JP2015161513A - Target locating device, method for displaying target location result, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a target locating device, a method for displaying the result of target location, and a program with which it is possible to lighten the troublesome confirmation work of an operator, and to lighten a series of complicated processes of calculating the locatable area of a sensor by using location probability, specifying a zone in which a target is present by using the result of the calculation, and estimating the position of the target within the zone.SOLUTION: The target locating device includes a detection unit for detecting an acoustic signal, a locating unit for locating a target by using the acoustic signal detected by the detection unit, a calculation unit for calculating target location probability by using preset information about locating the target, and a display control unit for displaying the result of narrowing down the location result of the locating unit with the location probability.

Description

  The present invention relates to a target detection device, a target detection result display method, and a program. For example, the present invention relates to a target detection device, a target detection result display method, and a program for detecting an underwater target using sound waves and displaying the detection result.

  2. Description of the Related Art There is known a device that detects a target in water using sound waves that propagate in water and displays the detection result (hereinafter referred to as a “sonar display device”).

  The sonar display device converts an acoustic signal (sound wave) received by a sensor (for example, a sonar) into an electric signal, and then performs a reduction process for reducing unnecessary signals such as noise and clutter (reverberation) included in the electric signal. The sonar display device detects a signal part (hereinafter referred to as “corresponding part”) satisfying a detection condition specified by S / N (Signal / Noise) or Doppler information from the electric signal subjected to the reduction process. The sonar display device displays the detection result of the target specified in the corresponding part on the screen as an automatic detection result or uses it as input data for tracking processing.

  However, it is difficult to completely remove unnecessary signals by reduction processing. For this reason, the automatic detection result in the sonar display device may include an erroneous detection result due to an unnecessary signal.

  Patent Document 1 discloses an underwater object detectable area display method (hereinafter simply referred to as “display method”) for displaying information that serves as a reference for determining whether or not an automatic detection result in a sonar display device is a false detection result. Is called). In the display method described in Patent Document 1, the propagation state calculation unit calculates the propagation loss with respect to the propagation distance of the sound wave in the water, and the detectable region calculation unit calculates the detectable region based on the calculation result of the propagation loss and the detection probability. Calculate Note that the detection probability decreases as the propagation loss increases.

  The operator can determine the authenticity of the automatic detection result displayed on the sonar display device by referring to the display of the detectable area. For example, when the target position indicated by the automatic detection result is within the detectable region, the operator determines the automatic detection result as an effective detection result. On the other hand, when the target position indicated by the automatic detection result is outside the detectable region, the operator determines the automatic detection result as an erroneous detection result.

  However, in the display method described in Patent Document 1, the automatic detection result (detection result) on the sonar display device is not reflected in the display of the detectable area. For this reason, in the display method described in Patent Literature 1, the operator automatically detects the detection result (actual detection result) on the sonar display device displayed separately from the display of the detectable area while confirming the display of the detectable area. It is necessary to carry out the troublesome confirmation work of scrutinizing.

  Patent Documents 2 and 3 describe techniques that can reduce the troublesome confirmation work described above. Hereinafter, the techniques described in Patent Documents 2 and 3 will be described.

  Patent Document 2 describes a target motion analysis device that specifies an existing area where a target exists and estimates the position of the target in the existing area. The target motion analysis apparatus described in Patent Document 2 calculates a sensor detectable region using predetermined parameters. The target motion analysis apparatus described in Patent Literature 2 identifies a region where a sensor detectable region and a target detection direction actually detected by the sensor overlap as a target presence region. The target motion analysis device described in Patent Document 2 estimates the target position in the presence area using the detection result of the sensor.

  In Patent Document 3, a target detectable area of an underwater target search sensor is obtained in advance, and the target detectable area and the detection result of the underwater target search sensor are displayed on the same screen in a superimposed manner. A position-localization / motion analysis device that displays an existing area is described.

  In the techniques described in Patent Documents 2 and 3, the actual detection result is reflected in the detectable area obtained by calculation. For this reason, the operator can easily recognize an effective detection result.

JP-A 63-261182 JP 2011-141125 A JP-A-60-159667

  In the display method described in Patent Document 1, as described above, the operator automatically confirms the detection result of the sonar display device (actual detection result) displayed separately from the display of the detectable area while confirming the display of the detectable area. ) Is required to perform a troublesome confirmation work.

  The target motion analysis device described in Patent Document 2 calculates a sensor detectable region and makes it possible to identify a target presence area using the calculation result so that an effective detection result can be easily recognized. A series of processes for estimating the position of the target in the vicinity is performed. The detectable area is calculated using the detection probability as described in Patent Document 1. For this reason, in the target motion analysis apparatus described in Patent Document 2, the detection possible area of the sensor is calculated using the detection probability, the target presence area is specified using the calculation result, and the target position in the presence area is determined. It is necessary to perform a series of complicated processes such as estimating.

  Therefore, it is possible to reduce the operator's troublesome confirmation work, calculate the sensor detectable area using the detection probability, specify the target presence area using the calculation result, and estimate the position of the target in the existing area There has been a problem that a technique capable of reducing a series of complicated processes is desired.

