JP2014149262A - Radar control device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To solve the problem that, after a tracking target moves to a region out of sight, when the target appears again in a region within sight of a radar device, a tracking beam is radiated to the re-appearance point, but, in the case where a plurality of regions out of sight exist and a plurality of target re-appearance points are expected, when the target does not re-appear even if the tracking beam is radiated to the point having the highest re-appearance probability, the tracking beam must be turned to another target re-appearance point and hence the capture of the re-appearing target is delayed.SOLUTION: When a target existing in a region out of sight of a radar device can be captured by an auxiliary radar device, the beam azimuth of the auxiliary radar device is pointed to the region out of sight of the radar device, and a target re-appearance range having high probability is narrowed on the basis of the information obtained from the auxiliary radar device. Thus, the capture time of the re-appearing target is shortened.

Description

  The present invention relates to a radar control device that controls target tracking processing by a radar device.

  In a conventional radar apparatus, the target being tracked may move to the non-line-of-sight region and temporarily deviate from tracking, and then reappear in the coverage area of the radar device. When the reappearance of the target once deviating from the tracking is predicted, the radar apparatus emits a tracking beam to the reappearance point in order to shorten the time until the target is re-acquired and the tracking is restarted. At this time, when a plurality of target reappearance points are predicted, the radar apparatus radiates a tracking beam only to a point having the highest reappearance probability. For example, the radar control apparatus described in Patent Literature 1 evaluates the observation priority for the reappearance target as an observation priority vector according to the target track information, the radar performance information, and the shielding object information. According to the degree vector evaluator, the target track information, and the radar performance information, the observation effect calculator that calculates the observation effect when the target is observed from the radar device, the observation priority vector, and the observation effect, By providing a target allocator for calculating the observation allocation result for the target from the radar apparatus, a position where the possibility of appearance of the target is the highest is predicted as the target re-appearance point, and the target tracking process is controlled.

  In addition, it is known that an auxiliary radar device having a radar coverage in a non-line-of-sight region of the radar device is installed to supplement the non-line-of-sight region of the radar device with the radar coverage of the auxiliary radar device.

JP 2001-296355 A (page 10, FIG. 11)

  When a tracking target moves to any of the non-line-of-sight regions of a plurality of existing radar apparatuses, a conventional radar control apparatus may predict a plurality of re-appearance points of a target that once deviates from tracking. At this time, by assigning the tracking beam of the radar device only to the point having the highest reappearance probability, if the target does not reappear at the point to which the tracking beam is assigned, there is a problem that the capture of the reappearing target is delayed. .

  In addition, when the auxiliary radar device supplements the non-line-of-sight region coverage of the main radar device, if there are multiple non-line-of-sight regions, a plurality of auxiliary radar devices are installed to compensate for all the non-line-of-sight regions. There was a problem that it was necessary.

  The present invention has been made to solve such a problem, and when a plurality of non-line-of-sight regions exist and a plurality of target re-appearance points are predicted, the time until the re-appearance target is captured is shortened. An object of the present invention is to obtain a radar control device capable of performing

