JP2014020842A - Tracking device and tracking method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a tracking device and a tracking method capable of reducing storage amounts and calculation amounts in a tracking device which performs tracking processing in a track-oriented MHT(Multiple Hypothesis Tracking) system using the observation data of a primary radar device and a secondary radar device.SOLUTION: The tracking device configured to receive observation data constituted of at least the coordinate information of a target and an identification code associated with the target, and to track at least one target by tracking processing in a track-oriented MHT system, and to display the position of the target on a screen includes: track determination means for determining the observation plot of the tracking target and the track of the tracking target from the observation data of the target with which the identification code is associated; and track deletion means for deleting the determined track of the tracking target determined by the tracking determination means and the track of the tracking target excluding the determined track.

Description

  The present invention relates to a tracking process for a plurality of targets.

  A radar apparatus radiates a radar wave to space and receives a reflected wave from an object, thereby observing a fixed object or a moving object. That is, the radar apparatus appropriately processes the received reflected wave to obtain observation data such as the position of the object. Such a radar apparatus is referred to as a primary radar apparatus. By appropriately processing and displaying this observation data, the position, traveling direction, speed, etc. of the object can be displayed on the screen of the display device, and the state of the object can be grasped by viewing it. Can do. Observation data for one object is referred to as a radar plot, and a plurality of radar plots at a certain observation time are collectively referred to as a radar plot group.

  The radar apparatus also observes an object by radiating a radar wave including an interrogation signal and receiving a response signal corresponding to the interrogation signal, as will be described below. Such a radar apparatus is called a secondary radar apparatus. The secondary radar device is used in combination with a transmission / reception device that transmits a specific response signal when a specific interrogation signal is received, and is used for an aircraft control device (hereinafter referred to as a control device). For example, when a specific interrogation signal is received, a transmission / reception device that transmits an identification code such as an aircraft number (hereinafter referred to as SIF code) as a response signal is mounted on the aircraft. This transmission / reception device receives a specific interrogation signal included in the radar wave in the effective range of the radar wave of the radar device (hereinafter referred to as the control radar device) associated with the control device, and sends a response signal such as an aircraft number. The control radar device receives this response signal. The control device appropriately processes the received response signal to display the body number and the like along with the object (aircraft) on the screen of the control device. The observation data of the radar plot and the radar plot group in the secondary radar apparatus includes data related to the response signal such as the SIF code in addition to those of the primary radar apparatus, and are referred to as an SIF plot and an SIF plot group, respectively. Further, the radar plot and the SIF plot, and the radar plot group and the SIF plot group are collectively referred to as an observation plot and an observation plot group, respectively.

  The tracking device keeps track of the movement history of a specific object by processing such as comparing individual observation plots of time-series observation plots acquired by the radar device (hereinafter referred to as tracking processing). Since there are various combinations of the track of the tracked object and the new observation plot, a method of performing the tracking process while making a hypothesis is effective. As one of the methods, there is a track-oriented multiple hypothesis tracking method (hereinafter referred to as a wake-type MHT method). Non-Patent Document 1 is a track type MHT tracking method using observation data acquired by a primary radar apparatus. Patent Document 1 is a tracking method and radar system of the All Neighbor tracking method using observation data acquired by a secondary radar device.

  A tracking method of a wake type MHT system of a known document (assumed by a combination of Non-Patent Document 1 and Patent Document 1) will be described with reference to the drawings. Note that the detailed contents such as mathematical formulas and determination methods are well known in the Kalman filter, non-cited document 1 and the like, and thus description thereof is omitted.

  FIG. 9 is a functional configuration diagram showing the flow of the tracking process.

  When the wake generation unit receives the observation data from the radar processing device, the wake generation unit performs the following four processes.