  In addition, the position localization / motion analysis device described in Patent Document 3 calculates a target detectable area and makes the target detectable area and the sensor detection result calculated so that an effective detection result can be easily recognized. Overlays and displays on the same screen. For this reason, according to the display method described in Patent Document 3, the operator determines the detection result included in the target detectable region as an effective detection result, and erroneously detects the detection result outside the target detectable region. Can be determined as.

  However, since the target detectable area is specified by calculation, the calculated target detectable area may be different from the actual target detectable area. For this reason, when the calculated target detectable area is different from the actual target detectable area, the display method described in Patent Document 3 displays an effective detection result at a position outside the target detectable area. Will occur. When this situation occurs, the operator makes an erroneous determination regarding the validity of the detection result.

  Therefore, there is a problem that a method that can reduce the troublesome confirmation work of the operator and that allows the operator to determine the likelihood of the detection result is desired.

  An object of the present invention is to provide a target detection device, a target detection result display method, and a program that can solve any of the above-described problems.

  The target detection apparatus of the present invention uses a detection unit that detects an acoustic signal, a detection unit that detects a target using the acoustic signal detected by the detection unit, and information set in advance for the detection of the target A calculation unit that calculates the detection probability of the target, and a display control unit that displays a result of narrowing down the detection result of the detection unit with the detection probability.

  Another target detection apparatus of the present invention includes a detection unit that detects an acoustic signal, a detection unit that detects a target using the acoustic signal detected by the detection unit, and information set in advance for the detection of the target , And a display control unit that superimposes and displays the detection probability on the detection result.

  The target detection result display method of the present invention includes a detection step for detecting an acoustic signal, a detection step for detecting a target using the acoustic signal detected in the detection step, and information set in advance for the detection of the target. And a calculation step of calculating the detection probability of the target by using, and a display control step of displaying a result of narrowing down the detection result in the detection step by the detection probability.

  Another target detection result display method of the present invention is preset for a detection step of detecting an acoustic signal, a detection step of detecting a target using the acoustic signal detected by the detection step unit, and detection of the target. A calculation step of calculating the detection probability of the target using the information, and a display control step of displaying the detection probability superimposed on the detection result.

  The program of the present invention includes a detection procedure for detecting a target using an acoustic signal detected by a detection unit in a computer, and a calculation procedure for calculating the detection probability of the target using information preset for the detection of the target. And a display control procedure for displaying a result obtained by narrowing down the detection result by the detection probability.

  Another program of the present invention includes a detection procedure for detecting a target using an acoustic signal detected by a detection unit, and a calculation procedure for calculating a detection probability of the target using information preset for the detection of the target. And a display control procedure for displaying the detection probability superimposed on the detection result.

  According to the present invention, it is possible to reduce an operator's troublesome confirmation work, and to calculate the detectable area of the sensor using the detection probability and identify the target presence area using the calculation result, A series of complicated processes for estimating the position can be reduced. Further, according to the present invention, it is possible to reduce the troublesome confirmation work of the operator, and the operator can determine the likelihood of the detection result.

It is the figure which showed the target detection apparatus 1 of 1st Embodiment of this invention. 4 is a flowchart for explaining the operation of the target detection device 1. It is the figure which showed 1 A of target detection apparatuses of 2nd Embodiment of this invention. It is a flowchart for demonstrating operation | movement of 1 A of target detection apparatuses. It is the figure which showed the target detection apparatus 1B of 3rd Embodiment of this invention. It is a sequence diagram for demonstrating operation | movement of the target detection apparatus 1B. It is a sequence diagram for demonstrating operation | movement of the target detection apparatus 1B. It is the figure which showed an example of detection conditions. It is the figure which showed the example of detection probability information. It is the figure which showed the target detection apparatus containing the tracking process part.

  Embodiments of the present invention will be described below with reference to the drawings.

(First embodiment)
FIG. 1 is a diagram showing a target detection apparatus 1 according to the first embodiment of the present invention.

  For example, the target detection device 1 detects an underwater target using an underwater acoustic signal (sound wave). The target detection device 1 includes a detection unit 2, a detection unit 3, a calculation unit 4, and a display control unit 5. The detection unit 2 detects an acoustic signal. The detection unit 3 detects the target using the acoustic signal detected by the detection unit 2. The calculation unit 4 calculates a target detection probability using information preset for target detection (hereinafter referred to as “detection-related information”). The detection related information includes, for example, detection unit data representing the specifications of the detection unit 2 (hereinafter also referred to as “specifications”), real environment data representing the actual environment in water and on the water surface, and detection probability. Fixed data such as constants to be used. The display control unit 5 displays the result of narrowing down the detection result of the detection unit 3 with the detection probability calculated by the calculation unit 4.

  Next, the operation will be described.

  FIG. 2 is a flowchart for explaining the operation of the target detection apparatus 1.

  When detecting the underwater acoustic signal (step S1), the detection unit 2 outputs the acoustic signal to the detection unit 3.

  When detecting the acoustic signal from the detecting unit 2, the detecting unit 3 detects the target using the acoustic signal (step S2). Subsequently, the detection unit 3 outputs a target detection result to the display control unit 5.