  A radar control device according to the present invention includes a target information file that stores target information of a target captured by the radar device, an auxiliary radar target information file that stores target information of the target captured by the auxiliary radar device, and a periphery of the radar device. An obstacle database for storing obstacle information, a radar coverage calculator for calculating a coverage area of the radar device excluding a region that cannot be seen by the obstacle information from the obstacle database, and the obstacle database An auxiliary radar coverage calculator that calculates the coverage of the auxiliary radar device by excluding a region that cannot be seen by obstacle information from the radar, the coverage of the radar device calculated by the radar coverage calculator, and the obstacle database Whether the target is out of line of sight from the radar device based on the obtained obstacle information and the target information stored in the target information file A non-line-of-sight determination device, a target non-line-of-sight determination result by the non-line-of-sight determination device, a coverage of the radar device, a coverage of the auxiliary radar device calculated by the auxiliary radar coverage calculation device, Based on the target information stored in the target information file, when the target that cannot be seen from the radar device does not exist in the coverage of the auxiliary radar device, the coverage of the auxiliary radar device is located outside the line-of-sight of the radar device. The auxiliary radar beam direction changer for changing the beam direction of the auxiliary radar device, and the target information stored in the target information file and the target non-line-of-sight determination result have moved out of line of sight of the radar device. A target re-appearance position predictor that calculates a position where the target reappears in the line-of-sight from the radar device, and the target re-appearance position predictor A re-appearance position probability calculator for calculating the appearance position candidates and the distribution of the appearance probabilities; and determining whether the target is captured by the auxiliary radar apparatus from the target information of the auxiliary radar target information file; When the target is captured, the re-appearance position probability calculator re-calculates the target re-appearance position candidate using the target information in the auxiliary radar target information file, and the auxiliary radar apparatus does not capture the target. The reappearance position of the target in the extension that has passed through the coverage of the auxiliary radar device is excluded from the candidates for the reappearance position of the target obtained from the reappearance position probability calculator, and the reappearance position of the target When there are a plurality of candidates, a re-appearance position selector that selects a re-appearance position having the highest reappearance probability from the candidates of the re-appearance position, and the re-appearance selected by the re-appearance position selector And a re-appearance time calculator for calculating the re-appearance time of the target that reappears at the current position.

  According to the present invention, when a target existing in the non-line-of-sight region of the radar apparatus can be captured by the auxiliary radar apparatus, the beam direction of the auxiliary radar apparatus is directed to the non-line-of-sight area of the radar apparatus and within the line-of-sight of the auxiliary radar apparatus. By excluding the target reappearance position where no target exists, it is possible to narrow down the target reappearance position with high accuracy from the information obtained from the auxiliary radar device, and therefore it is possible to shorten the capture time of the reappearance target.

1 is a diagram illustrating a configuration of a radar system according to a first embodiment. It is a figure which shows the example of arrangement | positioning of the radar apparatus and auxiliary | assistant radar apparatus by Embodiment 1. FIG. 6 is a flowchart illustrating an example of selecting a reappearance position of a target according to the first embodiment.

Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of a radar system according to Embodiment 1 of the present invention. In the figure, a radar system 500 includes a radar control device 100, an auxiliary radar device 301, and a radar device 401 connected to the radar control device 100 and the auxiliary radar device 301. The radar device 401 transmits radar radio waves within the radar coverage, receives radio waves reflected by the target, detects the target, tracks the detected target, and acquires target information. The auxiliary radar device 301 transmits radar radio waves within the radar coverage, receives radio waves reflected by the target, detects the target, tracks the detected target, and acquires target information. The auxiliary radar device 301 can change the direction in which radio waves are transmitted. In the radar system 500 according to the first embodiment, which includes the radar apparatus 401, the auxiliary radar apparatus 301 having a fixed beam direction, and the radar control apparatus 100, the target to be tracked by the radar apparatus 401 moves to a non-line-of-sight region. When the target re-appearance point is predicted, the target re-acquisition time can be shortened.

  The radar control apparatus 100 includes a transmitter 117, an auxiliary radar beam direction changer 118, an auxiliary radar target information file 101, an auxiliary radar information file 102, an obstacle database 103, a radar information file 104, and a target information file. 105, an auxiliary radar coverage area 111, a non-line-of-sight determination unit 112, a radar coverage calculation unit 113, a beam scheduler 114, an auxiliary radar beam direction change information calculation unit 115, and a target re-appearance position prediction unit 116. ing. The auxiliary radar beam direction change information calculator 115 includes an auxiliary radar beam direction change determiner 121 and an auxiliary radar beam direction change angle calculator 122. The target reappearance position predictor 116 includes a reappearance position probability calculator 131, an auxiliary radar-considered reappearance position selector 132, and a reappearance time calculator 133.

