruption or delay. Furthermore, the goodness of the communication state with the allocation estimation firearm in the self-fired unit is quantified by using, for example, the following equation (1) as a function that decreases as the interruption or delay of the communication with the allocation estimation firearm increases. Can do.

ａ：定数（０＜ａ＜１）
Ｔ_cut：遮断（割当推定火器からの最終受信時刻と現在時刻の差、または、次回受信予定時刻と現在時刻の差）
Ｔ_delay：遅延（割当推定火器から届いたデータの割当推定火器の送信時刻と自火器の受信時刻の差）

a: Constant (0 <a <1)
T _cut : _Cut off (difference between the last received time from the allocation estimated firearm and the current time, or the difference between the next scheduled reception time and the current time)
T _delay : Delay (difference between the transmission time of the allocation estimation firearm and the reception time of the firearm of the data received from the allocation estimation firearm)

If the value of equation (1) described above is equal to or greater than a preset threshold value, it is determined that the communication state is good, and if it is less than the threshold value, it is determined that the communication state is bad. In Equation (1), “difference between the next scheduled reception time from the allocation estimated firearm and the current time” indicates that the self-firearm and the allocation estimation firearm periodically transmit and receive data, and then receive the data from the allocation estimation firearm. Used when the scheduled time is determined. At this time, if the difference between the next data reception scheduled time from the allocation estimation firearm and the current time becomes a negative value, the value is treated as “0”. Further, when the transmission time is not added to the data transmitted from the allocation estimation firearm, only the _cut (T _cut ) is used.

Ｔ_limit：射撃限界時間
Ｆ_quality：通信状況が良いほど大きい値となる関数である式（１）の値

Next, the standby time to be set when it is determined that the communication state between the self-fired device and the assigned estimated fire device is not good is, for example, as a function that takes a maximum value as a shooting limit time and becomes a smaller value as the communication state becomes worse, for example: Can be quantified using the following formula (2).

T _limit : Shooting limit time F _quality : Value of equation (1), which is a function that becomes larger as the communication status is better

Next, the operation of the standby time monitoring processing unit 10 of the thermal power distribution apparatus 100 according to Embodiment 1 will be described with reference to the flowchart of FIG. Note that it is assumed that the standby time monitoring processing unit 10 periodically executes the process shown in the flowchart of FIG.
The standby time monitoring processing unit 10 stores the target information of each firearm stored in the storage unit 7 a of the target information storage processing unit 7, the determination result of the completion of handling the target, and the storage unit 8 a of the firearm information storage processing unit 8. With reference to the stored waiting time, it is determined whether a response completion notification has been received from another firearm or the target information has not been updated for a predetermined time or more with respect to the target for which the waiting time is set (step) ST31). When a target completion notification is received from another firearm or when the target information has not been updated for a predetermined time or longer (step ST31; YES), an instruction not to assign the target to the firearm is output to the firearm information storage processing unit 8 (Step ST32), and the process ends.

On the other hand, if the target action completion notification has not been received from another firearm and the target information has been updated within a predetermined time (step ST31; NO), it is determined whether or not the set standby time has elapsed. Is performed (step ST33). When the set standby time has elapsed (step ST33; YES), an instruction to assign the target to the self-fired device is output to the firearm information storage processing unit 8 (step ST34), and the process is terminated. On the other hand, when the set standby time has not elapsed (step ST33; NO), the process ends.
As described above, the standby time monitoring processing unit 10 does not receive the target action completion notification and the target information has been updated, and the target object is displayed when the standby time has elapsed. Be assigned to a firearm.