  On the other hand, the calculation unit 4 calculates the target detection probability using the detection related information (step S3). Subsequently, the calculation unit 4 outputs the target detection probability to the display control unit 5.

  Upon receiving the target detection result and the target detection probability, the display control unit 5 narrows down the target detection result by the target detection probability. For example, the display control unit 5 executes a narrowing process for extracting a target detection result having a detection probability equal to or higher than a predetermined value from the target detection result. Subsequently, the display control unit 5 displays the narrowed-down target detection result (step S4).

  Next, the effect of this embodiment will be described.

  The detection unit 2 detects an acoustic signal. The detection unit 3 detects the target using the acoustic signal detected by the detection unit 2. The calculation unit 4 calculates a target detection probability using the detection related information. The display control unit 5 displays the result of narrowing down the detection result by the detection probability. For this reason, the detection result reflecting the detection probability is displayed. Therefore, the operator does not need to perform a troublesome confirmation work of examining the detection result displayed separately from the display of the detection probability while checking the display of the detection probability. Further, since the result of narrowing down the detection result by the detection probability is displayed, it is not necessary to calculate the detectable area and the existence area. Therefore, it is possible to simplify the process for easily recognizing an effective detection result.

(Second Embodiment)
FIG. 3 is a diagram showing a target detection apparatus 1A according to the second embodiment of the present invention. 3, the same components as those shown in FIG. 1 are denoted by the same reference numerals.

  The main difference between the second embodiment and the first embodiment is that a display control unit 5A is used instead of the display control unit 5 in the second embodiment. Hereinafter, the second embodiment will be described focusing on differences from the first embodiment.

  The display control unit 5 </ b> A displays the detection probability calculated by the calculation unit 4 superimposed on the detection result of the detection unit 3.

  FIG. 4 is a flowchart for explaining the operation of the target detection apparatus 1A. In FIG. 4, the same processes as those shown in FIG. Hereinafter, the operation of the target detection device 1A will be described focusing on processing different from the processing shown in FIG.

  After step S3 is completed, when the display control unit 5A receives the target detection result from the detection unit 3 and receives the target detection probability from the calculation unit 4, the display control unit 5A detects the detection probability calculated by the calculation unit 4. Are superimposed on the detection result (step S5).

  Next, the effect of this embodiment will be described.

  The display control unit 5 </ b> A displays the detection probability calculated by the calculation unit 4 superimposed on the detection result of the detection unit 3. For this reason, the operator can check the detection probability and the detection result together. In addition, since the detection probability, not the target detectable region, is superimposed on the detection result, the operator can determine the likelihood of the detection result based on the detection probability. Therefore, it is possible to reduce the probability that the operator makes an erroneous determination regarding the validity of the detection result.

  Here, a modification of the first and second embodiments will be described.

  The detection probability calculation operation in step S3 may be executed before the acoustic signal detection operation in step S1 or the target detection operation in step S2.

(Third embodiment)
FIG. 5 is a diagram showing a target detection apparatus 1B according to the third embodiment of the present invention.

  The target detection device 1B includes a sonar display device 100, a database unit 200, a water measurement prediction unit 300, and a sound wave transmission unit 400.

  The sonar display device 100 includes a sensor 101, a signal processing unit 102, a signal detection unit 103, a gate processing unit 104, and a display unit 105.

  The sensor 101 is an example of a detection unit. The sensor 101 detects an underwater acoustic signal (sound wave). The sensor 101 detects an acoustic signal reflected by a target from among acoustic signals transmitted to the sea by a sound wave transmission unit 400 that is an example of a transmission unit. In this case, the sensor 101 functions as a sensor for an active sonar. The sensor 101 may detect an acoustic signal generated by an underwater target. In this case, the sensor 101 functions as a sensor for a passive sonar, and the sound wave transmission unit 400 may be omitted.

  The sensor 101 detects an acoustic signal using a beam formed to detect the acoustic signal. When the sensor 101 detects an acoustic signal, the sensor 101 converts the acoustic signal into an electrical signal. The electrical signal generated by the sensor 101 includes an echo from the target (hereinafter referred to as “target signal”) and an unnecessary signal (hereinafter also referred to as “ML”) such as noise and clutter (reverberation).

  The signal processing unit 102 performs reduction processing on the electrical signal generated by the sensor 101 to reduce ML and raise the target signal.

  The signal detection unit 103 is a portion of the electrical signal (hereinafter referred to as “reception data”) subjected to reduction processing by the signal processing unit 102 that exceeds a threshold set by the S / N value or Doppler information ( (Corresponding part) is detected. The signal detection unit 103 outputs the target detection result (target position specified by the distance to the target and the target azimuth) specified in the corresponding part as an automatic detection result.

  In the gate processing unit 104, either the first mode or the second mode is set according to a user input operation received by an operation unit (not shown). The gate processing unit 104 outputs the automatic detection result of the signal detection unit 103 to the display unit 105 in the second mode in which the output of the water measurement prediction unit 300 is not used. On the other hand, in the first mode in which the output of the water measurement prediction unit 300 is used, the gate processing unit 104 narrows down the automatic detection result of the signal detection unit 103 using the output (detection probability) from the water measurement prediction unit 300. The gate processing unit 104 outputs the narrowed automatic detection result to the display unit 105.