  The transmitter 117 sends the target information file obtained by the auxiliary radar device 301 to the auxiliary radar target information file 101. The transmitter 117 receives the auxiliary radar beam direction change information from the auxiliary radar beam direction change information calculator 115 and sends the received auxiliary radar beam direction change information to the auxiliary radar beam direction change unit 118. The auxiliary radar target information file 101 stores a target information file indicating target information captured by the auxiliary radar device 301 and obtained from the auxiliary radar device 301 via the transmitter 117. The auxiliary radar beam azimuth changer 118 changes the beam azimuth of the auxiliary radar apparatus 301 based on the auxiliary radar beam azimuth change information obtained from the transmitter 117. The auxiliary radar information file 102 stores preset performance information of the auxiliary radar device 301.

  The target information file 105 stores a target information file that is obtained from the radar apparatus 401 and indicates information about the target captured by the radar apparatus 401. The radar information file 104 stores preset performance information of the radar device 401. The obstacle database 103 stores information on obstacles existing around the radar apparatus 401 (hereinafter referred to as obstacle information) in advance. This obstacle information is, for example, the range of the existing azimuth angle as seen from the radar apparatus 401 with respect to an obstacle that may block the transmission radio wave of the radar apparatus 401 from reaching the target or may block the reflected wave from the target. It consists of information indicating.

  The auxiliary radar coverage calculation unit 111 can be viewed from the auxiliary radar device 301 based on the performance information of the auxiliary radar device 301 stored in the auxiliary radar information file 102 and the obstacle information stored in the obstacle database 103. An area that is within the range and cannot be seen due to an obstacle is calculated as a coverage area of the auxiliary radar device 301. That is, the coverage area of the auxiliary radar apparatus 301 is calculated by excluding the area that cannot be seen by the obstacle information.

  Based on the performance information of the radar device 401 stored in the radar information file 104 and the obstacle information stored in the obstacle database 103, the radar coverage calculator 113 is within an azimuth range that can be seen from the radar device 401. Then, the area excluding the azimuth range that cannot be seen from the radar apparatus 401 due to the obstacle is calculated as the coverage area of the radar apparatus 401. The out-of-line determination unit 112 determines whether the target is within the coverage area of the radar apparatus 401 according to the coverage area of the radar apparatus 401 from the radar coverage area calculator 113 and the target information obtained from the radar apparatus 401 from the target information file 105. To calculate the out-of-sight judgment result.

  The auxiliary radar beam direction change information calculator 115 is a target non-line-of-sight determination result by the non-line-of-sight determination unit 112, performance information of the auxiliary radar device 301 from the auxiliary radar information file 102, and a radar from the radar coverage calculation unit 113. Based on the coverage of the device 401, the coverage of the auxiliary radar device 301 from the auxiliary radar coverage calculator 111, and the target information obtained by the radar device 401 from the target information file 105, the auxiliary radar beam direction change information Is calculated.

  The target re-appearance position predictor 116 includes a non-line-of-sight determination result from the non-line-of-sight determiner 112, target information obtained by the radar device 401 from the target information file 105, and an auxiliary radar device from the auxiliary radar target information file 101. The target reappearance position is calculated from the target information obtained by 301, the coverage of the radar device 401 from the radar coverage calculator 113, and the coverage of the auxiliary radar device 301 from the auxiliary radar coverage calculator 111. To do.

  The beam scheduler 114 schedules the beam emission direction and time of the radar apparatus 401 according to the target reappearance position and reappearance time.

  In the auxiliary radar beam direction change information calculator 115, the auxiliary radar beam direction change determiner 121 includes the target out-of-sight determination result, the performance information of the auxiliary radar device 301, the coverage of the radar device 401, and the radar device. Based on the target information obtained from 401, it is determined whether or not it is necessary to change the beam orientation. The auxiliary radar beam azimuth change angle calculator 122 calculates the beam azimuth change angle of the auxiliary radar apparatus 301 according to whether or not the beam azimuth change is necessary, the coverage area of the radar apparatus 401 and the coverage area of the auxiliary radar apparatus 301. The beam azimuth change angle calculated by the auxiliary radar beam azimuth change calculator 122 is sent to the auxiliary radar coverage calculation calculator 111, and a new coverage of the auxiliary radar device 301 is calculated by the auxiliary radar coverage calculation calculator 111. The Further, the beam direction change angle calculated by the auxiliary radar beam direction change angle calculator 122 is sent to the transmitter 117 as auxiliary radar beam direction change information.