  As described above, according to the first embodiment, with respect to a target that is not allocated to the self-fired device, the communication state between the allocation estimated firearm and the self-fired device in which the allocation of the target is estimated, and the target The thermal power distribution execution unit 9 that sets the standby time in consideration of the shooting limit time, and when the completion notification of the target is not obtained after the set standby time has elapsed, the target is assigned to the firearm Since the standby time monitoring processing unit 10 for instructing is provided, the target assigned to the estimated allocation firearm in which a communication failure has occurred is set to the set standby time (when the estimated allocation firearm completes the countermeasure). Can be assigned to a firearm after a certain amount of time). Thereby, it is possible to suppress the occurrence of shoot-out failure or shoot-out due to a communication failure and to suppress the occurrence of overshoot at that time.

Embodiment 2. FIG.
In this Embodiment 2, in addition to the structure of Embodiment 1 mentioned above, it shows about the structure which resets standby time using the allocation notification received from the other firearms, and the detection accuracy of the sensor part of each thermal power distribution apparatus.
FIG. 7 is a block diagram showing the configuration of the thermal power distribution apparatus according to the second embodiment. In the following, the same or corresponding parts as those of the thermal power distribution apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in the first embodiment, and the description thereof is omitted or simplified.

  The target information storage processing unit 7 stores the detection accuracy of the sensor unit 5 of the self-fired device and the sensor unit (not shown) of the other fired device in the storage unit 7a. The standby time monitoring processing unit 10 further includes a standby time resetting unit 10a. When the standby time resetting unit 10a determines the elapse of the standby time set for the target that is not assigned to the self-fired device, the standby time resetting unit 10a checks the reception status of the target assignment notification transmitted from the other firearm. . When receiving an assignment notification of the target from another firearm, based on the detection accuracy of the sensor unit 5 of the firearm that transmitted the assignment notification or the communication state between the firearm and the self-fired device that transmitted the assignment notification, Perform resetting. The reset standby time is output to the firearm information storage processing unit 8.

Next, the operation of the standby time monitoring processing unit 10 will be described focusing on the processing of the standby time resetting unit 10a. FIG. 8 is a flowchart showing the operation of the standby time monitoring processing unit of the thermal power distribution apparatus according to Embodiment 2 of the present invention. Moreover, below, the same code | symbol as the code | symbol used in FIG. 6 is attached | subjected to the step same as the thermal power distribution apparatus which concerns on Embodiment 1, and description is abbreviate | omitted or simplified.
When the standby time monitoring processing unit 10 determines that the target action completion notification has not been received from another firearm and that the target information has been updated within a predetermined time (step ST31; NO), the standby time monitoring The standby time resetting unit 10a of the processing unit 10 refers to the storage unit 8a of the firearm information storage processing unit 8 and determines whether or not the target assignment notification from another firearm has been received (step ST41). When the notification has been received (step ST41; YES), it is further determined whether or not the standby time is reset after receiving the allocation notification (step ST42). When the allocation notification has not been received (step ST41; NO) and when the standby time has already been reset (step ST42; YES), the process proceeds to step ST34.

  On the other hand, if the standby time is not reset (step ST42; NO), the detection accuracy of the sensor unit of the firearm that has transmitted the target assignment notification is high, or the assignment notification is made with reference to the communication state storage unit 3. It is determined whether or not the communication state between the firearm that has transmitted is good and the self-firearm (step ST43). When the detection accuracy of the sensor unit of the firearm that has sent the assignment notification is high, or the communication state between the firearm and the firearm that has sent the assignment notification is good (step ST43; YES), the standby time of the firearm is set to the shooting limit time. (Step ST44). on the other hand. When the detection accuracy of the sensor unit is low and the communication state is not good (step ST43; NO), the standby time of the self-fired device is reset to the standby time according to the communication state (step ST45). Specifically, the standby time of the self-fired device is reset to a shorter time as the communication state is worse.

The standby time monitoring processor 10 determines whether or not the set standby time has elapsed (step ST33). When the set standby time has elapsed (step ST33; YES), an instruction to assign the target to the self-fired device is output to the firearm information storage processing unit 8 (step ST34), and the process is terminated. On the other hand, when the set standby time has not elapsed (step ST33; NO), the process ends.
In step ST41, when allocation notifications are received from a plurality of other firearms, the firearm information storage process using the allocated firearm having the longest standby time set in steps ST43 to ST45 and the standby time as the thermal power distribution result. Output to unit 8.