  The display unit 105 performs various displays. For example, the display unit 105 displays the output from the gate processing unit 104 and the output from the water measurement prediction unit 300.

  The database unit 200 includes sensor specifications 201, real environment data 202, and fixed data 203. The sensor specifications 201, real environment data 202, and fixed data 203 are examples of information set in advance for target detection. The database unit 200 provides the water measurement prediction unit 300 with data (sensor specifications 201, actual environment data 202, and fixed data 203) necessary for the prediction process in the water measurement prediction unit 300.

  The sensor specification 201 is specification (specification) data of the sensor 101. The sensor specifications 201 are set before the operation of the water measurement forecasting unit 300 is started.

  The actual environment data 202 is actual environment data that changes according to time and place, such as water temperature, salinity, wind speed, and sea state information. Background miscellaneous circles, wave heights, etc. are specified by sea state information and wind speed. The real environment data 202 is updated as needed. As the water temperature and salinity data, actual measurement results or forecast data at sea are used. In addition, as water temperature and salinity data, assimilation processing is performed on forecast data and statistical data using observation data about the environment (for example, meteorological data). Modified assimilation data may be used.

  The fixed data 203 is data such as constants used in the water measurement forecasting unit 300.

  The water measurement forecasting unit 300 uses the data supplied from the database unit 200 to calculate the probability of detection performed by the sonar display device 100 (detection probability).

  The water measurement forecasting unit 300 includes a propagation loss calculation unit 301, an echo level calculation unit 302, an actual ML capturing unit 303, an ML calculation unit 304, a detection probability calculation unit 305, a detection probability information generation unit 306, have. The water measurement forecasting unit 300 calculates the detection probability using the echo level and ML.

  The propagation loss calculation unit 301 performs sound wave propagation calculation using a sound wave model such as a sound ray model or a PE (Parabolic Equation) model based on the data supplied from the database unit 200. The propagation loss calculation unit 301 calculates the propagation loss using the result of the sound wave propagation calculation.

  The echo level calculation unit 302 calculates the level of the target signal using the calculation result of the propagation loss in the propagation loss calculation unit 301.

  The actual ML capturing unit 303 captures actual noise and actual reverberation (hereinafter referred to as “real ML”) of each beam direction from the signal processing unit 102 of the sonar display device 100.

  The ML calculation unit 304 uses the calculation result of the propagation loss in the propagation loss calculation unit 301 to calculate temporal changes in noise and clutter (reverberation).

  The detection probability calculation unit 305 is an example of a calculation unit. The detection probability calculation unit 305 uses either the real ML that is the output of the real ML acquisition unit 303 or the calculation ML that is the output of the ML calculation unit 304 and the output of the echo level calculation unit 302 to detect each position ( Calculate the detection probability of (distance / azimuth). In terms of calculation accuracy, the detection probability calculation unit 305 basically uses the real ML in a situation where the real ML can be used. The detection probability calculation unit 305 calculates the detection probability using a generally known sonar equation.

  The detection probability information generation unit 306 uses the detection probability calculated by the detection probability calculation unit 305 to generate detection probability information such as an equal detection probability line. The detection probability information functions as operator support information.

  The signal processing unit 102 and the signal detection unit 103 are included in the detection unit 11. The detection unit 11 detects a target using the acoustic signal detected by the sensor 101. The gate processing unit 104, the display unit 105, and the detection probability information generation unit 306 are included in the display control unit 12. The display control unit 12 displays the result of narrowing down the detection result of the detection unit 11 with the detection probability calculated by the detection probability calculation unit 305. Further, the display control unit 12 displays an equal detection probability line (detection probability) superimposed on the detection result.

  Next, the operation will be described.

  6 and 7 are sequence diagrams for explaining the operation of the target detection apparatus 1B.

  The sound wave transmission unit 400 outputs a transmission signal to the sensor 101 and the propagation loss calculation unit 301 every time an acoustic signal is transmitted.

  Each time the sensor 101 receives a transmission signal from the sound wave transmission unit 400, the sensor 101 performs reception processing of the acoustic signal (step S101), and converts the received acoustic signal into an electrical signal. The sensor 101 outputs an electrical signal to the signal processing unit 102.

  When the signal processing unit 102 receives an electrical signal from the sensor 101, the signal processing unit 102 performs amplification processing and reduction processing on the electrical signal to generate reception data (step S102). The signal processing unit 102 outputs the received data to the signal detection unit 103. In addition, the signal processing unit 102 outputs an unnecessary signal included in the electrical signal received from the sensor 101 to the actual ML capturing unit 303. For example, the signal processing unit 102 extracts unnecessary signals such as noise and clutter (reverberation) from the electrical signal, and outputs the extraction result (unnecessary signal) to the real ML capturing unit 303.

  When receiving the reception data from the signal processing unit 102, the signal detection unit 103 detects a portion (corresponding portion) that exceeds the threshold value in the reception data. Subsequently, the signal detection unit 103 outputs the detection result of the target specified in the corresponding part to the gate processing unit 104 as an automatic detection result (step S103).