  In the target reappearance position predictor 116, the reappearance position probability calculator 131 calculates a target from the target out-of-sight determination result, the coverage of the radar apparatus 401, and the target information obtained from the radar apparatus 401. And the distribution of the target appearance probability at the reappearance position. The auxiliary radar-considered reappearance position selector 132 narrows down the target reappearance position and appearance probability from the target information obtained from the auxiliary radar apparatus 301 and the coverage area of the auxiliary radar apparatus 301. The reappearance time calculator 133 calculates the target reappearance time according to the target reappearance position from the auxiliary radar-considered reappearance position selector 132.

Next, the operation will be described.
FIG. 2 is an explanatory diagram illustrating an arrangement example of the radar apparatus 401 according to the first embodiment and the auxiliary radar apparatus 301 installed with a fixed azimuth. FIG. 3 is a flowchart illustrating an example of selection of a target reappearance position by the auxiliary radar beam direction change information calculator 115 and the target reappearance position predictor 116 according to the first embodiment. In FIG. 2, the shaded area is the coverage area 801 of the radar apparatus 401, and the tile pattern area is the coverage area 802 of the auxiliary radar apparatus 301. Obstacles 601 and 602 exist in the covered area 801 of the radar apparatus 401. The obstacles 601 and 602 block the covered area 801 of the radar apparatus 401, and two out-of-line areas 701 and 702 are generated. doing. The auxiliary radar device 301 has a beam formed so that the line-of-sight area of the covered area 802 covers the non-line-of-sight area 702 of the radar apparatus 401.

As shown in FIG. 2, when there are at least two or more non-line-of-sight regions and the number of auxiliary radar devices 301 is limited, all of the radar devices 401 are included even if the auxiliary radar devices 301 are present. Cannot cover out-of-sight areas. In such an arrangement, the auxiliary radar beam azimuth change determination unit 121 of the auxiliary radar beam azimuth change information calculator 115 includes the target out-of-line determination result of the out-of-line determination unit 112 and the radar calculated by the radar coverage calculation unit 113. Based on the coverage of the device 401, the coverage of the auxiliary radar device 301 calculated by the auxiliary radar coverage calculator 111, and the target information stored in the target information file 105, it is determined whether or not it is necessary to change the beam orientation. . Here, as a result of the target non-line-of-sight determination by the non-line-of-sight determination unit 112, when the target cannot be seen from the radar device 401 (not within the coverage of the radar device 401), by changing the beam direction of the auxiliary radar device 301, Whether the non-line-of-sight region of the radar device 401 adjacent to the auxiliary radar device 301 overlaps the coverage of the auxiliary radar device 301 calculated by the auxiliary radar coverage calculator 111 and whether the target can be observed by the auxiliary radar device 301 or not. A determination is made. When the auxiliary radar beam direction change determination unit 121 of the auxiliary radar beam direction change information calculator 115 determines that the non-line-of-sight area of the radar device 401 can be observed by the auxiliary radar device 301, the radar from the target information file 105 is displayed. Based on the target information obtained by the device 401, when the target position does not exist within the coverage area of the auxiliary radar device 301, that is, when there is no entry of the target into the line-of-sight region of the auxiliary radar device 301, the beam orientation needs to be changed. Judge that there is.
Note that the auxiliary radar beam direction change determination unit 121 determines that the beam direction change of the auxiliary radar apparatus 301 cannot be performed when a target that cannot be seen from the radar apparatus 401 exists within the coverage area of the auxiliary radar apparatus 301. .