  As described above, according to the second embodiment, when determining the elapse of the standby time set for the target that is not allocated to the self-fired device, the target allocation notification has been received from the other firearm. Yes, if the detection accuracy of the sensor unit of the firearm that sent the assignment notification is good, or the communication state between the firearm and the firearm that sent the assignment notification is good, reset the standby time to the shooting limit time Since it is configured to include the standby time resetting unit 10a, the standby time is reset to the maximum shooting limit time when an allocation notification is received from another firearm that is assumed to be able to complete the handling of the target. And the occurrence of overshoot can be further suppressed.

Embodiment 3 FIG.
In the above-described second embodiment, the processing in the case where the target assignment notification has been received from the other firearms has been described, but in this third embodiment, the processing in the case where the target assignment notification has not been received from the other firearms. Will be described.
FIG. 9 is a block diagram showing the configuration of the thermal power distribution apparatus according to the third embodiment. Hereinafter, the same reference numerals as those used in the first embodiment or the second embodiment are attached to the same or corresponding parts as the components of the thermal power distribution apparatus 100 according to the first and second embodiments. The description will be omitted or simplified.

  The target information storage processing unit 7 stores the detection accuracy of the sensor unit 5 of the self-fired device and the sensor unit (not shown) of the other fired device in the storage unit 7a. The thermal power distribution execution unit 9 is additionally provided with a predicted time calculation unit 9a. The predicted time calculation unit 9a receives an allocation notification from the allocation estimation firearm when the communication state between the allocation estimation firearm of the target and the firearm is good with respect to the target that is not allocated to the firearm. Calculate the estimated time required to complete the process. The predicted time is determined by, for example, the sum of the periodic time at which the thermal power distribution execution unit 9 of the self-fired unit performs the thermal power distribution, the communication delay that has occurred so far in the communication between the allocation estimated fire device and the self-fired device, and the maximum time of interruption Calculated. The thermal power distribution execution unit 9 sets the predicted time calculated by the predicted time calculation unit 9a as the notification arrival standby time.

  The standby time resetting unit 10a of the standby time monitoring processing unit 10 allocates even after the notification arrival standby time set by the thermal power distribution execution unit 9 has elapsed in addition to the standby time resetting process described in the second embodiment. When the allocation notification is not received from the estimated firearm, an instruction is output to the thermal power distribution execution unit 9 so as to perform the thermal power allocation for setting the allocation destination fire again from the other firearms excluding the allocation estimated firearm.

Next, the operation of the thermal power distribution apparatus 100 according to the third embodiment will be described focusing on the operations of the thermal power distribution execution unit 9 and the standby time monitoring processing unit 10.
First, the operation of the thermal power distribution execution unit 9 will be described. FIG. 10 is a flowchart showing the operation of the thermal power distribution execution unit of the thermal power distribution device according to Embodiment 3 of the present invention. In the following, the same steps as those of the thermal power distribution execution unit 9 of the thermal power distribution apparatus 100 according to the first embodiment are denoted by the same reference numerals as those used in FIG. 5, and the description thereof is omitted or simplified.

  The thermal power distribution execution unit 9 refers to the effectiveness of each firearm with respect to the target, and sets the other firearm having the first effectiveness as the assignment estimation firearm that is estimated to generate the assignment of the target (step ST24). When it is determined that the communication state between the firearm and the allocation estimation firearm is good with reference to the communication state storage unit 3 (step ST25; YES), the prediction time calculation unit 9a receives an allocation notification from the allocation estimation firearm. The predicted time required until the time is calculated (step ST51). The thermal power distribution execution unit 9 sets the predicted time calculated in step ST51 to the notification arrival standby time of the self-fired device (step ST52), and further sets the standby time to the shooting limit time (step ST26). Thereafter, the thermal power distribution execution unit 9 outputs to the firearm information storage processing unit 8 information related to the estimated allocation firearm set in step ST24, the notification arrival standby time set in step ST52, and the standby time set in step ST26 or step ST27. (Step ST53), the process ends.