  On the other hand, every time a transmission signal is received from the sound wave transmission unit 400, the propagation loss calculation unit 301 performs sound wave propagation calculation using the sound wave propagation model based on the data input from the database unit 200. Subsequently, the propagation loss calculation unit 301 calculates the propagation loss result at each timing (for example, every reception timing of the transmission signal) using the result of the sound wave propagation calculation (step S104). The propagation loss calculation unit 301 outputs the propagation loss result at each timing to the echo level calculation unit 302 and the ML calculation unit 304.

  When receiving the propagation loss result at each timing from the propagation loss calculation unit 301, the echo level calculation unit 302 calculates the target signal level at each timing using the propagation loss result at each timing (step S105). The echo level calculation unit 302 outputs the target signal level at each timing to the detection probability calculation unit 305.

  On the other hand, when ML calculation section 304 receives the propagation loss result at each timing from propagation loss calculation section 301, ML calculation section 304 uses the propagation loss result at each timing to calculate temporal changes in noise and clutter (reverberation) (step S106). . Hereinafter, the calculation result of the ML calculation unit 304 is also referred to as “calculation ML”.

  In addition, when receiving an unnecessary signal from the signal processing unit 102, the real ML capturing unit 303 identifies real noise and real reverberation (real ML) in each beam direction (step S107).

  In FIG. 6, the execution timing of step S107 is after the execution timing of step S106, but the execution timing of step S107 is not necessarily after the execution timing of step S106. Moreover, step S105 and step S106 may be performed in parallel. Moreover, step S105, step S106, and step S107 may be performed in parallel.

  When the detection probability calculation unit 305 receives the target signal level at each timing from the echo level calculation unit 302, the detection probability calculation unit 305 selects either the real ML that is the output of the real ML acquisition unit 303 or the calculation ML that is the output of the ML calculation unit 304. Is selected (step S108). The detection probability calculation unit 305 basically selects an actual ML. The detection probability calculation unit 305 selects the calculation ML when the real ML cannot be used (for example, when a failure occurs in the real ML fetch unit 303).

  Subsequently, the detection probability calculation unit 305 calculates the detection probability of each position (distance / azimuth) using the ML selected in step S108 and the output of the echo level calculation unit 302 (step S109). The detection probability calculation unit 305 calculates the detection probability using a generally known sonar equation.

  Subsequently, the detection probability calculation unit 305 outputs the detection probability calculated in step S109 to the gate processing unit 104 (step S110).

  When receiving the automatic detection result from the signal detection unit 103, the gate processing unit 104 determines whether the mode set in the gate processing unit 104 is the first mode or the second mode (step S111). FIG. 6 shows the operation when the mode is the first mode.

  When the mode is the first mode, the gate processing unit 104 narrows down the automatic detection result by the detection probability (step S112).

  Here, step S112 will be described.

  In step S <b> 112, the gate processing unit 104 narrows down the automatic detection result output from the signal detection unit 103.

  For example, as shown in FIG. 8, the signal detection unit 103 includes an S / N level 500a, a signal length (shape; time length) 500b, a Doppler system S / N level 500c, a Doppler value 500d, and a phase error variance value. An automatic detection condition 500 including each threshold value 500e is held. The signal detection unit 103 outputs, as an automatic detection result, a target detection result (distance / azimuth) specified in a corresponding portion of the received data that exceeds each threshold value of the automatic detection condition 500.

  However, actually, even if the automatic detection condition 500 as shown in FIG. 8 is provided, only the target signal is not necessarily detected. In general, clutter having the same characteristic elements as the target signal and background noise whose time change is similar to the target signal are erroneously detected as the target signal.

  Therefore, in this embodiment, the detection probability is used as the additional condition 600 of the automatic detection condition 500 (see FIG. 8). As an example, the gate processing unit 104 automatically detects a position (distance / orientation) where the detection probability satisfies a predetermined value (for example, 50%) or more among the automatic detection results detected using the automatic detection condition 500. The result is output as the final detection result. The default value is not limited to 50% and can be changed as appropriate.

  As a method for narrowing down the automatic detection result using the detection probability, for example, a condition obtained by adding the automatic detection condition 500 and the additional condition 600 may be used as a condition for detecting the final detection result. Further, a method of changing each threshold value in the automatic detection condition 500 for each position using the detection probability of each position may be used. For example, for each position, the gate processing unit 104 multiplies each threshold value in the automatic detection condition 500 by the detection probability at that position, thereby changing each threshold value based on the detection probability. Then, the gate processing unit 104 causes the signal detection unit 103 to execute a re-detection process of the corresponding signal using the changed threshold value. Note that the method of narrowing down the automatic detection result using the detection probability is not limited to the method described above, and can be changed as appropriate.

  When the automatic detection result is narrowed down in step S112, the gate processing unit 104 displays the narrowing result in step S112 on the display unit 105 (step S113).

  On the other hand, when the mode is the second mode in step S111 (see FIG. 7), the gate processing unit 104 outputs an operation start instruction to the detection probability information generation unit 306 (step S114). Subsequently, the gate processing unit 104 outputs the automatic detection result of the signal detection unit 103 to the display unit 105 as it is.

  When the detection probability information generation unit 306 receives the operation start instruction, the detection probability information generation unit 306 starts processing to generate detection probability information from the detection region calculation unit 305 using the detection probability (step S115).