The auxiliary radar beam azimuth change angle calculator 122 of the auxiliary radar beam azimuth change information calculator 115 determines that the auxiliary radar beam azimuth change determiner 121 determines that the beam azimuth change needs to be performed. The optimum beam azimuth change angle is calculated, and the auxiliary radar apparatus 301 is instructed to change the beam azimuth via the transmitter 117 and the auxiliary radar beam azimuth changer 118. In other words, the auxiliary radar device is arranged such that the coverage of the auxiliary radar device 301 calculated by the auxiliary radar coverage calculator 111 overlaps the region that is out of line of sight from the coverage of the radar device 401 calculated by the radar coverage calculator 113. The beam direction change 301 is instructed.
The auxiliary radar coverage calculation unit 111 includes an area that includes an azimuth angle range that is within the azimuth angle range that can be seen from the auxiliary radar device 301 and that cannot be seen from the radar device 401 due to an obstacle by changing the beam direction of the auxiliary radar device 301. Then, a new coverage is calculated for the auxiliary radar device 301.

  When the reappearance position probability calculator 131 calculates the target reappearance position and the distribution of the target appearance probability at the reappearance position, the target reappearance position predictor 116 calculates the appearance probability to be equal to or greater than a predetermined threshold. Then, it is determined that there is a possibility that the target will reappear in the line-of-sight area at the reappearance position. If there is a possibility that the target will reappear in the line-of-sight area, the target re-recovery position selector 132 re-targets the target from the target information obtained from the auxiliary radar apparatus 301 and the coverage area of the auxiliary radar apparatus 301. The appearance probability at the appearance position and the reappearance position is narrowed down. At this time, in addition to the target information acquired from the radar apparatus 401 and the coverage area of the radar apparatus 401, the auxiliary radar-considered reappearance position selector 132 includes the target information acquired from the auxiliary radar apparatus 301 and the coverage area of the auxiliary radar apparatus 301. By using in advance, it is possible to narrow down target reappearance positions by removing in advance target reappearance positions where no target appears, and to calculate target reappearance positions with high accuracy.

  Hereinafter, detailed operations of the auxiliary radar beam direction change information calculator 115 and the target re-appearance position predictor 116 will be described with reference to FIG.

  The auxiliary radar beam direction change determination unit 121 of the auxiliary radar beam direction change information calculator 115 inputs the out-of-sight determination result, the performance information of the auxiliary radar device 301, the target information and the coverage area of the radar device 401, and information about them. Auxiliary radar beam azimuth change information is generated from the auxiliary radar beam azimuth information, and the beam azimuth of the auxiliary radar apparatus 301 is changed based on the auxiliary radar beam azimuth change information. In this case, it is determined whether or not the radar device 401 can observe the non-line-of-sight region. Further, when it is determined that the radar device 401 can observe the non-line-of-sight region, the auxiliary radar beam direction change determination unit 121 determines whether there is no target entry in the line-of-sight region of the auxiliary radar device 301. To do. Here, when the target does not enter the line-of-sight area of the auxiliary radar device 301, the auxiliary radar beam direction change determination unit 121 determines that the beam direction change is necessary. These determination results are output to the auxiliary radar beam orientation change angle calculator 122 together with the performance information of the auxiliary radar device and the coverage area of the radar device 401.

  Next, the auxiliary radar beam azimuth change angle calculator 122 of the auxiliary radar beam azimuth change information calculator 115 determines whether the auxiliary radar beam azimuth change determination unit 121 can change the auxiliary radar beam azimuth change according to the determination result. When the performance information of the apparatus 301 and the coverage area of the radar apparatus 401 are input, the non-line-of-sight area of the radar apparatus 401 can be observed by changing the auxiliary radar beam direction, and there is no target entry in the line-of-sight area of the auxiliary radar apparatus 301 Next, the beam orientation change angle of the auxiliary radar device 301 is calculated.