  First, the wake generation unit generates a wake (hereinafter referred to as an existing wake) generated by the previous tracking process based on the tracking processing data obtained by the previous tracking process and the received observation data. The correlation described below with the received new individual observation plot is determined. For example, a value indicating the reliability of the hypothesis is calculated based on the assumption that an arbitrary observation plot is observed due to the movement of the object A based on movement prediction using the tracking processing data of the object A and an arbitrary observation plot. The If this value satisfies a certain condition, it is assumed that there is a correlation. If it is determined that there is a correlation, a new wake is created that associates the existing wake with a new observation plot. The wake generated here is a wake that assumes that it is an observation plot due to the movement of the object being tracked. For example, a wake T201 in FIG. 10 is a wake generated when it is determined that the observation plot p21 has a correlation with the wake T101.

  Second, the wake generation unit newly creates a wake having no correlation with the observation plot (the wake indicated by p0 in FIGS. 10 to 12) regardless of the presence or absence of a new observation plot having a correlation with the existing wake. Generate. For example, the wake T200 in FIG. 10 is generated. The wake generated here is a wake that assumes that there is no observation plot to be correlated in the new observation plot group, that is, the radar processing apparatus cannot observe the object being tracked.

  Thirdly, the wake generation unit generates new wakes for all new observation plots regardless of whether there is a correlation with existing wakes, and each wake is a separate wake. A group (Fa001 to Fa005 in FIGS. 11 to 12) is generated. For example, a wake group Fa002 whose parent is the wake T204 of FIG. 13 is generated for the observation plot p21. The wake generated here is a wake that assumes that the new observation plot is a new tracking plot, that is, the radar processing apparatus has observed a new tracking object other than the object being tracked.

  Fourth, when receiving the observation data including the SIF plot, the wake generation unit assigns the SIF code to the wake generated based on the SIF plot and the wake having a correlation with the SIF plot. For example, in FIGS. 10 to 12, SF 123 is assigned to each wake.

  When these processes are completed, the wake generation unit will add tracking processing data and new wake data (observation plot that generated the wake, reliability of the wake hypothesis, wake group including the wake, parent-child relationship of the wake, etc.) Are transmitted to the wake pruning unit.

  The wake pruning unit prunes (deletes) the wake that satisfies certain pruning conditions in the received tracking processing data and new wake data, that is, the reliability is low, and the tracking processing data and the new wake data are clustered. Send to. For example, the wake T400 and the wake T504 in FIG. 10 that have no correlation with the observation plot for three consecutive times are pruned because the hypothesis reliability is low and the pruning condition is satisfied.

  The clustering unit determines the sharing of past observation plots correlated with the wake in the new wake group in the received new wake data, and the wake of the past observation plot with the wake correlated with the new wake group to be shared. Assign a cluster code for the group. In addition, when multiple wake groups with different cluster codes share past observation plots with correlated wakes, these wake groups are combined into one, a new cluster code is assigned, tracking data and new The wake data is transmitted to the observation wake selector. FIG. 13 shows an outline of the relationship between the cluster code Ca01 and each wake group.

  The observation track selection unit selects the track with the highest reliability of the tracked object and the newly tracked hypothesis for each track group having the same cluster code in the received tracking process data and new track data. Select the observation track. Here, in this description, it is assumed that wake T507 in FIG. 10 and wake T514 in FIG. 12 are selected as observation wakes. Then, the observation track selection unit assigns a code indicating that the track is an observation track to the track, and transmits the tracking process data and the new track data to the generation track pruning unit.

  The generation wake pruning unit is the second generation having the observation wake as a descendant in the wake group in which the wake reaches 2 + N generations (N is an arbitrary positive integer set) in the received tracking processing data and new wake data. Is selected as the new first generation. Then, the generation track selection unit deletes the existing first generation track and other second generation tracks and their descendant tracks in the same track group, and transmits tracking processing data and new track data to the track update unit. To do. For example, FIGS. 10 to 12 are examples where N = 3. Since the wake group Fa000 has reached the fifth generation (2 + 3), the wake T201 having the wake T507 as a descendant is selected as a new first generation, and as shown in FIG. 10, the wake T101, the wake T200, and the wake The track whose parent is T200 is deleted. In the wake group Fa001, the wake T202 having the wake T514 as a descendant is selected as a new first generation, and the wake having the wake T102, the wake T203, and the wake T203 as a parent is selected as shown in FIG. delete. In the wake groups Fa002 to Fa005, since the fifth generation has not been reached, the processing is not performed.