  For example, the detection probability information generation unit 306 processes the detection probability, and detects the detection probability area or the equal detection probability line data obtained by dividing the area using the detection probability as a parameter, as shown in FIGS. Generated as detection probability information.

  Subsequently, the detection probability information generation unit 306 outputs the detection probability information to the display unit 105 (step S116).

  Upon receiving the automatic detection result and the detection probability information (for example, detection probability area or equal detection probability line data), the display unit 105 displays the detection probability information superimposed on the automatic detection result (step S117).

  For example, the display unit 105 is a symmetric diagram in which detection probability information and an automatic detection result are superimposed and displayed for each position (azimuth, distance) from the sensor (eg, sonar) 101 on a plane (see FIG. 9A). And a sectional view of the depth and distance for each beam (see FIG. 9B). FIG. 9B is a cross-sectional view of depth and distance for one beam.

  In FIGS. 9A and 9B, for example, when the magnitude of the detection probability is A> B> C, the automatic detection result in the range below the detection probability C means that the possibility of the target signal is the lowest. .

  When the operator is confident that the target signal has been detected by intensively monitoring areas with high detection probabilities while checking the movement of the automatic detection results at each time (each timing) and the support display of detection probabilities Perform manual detection.

  The operator can see not only the temporal transition of the automatic detection result but also the detection probability at the same time by referring to the superimposed display on the display unit 105. For this reason, the operator can perform the detection operation by weighting the area without focusing more than necessary on the area having a low detection probability. In addition, the operator can monitor an area with a low detection probability in consideration of the possibility of detecting the target signal.

  In addition, the operator can estimate the approximate depth range of the target from the detection position using a vertical sectional view (see FIG. 9B).

  Next, the effect of this embodiment will be described.

  The display control unit 12 displays the result of narrowing down the detection result by the detection probability. Therefore, the operator can easily recognize an effective detection result without calculating the detectable area and the existence area.

  Further, the display control unit 12 displays the detection probability superimposed on the detection result. Since the detection probability, not the target detectable region, is superimposed on the detection result, the operator can determine the likelihood of the detection result. Therefore, it is possible to reduce the occurrence of erroneous determination by the operator regarding the validity of the detection result.

  The detection probability calculation unit 305 alternatively calculates the detection probability by using the calculation ML calculated from the data in the database unit 200 and the actual ML included in the acoustic signal detected by the sensor 101. For this reason, it is possible not only to calculate the detection probability using the calculated ML, but also to perform the detection probability (preliminary) calculation with high accuracy by using the actual ML included in the acoustic signal detected by the sensor 101. Become.

  The detection probability calculation unit 305 calculates the detection probability according to the timing at which the sound wave transmission unit 400 transmits an acoustic signal. For this reason, it becomes possible to calculate the detection probability in synchronization with the transmission of the acoustic signal. At this time, the detection probability calculation unit 305 calculates the detection probability according to the search range (resolution) of the sonar display device 100 and the number of beams.

  Next, a modification of this embodiment will be described.

(Modification 1)
The target detection device 1B may further include a tracking processing unit that executes tracking calculation for the target using the detection probability and the detection probability information. FIG. 10 is a diagram illustrating a target detection apparatus including a tracking processing unit 700. For example, the tracking processing unit 700 calculates an area with a relatively high detection probability as a target future destination.

(Modification 2)
In a situation where a large number of sensors (sonars) 101 are used, such as multi-static, the detection probability calculation unit 305 determines the detection probabilities (P ₁ (D), P ₂ (D),...) Of each sensor 101. In addition, the combined detection probability (P _all (D)) when a plurality of sensors 101 are used may be calculated. A large number of sensors (sonars) 101 are examples of detection units. In this case, in addition to detection by a single sensor, it is possible to reduce false alarms (false detections) in displaying the integrated detection result when a plurality of sensors are used. For example, the gate processing unit 104 narrows down the automatic detection result by using either the detection probability of each sensor or the combined detection probability (P _all (D)) (for example, the combined detection probability (P _all (D)). The detection probability information generation unit 306 generates detection probability information (for example, detection probability area, equal detection probability line data) using either the detection probability of each sensor or the combined detection probability (P _all (D)). Note that the detection probability information generation unit 306 may generate an area where a transmission wave reaches in multi-static operation as detection probability information using the combined detection probability (P _all (D)). In this case, the detection probability information generated using the combined detection probability (P _all (D)) can be displayed superimposed on the automatic detection result (detection result).

The relationship between the composite detection probability (P _all (D)) and the detection probabilities of the individual sensors (soners) 1, 2,... Is as follows.

Synthesis detection probability _{(P all (D)) =} 1- (P 1 (D)) * (P 2 (D)) * ··· = 1-Π N i (P i (D))
N: Total number of sensors (sona) used for multi-static operation,
i: Number representing each sensor (sonar) (Modification 3)
The propagation loss calculation unit 301 uses the data in the database unit 200 to calculate the propagation loss in each case where different acoustic signals are transmitted separately. The echo level calculation unit 302 uses the calculation result of the propagation loss calculation unit 301 to calculate the target signal level in each case where different acoustic signals are transmitted separately. The ML calculation unit 304 uses the calculation result of the propagation loss calculation unit 301 to calculate a calculation ML in each case where different acoustic signals are transmitted separately. The detection result calculation unit 305 uses the calculation result of the echo level calculation unit 302 and the calculation result of the ML calculation unit 304 to calculate a detection probability in each case where different acoustic signals are transmitted separately. Then, the detection result calculation unit 305 displays the detection probability in each case where different acoustic signals are transmitted separately on the display unit 105.