  At this time, the beam azimuth change angle of the auxiliary radar device 301 is an angle at which the coverage area of the auxiliary radar device 301 after the beam azimuth change is calculated by the auxiliary radar coverage calculator 111 and the non-line-of-sight region of the radar device 401 is minimized. Is calculated by obtaining. The auxiliary radar beam azimuth change angle calculator 122 outputs the calculated beam azimuth change angle to the transmitter 117, and the transmitter 117 notifies the auxiliary radar beam azimuth changer 118 of the beam azimuth change angle. The auxiliary radar beam azimuth changer 118 changes the beam azimuth of the auxiliary radar apparatus 301 in response to the notification of the beam azimuth change angle.

  The reappearance position probability calculator 131 of the target reappearance position predictor 116 is out of line of sight from the target position, traveling direction and speed stored in the target information file 105, the coverage information of the radar device 401, and the out of line determination result. Predict the motion of the target within the region and predict where the target will reappear in the line-of-sight region. At this time, when a plurality of target re-appearance positions are predicted from information such as obstacles and topography, the probability distribution of the possibility of appearance is calculated for each. The calculation of the probability distribution of the possibility of the target reappearance position is performed in the same manner as the calculation method described in Patent Document 1. The reappearance position calculated by the reappearance position probability calculator 131 is input to the auxiliary radar-considered reappearance position selector 132 of the target reappearance position predictor 116 together with the probability distribution of the reappearance position as a candidate for the reappearance position. Is done.

  An auxiliary radar-considered reappearance position selector 132 of the target reappearance position predictor 116 is obtained from the reappearance position candidates calculated by the reappearance position probability calculator 131 and the probability distribution of the reappearance positions, from the auxiliary radar device 301. Target information and the coverage area of the auxiliary radar device 301 are input, and the re-appearance position is selected.

  The selection of the target reappearance position by the auxiliary radar-considered reappearance position selector 132 is, for example, as shown in the flowchart of FIG.

  The auxiliary radar-considered reappearance position selector 132 uses the target information from the auxiliary radar target information file 101 to determine whether or not the auxiliary radar device 301 has captured the target (step S1).

  Here, when the auxiliary radar device 301 is capturing a target (when the determination in step S1 is YES), the auxiliary radar-considered reappearance position selector 132 is the auxiliary radar device 301 from the auxiliary radar target information file 101. The acquired target information is output to the reappearance position probability calculator 131. The auxiliary radar-considered reappearance position selector 132 causes the reappearance position probability calculator 131 to perform recalculation processing of the target reappearance position (reappearance point) using the target information acquired by the auxiliary radar device 301. (Step S2).

  On the other hand, when the auxiliary radar device 301 has not captured the target (when the determination in step S1 is NO), the radar coverage of the auxiliary radar device 301 is determined from the reappearance position candidates calculated by the reappearance position probability calculator 131. The re-appearance position where the target reaches through the area (that is, the re-appearance point of the target in the extension that has passed through the coverage area of the auxiliary radar 301) is excluded (step S3). Thus, candidates for the reappearance position of the target are narrowed down.

  Next, it is determined whether or not the re-appearance position is selected at one place for the target re-appearance position recalculated in step S2 or the re-appearance position candidate that has been excluded in step S3 (step S3). S4).

  Here, when the re-appearance position is selected in one place (when the determination in step S4 is YES), the selected target re-appearance position is displayed together with the target information acquired from the radar device 401 and the auxiliary radar device 301. It is output to the reappearance time calculator 133.

  If the re-appearance position is not selected at one place (when the determination in step S4 is NO), the target re-appearance position with the highest reappearance probability is selected (step S5). The target reappearance position selected in step S5 is output to the reappearance time calculator 133 together with the target information acquired from the radar apparatus 401 and the auxiliary radar apparatus 301.

  The reappearance time calculator 133 inputs the target reappearance position and target information from the auxiliary radar-considered reappearance position selector 132, and calculates the reappearance time. The reappearance time calculated by the reappearance time calculator 133 and the input target reappearance position are output to the beam scheduler 114. The beam scheduler 114 emits a tracking beam at a position and time at which the radar device 401 is predicted to reappear, based on the input target reappearance position and reappearance time.