Next, the operation of the standby time monitoring processing unit 10 will be described. FIG. 11 is a flowchart showing the operation of the standby time monitoring processing unit of the thermal power distribution apparatus according to Embodiment 3 of the present invention. In the following, the same steps as those in the standby time monitoring processing unit 10 of the thermal power distribution apparatus 100 according to the second embodiment are denoted by the same reference numerals as those used in FIG. 8, and the description thereof is omitted or simplified.
When it is determined that the target action completion notification has not been received from another firearm and the target information has been updated within a predetermined time (step ST31; NO), the standby time of the standby time monitoring processor 10 is reset. The unit 10a refers to the storage unit 8a of the firearm information storage processing unit 8, and determines whether or not a target assignment notification from another firearm has been received (step ST41).

  When the allocation notification has been received (step ST41; YES), the flow proceeds to step ST42. On the other hand, when the allocation notification has not been received (step ST41; NO), the standby time resetting unit 10a determines whether or not the standby time set by the thermal power execution unit 9 has elapsed (step ST61). If it is determined that the standby time has elapsed (step ST61; YES), an instruction to assign the target to the self-firearm is output to the firearm information storage processing unit 8 (step ST62), and the process is terminated. On the other hand, when it is determined that the standby time has not elapsed (step ST61; NO), the communication state storage unit 3 is referred to, and the communication state between the self-fired device and the other firearm (assigned estimated firearm) having the highest effectiveness is good. Is determined (step ST63).

When the communication state between the self-fired device and the other fired device having the highest effectiveness is not good (step ST63; NO), the process is terminated. On the other hand, when the communication state between the self-fired device and the other fired device having the highest effectiveness is good (step ST63; YES), it is determined whether the notification arrival standby time has elapsed (step ST64). When it determines with notification arrival time not having passed (step ST64: NO), a process is complete | finished. On the other hand, when the notification arrival waiting time has elapsed (step ST64: YES), the thermal power distribution execution unit 9 is instructed to perform thermal power redistribution except for the other firearms with the highest effectiveness (step ST65), and the process is performed. finish.

  As described above, according to the third embodiment, the target time that is not allocated to the self-fired unit includes the predicted time calculating unit 9a that calculates the predicted time required until the allocation notification arrives from the allocated estimated firearm, The thermal power distribution execution unit 9 that sets the predicted time calculated by the predicted time calculation unit 9a as the notification arrival standby time when the communication state between the self-fired device and the allocation estimated firearm is good, and the set notification arrival standby time Even when the allocation notification is not received from the allocation estimation firearm even after the elapse of time, the allocation estimation firearm is configured to include the standby time resetting unit 10a for instructing the thermal power redistribution except for the allocation estimation firearm. If this prediction is not met, it is possible to redistribute the thermal power except for the firearm, and to deal with the target at an early stage.

Embodiment 4 FIG.
In the fourth embodiment, in addition to the configurations of the second and third embodiments described above, a configuration is shown in which the standby time is adjusted by adding or subtracting a predetermined value to the calculated standby time.
FIG. 12 is a block diagram showing the configuration of the thermal power distribution apparatus according to the fourth embodiment. In the following, the same or equivalent parts as those of the thermal power distribution apparatus 100 according to the second and third embodiments are denoted by the same reference numerals as those used in the second or third embodiment. The description will be omitted or simplified.