(Modification 4)
The propagation loss calculation unit 301 uses the data in the database unit 200 to calculate the propagation loss in each case where the sensor 101 uses different detection bands for acoustic signals. The echo level calculation unit 302 uses the calculation result of the propagation loss calculation unit 301 to calculate the level of the target signal in each case where the sensor 101 uses different detection bands for the acoustic signal. The ML calculation unit 304 uses the calculation result of the propagation loss calculation unit 301 to calculate a calculation ML in each case where the sensor 101 separately uses different detection bands for the acoustic signal. The detection result calculation unit 305 uses the calculation result of the echo level calculation unit 302 and the calculation result of the ML calculation unit 304 to calculate the detection probability in each case where the sensor 101 separately uses different detection bands for the acoustic signal. calculate. And the detection result calculation part 305 displays the detection probability in each case where the sensor 101 used the mutually different detection zone | band about an acoustic signal on the display part 105. FIG.

(Modification 5)
The detection probability calculation unit 305 includes an S / N (signal / noise ratio) of the acoustic signal, an S / R (signal / reverberation ratio) of the acoustic signal, and an unnecessary signal included in the acoustic signal (for example, a reverberation of a certain level or higher). ), A depth range in which a target at each position can be detected, and an area where a transmission wave reaches in multi-static operation may be calculated instead of the detection probability. Then, the display unit 105 displays the calculation result of the detection probability calculation unit 305 superimposed on the detection result instead of the detection probability. This display is effective for manual detection by the operator.

(Modification 6)
When the target reflection intensity is included in the fixed data 203, the signal detection unit 103 may adjust the target reflection intensity included in the fixed data 203 based on the detection result. In this case, it is possible to adjust the target reflection intensity set in advance according to the actual measurement result.

(Modification 7)
The target detection device 1B may have a function of extracting a wake that seems to be a target by a method such as a TBD (Track Before Detect) algorithm.

  In each of the above embodiments, the target detection device 1B may be realized by a computer connected to the sensor 101. In this case, the computer reads and executes a program recorded in a recording medium such as a CD-ROM (Compact Disk Read Only Memory) that can be read by the computer, and the function of the target detection device 1B excluding the sensor 101 is provided. Execute. The recording medium is not limited to the CD-ROM and can be changed as appropriate.

  In each embodiment described above, the illustrated configuration is merely an example, and the present invention is not limited to the configuration.

  A part or all of the above embodiments can be described as in the following supplementary notes, but is not limited thereto.

(Supplementary note 1) a detection unit for detecting an acoustic signal;
A detection unit for detecting a target using an acoustic signal detected by the detection unit;
A calculation unit for calculating a detection probability of the target using information set in advance for the detection of the target;
A target detection apparatus comprising: a display control unit that displays a result of narrowing down the detection result of the detection unit with the detection probability.

(Additional remark 2) The detection part which detects an acoustic signal,
A detection unit for detecting a target using an acoustic signal detected by the detection unit;
A calculation unit for calculating a detection probability of the target using information set in advance for the detection of the target;
And a display control unit that displays the detection probability superimposed on the detection result.

  (Supplementary Note 3) The calculation unit calculates the detection probability by alternatively using an unnecessary signal calculated from the information and an unnecessary signal included in the acoustic signal detected by the detection unit. The target detection apparatus according to appendix 1 or 2.

  (Additional remark 4) The target detection apparatus of any one of additional remark 1 to 3 further including the tracking process part which performs the tracking calculation about the said target using the said detection probability.

(Supplementary Note 5) The detection unit includes a plurality of sensors that detect the acoustic signal,
The calculation unit uses the information to calculate a detection probability in each sensor and a detection probability in the case of using the plurality of sensors,
The target detection apparatus according to any one of appendices 1 to 4, wherein the display control unit uses any of the detection probabilities calculated by the calculation unit.

(Appendix 6) The detection unit detects at least an acoustic signal transmitted from the transmission unit and reflected by the target,
6. The target detection apparatus according to claim 1, wherein the calculation unit calculates the detection probability according to a timing at which the transmission unit transmits the acoustic signal.

  (Additional remark 7) The said calculation part is a target detection apparatus of any one of Additional remark 1 to 6 which calculates the detection probability in each case where a mutually different acoustic signal was transmitted separately using the said information.

  (Supplementary note 8) The target detection according to any one of supplementary notes 1 to 7, wherein the calculation unit calculates a detection probability in each case where the detection unit separately uses different detection bands for the acoustic signal. apparatus.