  As described above, the radar control apparatus 100 according to the first embodiment stores the target information file that stores the target information of the target captured and tracked by the radar apparatus 104, and the target information of the target that is captured and tracked by the auxiliary radar apparatus 103. The coverage area of the radar apparatus 104 is excluded by excluding an auxiliary radar target information file, an obstacle database 103 for storing information about obstacles around the radar apparatus 104, and an area that cannot be seen by the obstacle information from the obstacle database 103. A radar coverage calculation unit 113 to calculate, an auxiliary radar coverage calculation unit 111 that calculates a coverage of the auxiliary radar device 103 by excluding a region that cannot be seen by obstacle information from the obstacle database 103, and a radar coverage calculation Of the radar device 104 calculated by the device 113 and the obstacle obtained from the obstacle database 103 Information and the target information stored in the target information file, the non-line-of-sight determination unit 112 for determining whether or not the target is out-of-line from the radar device 104, and the target non-line-of-sight determination result by the non-line-of-sight determination unit 112 Based on the coverage of the radar device 104, the coverage of the auxiliary radar device 103 calculated by the auxiliary radar coverage calculator 111, and the target information stored in the target information file, the target that cannot be seen from the radar device 104 is supported. An auxiliary radar beam direction changer 118 that changes the beam direction of the auxiliary radar apparatus 103 so that the coverage area of the auxiliary radar apparatus 103 is located outside the line-of-sight of the radar apparatus 104 when it does not exist within the coverage area of the radar apparatus 103; Based on the target information stored in the target information file and the target out-of-line determination result, the radar apparatus 104 has moved out of line of sight. Includes a target re-appearance position predictor 116 that calculates a position at which the radar apparatus 104 reappears within the line-of-sight, and the target re-appearance position predictor 116 calculates the distribution of the candidate re-appearance position candidates and the appearance probability. It is determined whether the target is captured by the auxiliary radar device 103 from the re-appearance position probability calculator 131 to be calculated and the target information in the auxiliary radar target information file. The target reappearance position candidate is recalculated by the reappearance position probability calculator 131 using the target information in the target information file, and the coverage area of the auxiliary radar apparatus 103 is determined when the auxiliary radar apparatus 103 has not captured the target. The target re-appearance position in the extension that has passed is excluded from the target re-appearance position candidates obtained from the re-appearance position probability calculator 131, and the target re-appearance position candidates are When there are a plurality of re-appearance position candidates, the auxiliary radar-considered re-appearance position selector 132 that selects the re-appearance position with the highest reappearance probability, and the re-appearance position selected by the auxiliary radar-considered reappearance position selector 132 And a re-appearance time calculator 133 for calculating the re-appearance time of the target that reappears.

  Accordingly, when there are a plurality of non-line-of-sight areas, the number of auxiliary radar devices 301 is limited, and a plurality of target reappearance positions are predicted in the non-line-of-sight regions where the auxiliary radar devices 301 are not installed, The target information acquired from the auxiliary radar device 301 or the coverage area of the auxiliary radar device 301 is changed by changing the beam direction of the auxiliary radar device 301 within the detection distance of the auxiliary radar device 301 installed in the non-line-of-sight region. The target reappearance position can be narrowed down and the target reappearance position with high accuracy can be calculated. As described above, when the target existing in the non-line-of-sight area of the radar apparatus 401 can be captured by the auxiliary radar apparatus 301, the beam direction of the auxiliary radar apparatus 301 is directed toward the non-line-of-sight area of the radar apparatus 401. By excluding the target reappearance position where the target does not exist within the line of sight, it is possible to narrow down the target reappearance position with high accuracy from the information obtained from the auxiliary radar device 301, so the time for capturing the reappearance target is shortened. be able to.