  The track update unit updates the track position and velocity in the received tracking process data and new track data with the tracking filter such as the Kalman filter based on the observation plot, and extracts the tracking process data necessary for the next tracking process. And transmitted to the wake generation unit. Then, the above processing is repeated for new observation data. The wake update unit transmits observation data, wake data, and the like necessary for screen display to the display device.

  The display device displays information on the object such as the position of the observed object and the identification code on the screen by appropriately performing data processing and display processing on the received observation data and wake data. By these things, the operator can visually recognize the position of the observed object.

  Here, a wake group and a wake that are a part of the tracking processing data will be considered taking the observation plot shown in FIG. 8 as an example. When the tracking processing described so far is performed on this observation plot, the wake groups and wakes in the tracking processing data for the next observation plot of the observation plot p51 are five wake groups and 17 patterns as shown in FIGS. This is a combination of wakes.

JP 2002-328164 A Design and Analysis of Modern Tracking Systems (Samuel S. Blackman, by Robert Poppli, published by Arteh House Publishers)

  As described above, the tracking process of the known literature determines the correlation between the second generation track and the observation plot in the second to Nth observation data. This improves the tracking accuracy. However, as N increases, the number of wakes and observation plots increase, so the amount of calculation and storage increases dramatically, the tracking processing time increases, and the tracking processing speed decreases.

  Therefore, the calculation amount and the storage amount are major factors that determine the scale and performance of the tracking device. Therefore, if the calculation amount and the storage amount are reduced, the processing speed of the tracking device and the like are improved, so that a high data processing capability is not required, and the device can be manufactured at low cost. Further, in the existing apparatus, it is possible to improve performance such as shortening the interval for updating the display information on the screen such as the position of the tracking target.

  In view of these, in a tracking device that performs tracking processing of a wake-type MHT method using observation data of a primary radar device and a secondary radar device, a tracking device and a tracking device that can reduce the storage amount and the calculation amount It is to provide a method.

  The tracking device of the present invention receives observation data including at least coordinate information of a target and an identification code associated with the target, and performs at least one target by tracking processing of a wake-type multiple hypothesis correlation method. A tracking device for tracking an object and displaying the position of the target on a screen, wherein the observation data of the tracking target is indicated by the observation data of the target associated with an identification code. A track determination means for determining a track of the tracking target indicating a correlation between an observation plot, a track in the previous tracking process, and the observation plot; and the tracking target by the track determination means And a track erasure unit for deleting the track of the tracking target except for the confirmed track.

  Also, the tracking method of the present invention receives at least observation data composed of coordinate information of a target and an identification code associated with the target, and at least 1 by tracking processing of a wake-type multiple hypothesis correlation method. A tracking method for tracking two targets, in the tracking process, an observation plot of the tracking target indicating observation data of the tracking target by the observation data of the target associated with an identification code; A track determination step for determining the track of the tracking target indicating the correlation between the track in the previous tracking process and the observation plot, and the track of the tracking target is determined by the track determination step. And a track deletion step of deleting a track excluding the determined track.

According to the present invention, the calculation amount and the storage amount in the tracking process can be greatly reduced.