  The thermal power distribution execution unit 9 includes a standby time adjustment unit 9b in addition to the predicted time calculation unit 9a. Similarly, the standby time monitoring processing unit 10 includes a standby time adjusting unit 10b in addition to the standby time resetting unit 10a. The standby time adjusting units 9b and 10b add or subtract a predetermined random number value to the standby time set in the thermal power distribution executing unit 9 or the standby time resetting unit 10a to set the fire limit time of the firearm. Adjust the waiting time within the range not exceeding.

  Specifically, the effectiveness of the self-firearm and other firearms calculated by the thermal power distribution execution unit 9 is stored in the storage unit 8a of the firearm information storage processing unit 8 together with the firearm information. The standby time adjustment units 9b and 10b are random within a predetermined range so that the standby time is shortened when the effectiveness of the firearms stored in the storage unit 8a is higher in the unit. Subtract the generated value from the waiting time. On the other hand, if the effectiveness of the firearm is in the lower rank within the unit, add a value that is randomly generated within the pre-specified range so that the standby time will be longer, so that it does not exceed the shooting limit time. To do.

  As described above, according to the fourth embodiment, the standby time adjusting units 9b and 10b for adjusting the standby time that has already been set are provided according to the rank in the unit of the effectiveness of the firearm with respect to the target. Since it comprised as mentioned above, standby | waiting time can be adjusted according to the order | rank in the unit of the effectiveness of the self-fired device with respect to a target object, and generation | occurrence | production of an overshoot can be suppressed more efficiently.

  In Embodiments 1 to 4 described above, the case where the target is an object has been described as an example. However, the target is not limited to an object, and can be applied to various types of targets. is there.

In the first embodiment, the third embodiment, and the fourth embodiment described above, the configuration in which the thermal power distribution execution unit 9 calculates the effectiveness for the target object of the self-firearm and the other firearms is shown. A known calculation method can be applied to the calculation.
For example, the effectiveness of the target firearm and other firearms with respect to the target is calculated as “the product of the threat level of the target and the residual probability (target residual value)”. Here, the remaining probability is a value of “1-shooting probability”.

The effective degree of M with respect to the self firearms and other firearm targets of as shown in the following equation (3), increased with increasing fire available time T _P, with increasing firing waiting time T _R Is a function of decreasing positive values.
_{M = M (T P, T} R) ··· (3)
An example of a calculation formula for calculating the effectiveness M is shown in the following formula (4).
M = αT _P + β (T _RMAX −T _R ) (4)
In Expression (4), α and β are coefficients for enabling adjustment of the weights for T _P and T _R , respectively, and T _RMAX is the maximum T _R that can be considered for the detected target.

  In addition, the effectiveness of firearms and other firearms against targets is determined by the “shooting probability, predicted meeting time, initial bullet launch time, final bullet launch time limit” when executing thermal power allocation, and the “shootdown probability, predicted time when re-attacking”. It can be calculated based on the concept of “predicted time required for completion of target shooting” in consideration of “meeting time”. Specifically, the effectiveness is calculated by adding the predicted meeting time until the cumulative shooting probability exceeds a preset threshold.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  DESCRIPTION OF SYMBOLS 1 Information transmission part, 2 Information reception part, 3 Communication state memory | storage part, 4 Firearm information acquisition part, 5 Sensor part, 6 Target object information acquisition part, 7 Target object information storage process part, 7a, 8a Storage part, 7b Target object Information processing unit, 8 Firearm information storage processing unit, 8b Firearm information processing unit, 9 Thermal power distribution execution unit, 9a Prediction time calculation unit, 9b, 10b Standby time adjustment unit, 10 Standby time monitoring processing unit, 10a Standby time resetting unit , 100 thermal power distribution device, 200 firearms, 300 network.