  DESCRIPTION OF SYMBOLS 100 Radar controller, 101 Auxiliary radar target information file, 102 Auxiliary radar information file, 103 Obstacle database, 104 Radar information file, 105 Target information file, 111 Auxiliary radar coverage calculator, 112 Non-line-of-sight judgment unit, 113 Radar coverage Area calculator, 114 beam scheduler, 115 auxiliary radar beam direction change information calculator, 116 target reappearance position predictor, 117 transmitter, 118 auxiliary radar beam direction changer, 121 auxiliary radar beam direction change determiner, 122 auxiliary radar Beam orientation change angle calculator, 131 reappearance position probability calculator, 132 auxiliary radar-considered reappearance position selector, 133 reappearance time calculator, 301 auxiliary radar apparatus, 401 radar apparatus.

Claims (2)

A target information file for storing target information of the target captured by the radar device;
An auxiliary radar target information file for storing target information of the target captured by the auxiliary radar device;
An obstacle database for storing information on obstacles around the radar device;
A radar coverage calculation unit that calculates a coverage of the radar device by excluding a region that cannot be seen by obstacle information from the obstacle database;
An auxiliary radar coverage calculation unit that calculates a coverage of the auxiliary radar device by excluding a region that cannot be seen by the obstacle information from the obstacle database;
Whether the target is out of sight from the radar device based on the radar device coverage calculated by the radar coverage calculator, the obstacle information obtained from the obstacle database, and the target information stored in the target information file. A non-line-of-sight judgment device for judging whether or not,
Non-line-of-sight determination result of the target by the non-line-of-sight determination unit, the coverage of the radar device, the coverage of the auxiliary radar device calculated by the auxiliary radar coverage calculation unit, and target information stored in the target information file Therefore, when the target that cannot be seen from the radar device does not exist in the coverage area of the auxiliary radar device, the beam of the auxiliary radar device is positioned so that the coverage area of the auxiliary radar device is out of line of sight of the radar device. An auxiliary radar beam direction changer that changes the direction,
A target re-appearance position for calculating a position where the target moved out of line of sight of the radar apparatus reappears in the line of sight from the radar apparatus, based on the target information stored in the target information file and the out-of-line determination result of the target A predictor;
With
The target re-appearance position predictor includes a re-appearance position probability calculator that calculates a candidate re-appearance position candidate and a distribution of appearance probabilities;
It is determined whether the target is captured by the auxiliary radar device from the target information in the auxiliary radar target information file, and when the target is captured by the auxiliary radar device, the target information in the auxiliary radar target information file is used. The re-appearance position candidate is re-calculated by the re-appearance position probability calculator, and when the auxiliary radar apparatus has not captured the target, the target re-existence that has passed through the coverage of the auxiliary radar apparatus is re-established. The appearance position is excluded from the candidates for the reappearance position of the target obtained from the reappearance position probability calculator, and when there are a plurality of candidates for the reappearance position of the target, A re-appearance position selector that selects a high reappearance position;
A reappearance time calculator for calculating a reappearance time of the target that reappears at the reappearance position selected by the reappearance position selector;
A radar control device characterized by comprising: Non-line-of-sight determination result of the target by the non-line-of-sight determination unit, the coverage of the radar device, the coverage of the auxiliary radar device calculated by the auxiliary radar coverage calculation unit, and target information stored in the target information file An auxiliary radar beam azimuth change determiner that determines whether or not to perform a beam azimuth change when a target that cannot be seen from the radar apparatus does not exist within the coverage area of the auxiliary radar device,
When the auxiliary radar beam direction change determination unit determines that the beam direction change is necessary, the beam angle change angle of the auxiliary radar is calculated so that the coverage area of the auxiliary radar device is located outside the line-of-sight of the radar device. 2. The radar control apparatus according to claim 1, further comprising: an auxiliary radar beam direction change angle calculator that outputs a beam direction change angle to an auxiliary radar beam direction changer that changes a beam direction of the auxiliary radar apparatus. .

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