(Additional remark 9) The said calculation part is the signal / noise ratio of the said acoustic signal, the signal / reverberation ratio of the said acoustic signal, the unnecessary signal contained in the said acoustic signal, and the area where the transmission sound in multistatic operation reaches At least one of them is calculated instead of the detection probability,
The target detection apparatus according to appendix 2, wherein the display control unit displays the calculation result of the calculation unit superimposed on the detection result instead of the detection probability.

  (Additional remark 10) The said information is assimilation data obtained by modifying the water temperature / salt prediction data according to the current situation using the water temperature / salt prediction data, or the observation data about the environment, or the observation data about the environment. 10. The target detection apparatus according to any one of appendices 1 to 9, which includes at least assimilation data obtained by correcting statistical data of water temperature and salinity according to the current situation.

  (Additional remark 11) The said detection part is a target detection apparatus of any one of Additional remark 1 to 10 which adjusts the reflective intensity of the said target contained in the said information based on the said detection result.

(Additional remark 12) The detection step which detects an acoustic signal,
A detection step of detecting a target using the acoustic signal detected in the detection step;
A calculation step of calculating a detection probability of the target using information preset for the detection of the target;
And a display control step for displaying a result obtained by narrowing down the detection result in the detection step with the detection probability.

(Supplementary note 13) a detection step of detecting an acoustic signal;
A detection step of detecting a target using the acoustic signal detected by the detection step unit;
A calculation step of calculating a detection probability of the target using information set in advance for detection of the target;
And a display control step for displaying the detection probability superimposed on the detection result.

(Supplementary note 14)
A detection procedure for detecting a target using an acoustic signal detected by the detection unit;
A calculation procedure for calculating the detection probability of the target using information preset for the detection of the target;
And a display control procedure for displaying a result obtained by narrowing down the detection result by the detection probability.

(Supplementary note 15)
A detection procedure for detecting a target using an acoustic signal detected by the detection unit;
A calculation procedure for calculating the detection probability of the target using information preset for the detection of the target;
A display control procedure for displaying the detection probability superimposed on the detection result.

DESCRIPTION OF SYMBOLS 1, 1A, 1B, 1C Target detection apparatus 2 Detection part 3, 11 Detection part 4 Calculation part 5, 5A, 12 Display control part 100 Sonar display apparatus 101 Sensor 102 Signal processing part 103 Signal detection part 104 Gate processing part 105 Display part DESCRIPTION OF SYMBOLS 200 Database part 201 Sensor specification 202 Real environment data 203 Fixed data 300 Water measurement prediction part 301 Propagation loss calculation part 302 Echo level calculation part 303 Real ML taking part 304 ML calculation part 305 Detection probability calculation part 306 Detection area calculation part 400 Sound wave transmission unit 700 Tracking processing unit

Claims (10)

A detection unit for detecting an acoustic signal;
A detection unit for detecting a target using an acoustic signal detected by the detection unit;
A calculation unit for calculating a detection probability of the target using information set in advance for the detection of the target;
A target detection apparatus comprising: a display control unit that displays a result of narrowing down the detection result of the detection unit with the detection probability. A detection unit for detecting an acoustic signal;
A detection unit for detecting a target using an acoustic signal detected by the detection unit;
A calculation unit for calculating a detection probability of the target using information set in advance for the detection of the target;
And a display control unit that displays the detection probability superimposed on the detection result.   The calculation unit calculates the detection probability by alternatively using an unnecessary signal calculated from the information and an unnecessary signal included in an acoustic signal detected by the detection unit. 2. The target detection apparatus according to 2.   The target detection apparatus according to claim 1, further comprising a tracking processing unit that executes tracking calculation for the target using the detection probability. The detection unit includes a plurality of sensors that detect the acoustic signal,
The calculation unit uses the information to calculate a detection probability in each sensor and a detection probability in the case of using the plurality of sensors,
The target detection apparatus according to claim 1, wherein the display control unit uses any one of detection probabilities calculated by the calculation unit. The calculation unit includes at least one of a signal / noise ratio of the acoustic signal, a signal / reverberation ratio of the acoustic signal, an unnecessary signal included in the acoustic signal, and an area where a transmission sound reaches in multi-static operation. Instead of the detection probability,
The target detection apparatus according to claim 2, wherein the display control unit displays the calculation result of the calculation unit superimposed on the detection result instead of the detection probability. A detection step of detecting an acoustic signal;
A detection step of detecting a target using the acoustic signal detected in the detection step;
A calculation step of calculating a detection probability of the target using information preset for the detection of the target;
And a display control step for displaying a result obtained by narrowing down the detection result in the detection step with the detection probability. A detection step of detecting an acoustic signal;
A detection step of detecting a target using the acoustic signal detected by the detection step unit;
A calculation step of calculating a detection probability of the target using information set in advance for detection of the target;
And a display control step for displaying the detection probability superimposed on the detection result. On the computer,
A detection procedure for detecting a target using an acoustic signal detected by the detection unit;
A calculation procedure for calculating the detection probability of the target using information preset for the detection of the target;
And a display control procedure for displaying a result obtained by narrowing down the detection result by the detection probability. On the computer,
A detection procedure for detecting a target using an acoustic signal detected by the detection unit;
A calculation procedure for calculating the detection probability of the target using information preset for the detection of the target;
A display control procedure for displaying the detection probability superimposed on the detection result.

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