It is a figure which shows the apparatus structure of this invention. 2 is a diagram illustrating a functional configuration of a tracking processing device 200. FIG. It is a flowchart of the process in the SIF track pruning part. It is a figure which shows the relationship of the wake group and wake of the tracking apparatus of this invention. It is a figure which shows the relationship of the wake group and wake of the tracking apparatus of this invention. It is a figure which shows the relationship of the cluster and track group of the tracking apparatus of this invention. It is an example of the display screen of the observation track of the tracking device of the present invention. It is an example of an observation plot. It is a functional block diagram which shows the flow of the tracking process of a well-known literature. It is a figure which shows the relationship between the wake group of a tracking processing apparatus of a well-known literature, and a wake. It is a figure which shows the relationship between the wake group of a tracking processing apparatus of a well-known literature, and a wake. It is a figure which shows the relationship between the wake group of a tracking processing apparatus of a well-known literature, and a wake. It is a figure which shows the relationship of the cluster of a tracking processing apparatus of a well-known literature, and a wake group.

  A first embodiment of the present invention will be described.

  As shown in FIG. 1, the tracking device 10 will be described by being divided into a radar processing device 100, a tracking processing device 200, and a display device 300 for convenience.

  FIG. 2 is a diagram illustrating a functional configuration of the tracking processing device 200.

  The radar processing apparatus 100 is composed of a primary radar apparatus, a secondary radar apparatus, a signal processing apparatus, and the like, although illustration of the apparatus configuration is omitted. The signal processing device appropriately processes the reflected waves and response signals received by these radar devices, thereby calculating observation data such as the position of the object and the SIF code. Transmit to the wake generation unit 201.

  When the wake-up generation unit 201 of the tracking processing device 200 receives the observation data, it performs the following three processes.

  First, the wake generation unit 201 includes the tracking processing data that has been subjected to the previous tracking processing, the wake generated by the previous tracking processing based on the received observation data, the received individual observation plots, Is determined. If it is determined that there is a correlation, a new wake that associates the existing wake with a new observation plot is generated.

  Secondly, the wake generation unit 201 newly generates a wake having no correlation with the observation plot regardless of the presence or absence of a new observation plot having a correlation with the existing wake.

  Third, the wake generation unit 201 generates new wakes for all new observation plots regardless of whether there is a correlation with existing wakes, and each wake is a parent. Create a wake group.

  When these processes are completed, the wake generation unit 201 creates new track data including the observation plot that generated the wake, the reliability of the wake hypothesis, the wake group that includes the wake, the parent-child relationship of the wake, The processing data is transmitted to the wake pruning unit 202.

  The wake pruning unit 202 prunes (deletes) the wake that satisfies a certain pruning condition in the received tracking process data and the new wake data, that is, has low reliability, and clusters the tracking process data and the new wake data. To the unit 203.

  The clustering unit 203 determines whether to share the past observation plots correlated with the wake in the new wake group in the received new wake data, and the past observation plots correlated with the wake with respect to the shared new wake group. Assign to a cluster code consisting of wake groups. In addition, when multiple wake groups with different cluster codes are shared with past observation plots with correlated wakes, these wake groups are combined into one, a new cluster code is assigned, tracking data and new The wake data is transmitted to the observation wake selection unit 204.

  The observation track selection unit 204 has the highest reliability of the hypothesis that is the object being tracked and the object to be newly tracked for each track group having the same cluster code in the received tracking process data and new track data. Is selected as the observation track. In this description, it is assumed that wake T503 in FIG. 3 and wake T508 in FIG. 4 are selected as observation wakes. Then, the observation track selection unit 204 adds a code indicating the observation track to the track, and transmits the tracking process data and the new track data to the SIF track pruning unit 205.

  FIG. 3 is a flowchart of processing of the SIF wake pruning unit 205.

  When the received new track data includes an SIF plot, the SIF track pruning unit 205 performs the following processing on the received tracking process data and the new track data. When the SIF plot is not included, the received tracking process data and new track data are transmitted to the generation track pruning unit 206 as they are.

  The SIF track pruning unit 205 confirms that the SIF code is assigned to the wake group in the wake group including the wake generated from the SIF plot and selected as the observation wake (step S101). If not, the SIF code of the SIF plot is assigned to the wake group (step S102). If it is assigned, it is confirmed that the SIF code of the wake group and the SIF code of the SIF plot match (step S103). If they do not match, the SIF code of the track group is changed to the SIF code of the SIF plot (step S104). If they match, all other wakes are pruned in the wake group, leaving a wake with the observed wake as a descendant. Also, all other wakes generated from the SIF plot in other wake groups are pruned (step S105). When these processes are completed, tracking process data and new track data are transmitted to the generation track pruning unit 206.