Claims (6)

A thermal power distribution device that assigns firearms to a target,
A transmitter that transmits information to other firearms;
A receiver for receiving information from other firearms;
A communication state storage unit for storing a communication state between the self-fired device and the other firearms;
A firearm information acquisition unit that acquires firearm information of the firearm and generates a response completion result when the firearm completes the countermeasure of the target,
A sensor unit for observing the target and acquiring observation data;
A target information acquisition unit for acquiring target information from observation data acquired by the sensor unit;
The target information acquired by the target information acquisition unit and the target information from other firearms received by the reception unit are stored, and the countermeasure completion result generated by the firearm information acquisition unit and the other firearms received by the reception unit A target information storage processing unit for storing a result of completion of the handling of
The firearm information acquired by the firearm information acquisition unit and the firearm information of the other firearm received by the reception unit are stored, and the thermal power distribution result indicating the allocation result of the firearm or the other firearm for the target is stored. A firearm information storage processing unit,
Based on the target information and countermeasure completion result stored in the target information storage processing unit, and the firearm information and thermal power distribution result stored in the firearm information storage processing unit, it is determined whether to assign a target to the self-firearm, An assigned pre-estimator that is estimated when the target is not assigned to the self-fired device is set, and the communication state between the self-fired device stored in the communication state storage unit and the estimated pre-assigned fire device and the response limit time for the target A thermal power distribution execution unit for setting a standby time based on
The target information stored in the target information storage processing unit, the countermeasure completion result, and the standby time set by the thermal power distribution execution unit are monitored, and even after the standby time has elapsed for a target that is not assigned to a self-fired device A thermal power distribution device comprising: a standby time monitoring processing unit that allocates the target to a self-fired device when the countermeasure is not completed. The receiving unit receives an assignment notification indicating assignment of a target from another firearm,
The target information storage processing unit stores the detection accuracy of the sensor unit and the detection accuracy of the sensor unit of the other firearm received by the reception unit,
The standby time monitoring processing unit determines that the communication state between the self-fired device and the firearm that has transmitted the allocation notification is good with reference to the communication state storage unit when the receiving unit receives the allocation notification. If it is determined that the detection accuracy of the sensor unit of the firearm that has transmitted the allocation notification with reference to the target information storage processing unit is good, the standby time is reset to the handling limit time. The thermal power distribution apparatus according to claim 1, wherein The receiving unit receives an assignment notification indicating assignment of a target from another firearm,
When the thermal power allocation execution unit determines that the communication state between the self-fired device and the estimated allocation pre-igniter is good with reference to the communication state storage unit, the allocation notification from the estimated allocation pre-arranger Calculates the estimated time to reach, sets the calculated estimated time as the notification waiting time,
The waiting time monitoring processing unit excludes the estimated assigned firearm when the receiving unit has not received the allocation notification even after the notification arrival waiting time set by the thermal power distribution execution unit has elapsed. 3. The thermal power distribution apparatus according to claim 1, wherein the thermal power distribution execution unit is instructed by another firearm to set the allocation firearm again.   The notification arrival standby time is calculated by a period time in which the thermal power distribution execution unit performs thermal power distribution, and a maximum delay time or cutoff time in communication between the self-fired device and the estimated assigned firearm. 4. The thermal power distribution apparatus according to claim 3, wherein   The thermal power distribution execution unit calculates the effectiveness of the self-firearm and the other firearm with respect to the target, and when the effectiveness of the self-firearm is a lower rank in the unit composed of the firearm and the other firearm Has a waiting time adjustment unit that adds a predetermined value to the waiting time within the response limit time and subtracts the predetermined value from the waiting time when the rank is higher in the unit. The thermal power distribution apparatus according to claim 1, wherein:   The thermal power distribution execution unit calculates the effectiveness of the firearm and the other firearm with respect to the target, the standby time monitoring processing unit refers to the effectiveness calculated by the thermal power distribution execution unit, and the effectiveness of the firearm Is a lower rank in the unit composed of the self-firearm and the other firearms, a predetermined value is added to the waiting time within the response limit time, and the effectiveness of the firearm is within the unit. The thermal power distribution apparatus according to claim 1, further comprising a standby time adjustment unit that subtracts a predetermined value from the standby time when the rank is higher.

Images