  The generation track pruning unit 206 selects, as a new first generation, a second generation track having descending observation tracks in the track group in which the track has reached 2 + N generations in the received tracking processing data and new track data. To do. Then, the generation track pruning unit 206 deletes the existing first generation track and other second generation tracks and their descendant tracks in the same track group, and the tracking update data and new track data are stored in the track update unit 207. Send to.

  The track update unit 207 updates the track position and speed in the received tracking process data and the new track data by using a tracking filter such as a Kalman filter based on the observation plot, and acquires the tracking process data necessary for the next tracking process. Extracted and transmitted to the wake generation unit 201. Then, the above processing is repeated for new observation data. In addition, observation data and wake data necessary for screen display are transmitted to the display device 300. Here, by appropriately processing the tracking process data and the new track data, a process for calculating data related to the observation plot such as the speed and the traveling direction may be added and transmitted to the display device 300.

  Although the display device 300 does not illustrate the device configuration, the received data is subjected to display processing to display the position and track of the observed object, related data, and the like on the screen. FIG. 7 is a display example of this screen, which displays the latest observation track and the observation plot. For the observation track, the SIF code and speed are also displayed. Since the display contents can be considered in various ways other than these, the description is omitted.

  The operator can visually recognize the position of the observed object, related data, and the like by displaying the screen.

  Here, when tracking processing is performed on the observation plot shown in FIG. 9 according to the present invention, the wake groups and wakes in the tracking processing data for the next observation plot of the observation plot p51 are represented as three wake groups as shown in FIGS. And a combination of three patterns of wakes.

  Therefore, according to the present invention, the calculation amount and the storage amount in the tracking process can be greatly reduced.

DESCRIPTION OF SYMBOLS 10 Tracking apparatus 100 Radar processing apparatus 200 Tracking processing apparatus 201 Track generation part 202 Track pruning part 203 Clustering part 204 Observation track selection part 205 SIF track pruning part 206 Generation track pruning part 207 Track update part 300 Display apparatus

Claims (6)

Receive observation data consisting of at least the coordinate information of the target and the identification code associated with the target, track at least one target by the tracking process of the wake-type multiple hypothesis correlation method, and display it on the screen. A tracking device that displays the position of the target,
An observation plot of the tracking target indicating the observation data of the tracking target according to the observation data of the target associated with the identification code;
The track of the tracking target indicating the correlation between the track in the previous tracking process and the observation plot;
Wake determination means for determining
A wake of the tracking target for which the track of the tracking target has been confirmed by the wake determination means, and a track deletion means for deleting the track of the tracking target excluding the confirmed wake;
A tracking device comprising: A calculation means for calculating target-related data including at least a speed and a traveling direction of the target;
The tracking device according to claim 1, wherein the target related data is displayed together with the position display of the target.   The tracking device according to claim 1, wherein a part or all of a confirmed track of the target is displayed together with the position display of the target.   An aircraft control device comprising the tracking device according to any one of claims 1 to 3. A tracking method that receives observation data composed of at least coordinate information of a target and an identification code associated with the target and tracks at least one target by tracking processing of a wake-type multiple hypothesis correlation method. There,
In the tracking process, an observation plot of the tracking target indicating observation data of the tracking target by the observation data of the target associated with the identification code;
The track of the tracking target indicating the correlation between the track in the previous tracking process and the observation plot;
A track determination process for determining
The track of the tracking target in which the track of the tracking target is confirmed by the track determination step, and the track deletion step of deleting the track of the tracking target excluding the confirmed track;
A tracking method characterized by comprising:   The tracking method according to claim 5, further comprising a calculation step of calculating target-related data including at least a speed and a traveling direction of the target.

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