JP2016004014A - Target tracking device, target tracking method, and program - Google Patents

Abstract

PROBLEM TO BE SOLVED: To utilize target data at a previous observation time in a tracking process without having two tracking process units.SOLUTION: When target data whose observation time is the latest observation time is inputted, a target tracking unit calculates the estimated position of a target at the latest observation time on the basis of the observation position of the target at the latest observation time and the estimated position held by the device itself, and holds the calculated position. When target data whose observation time is a past time before the latest observation time is inputted, the target tracking unit recalculates the estimated position of the target at the latest observation time on the basis of the observation position of the target at the past time, the estimated position of the target stored in a storage unit, and the target data, and updates the estimated position of the target at the latest observation time.

Description

  The present invention relates to a technique for tracking a target such as an aircraft.

The target tracking device performs a tracking process for tracking the target based on the observation position (latitude, longitude, altitude) of the target observed by the monitoring sensor (Patent Documents 1 and 2).
More specifically, when target data indicating the observation position of the target observed at a certain observation time is input from the monitoring sensor, the target tracking device calculates the estimated position of the target at the observation time. calculate.

By the way, some recent target tracking devices use a plurality of types of monitoring sensors. However, since there is variation in signal processing / transmission delay for each type of monitoring sensor, the target data of each monitoring sensor is not always input to the target tracking device in time series in order of observation time. Therefore, the target data input to the target tracking device may be input with a delay in the order of the observation time, and the target data at the previous observation time may be delayed later.
However, as described above, since the target tracking device holds only the estimated position of the target at the latest observation time, even if target data at an observation time before that observation time is input later, Cannot be used for tracking processing. Therefore, even if there is a monitoring sensor with high observation accuracy, if the delay of signal processing / transmission of the monitoring sensor is large, the target tracking device cannot use the target data of the monitoring sensor for tracking processing.

  For this problem, for example, the target tracking device described in Patent Document 3 includes a time-series data tracking processing unit that performs tracking processing when observation values arrive in time series, and the observation values are non-time-series. There are provided two tracking processing units, a non-time-series data tracking processing unit that performs tracking processing when it arrives at. More specifically, when an old observation arrives late (when the observation arrives non-time-series), the tracking processing unit for non-time-series data arrives without delay and time-series Then, the optimum smoothing vector and smoothing error covariance matrix that should have been obtained when the tracking process was performed with the Kalman filter are calculated. Further, the tracking processing unit for non-time series data calculates a Kalman gain matrix for the latest time that should have been calculated when the old observations arrived without delay and tracking processing was performed in time series with the Kalman filter. . Therefore, the tracking process can be executed without discarding old observation values that arrived late.

JP 2011-180684 A JP 2006-173872 A Japanese Patent Application Laid-Open No. 11-045454

  However, the target tracking device described in Patent Document 3 has a problem that it is necessary to provide two tracking processing units, a time series data tracking processing unit and a non-time series data tracking processing unit.

  Accordingly, an object of the present invention is to provide a technique capable of solving the above-described problems.

The first target tracking device of the present invention is:
When target data indicating the observation position and observation time of a target is input from one of a plurality of monitoring sensors, the estimated position of the target at the observation time is calculated, and the estimated position of the target at the latest observation time is calculated. A target tracking unit that holds
An accumulation unit for accumulating the estimated position and target data of the target at each observation time;
The target tracking unit is
When the target data whose observation time is the latest observation time is input, the estimated position of the target at the latest observation time is set to the observation position of the target at the latest time and the estimated position held by itself. Calculated and retained based on
When target data whose observation time is a past time before the latest observation time is input, the observation position of the target at the past time, the estimated position of the target stored in the storage unit, and the target Based on the data, the estimated position of the target at the latest observation time is recalculated, and the estimated position of the target at the latest observation time is updated.

The second target tracking device of the present invention is:
When target data indicating the observation position and observation time of a target is input from one of a plurality of monitoring sensors, the estimated position of the target at the observation time is calculated, and the estimated position of the target at the latest observation time is calculated. A target tracking unit that holds
An accumulation unit for accumulating the estimated position and target data of the target at each observation time;
The target tracking unit is
When the target data whose observation time is the latest observation time is input, the estimated position of the target at the latest observation time is set to the observation position of the target at the latest observation time and the estimated position held by itself. Calculate and hold based on
The observation time is earlier than the latest observation time, and the same or the oldest observation time among the observation times of the target data stored in the storage unit or later than the oldest observation time. When the target data that is the past time is input, based on the observation position of the target object at the past time, the estimated position of the target object stored in the storage unit, and the target data, The estimated position of the target is recalculated, and the estimated position of the target at the latest observation time is updated.

The first target tracking method of the present invention is:
When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking step for calculating the estimated position of the target at the observation time;
A holding step for holding the estimated position of the target at the latest observation time;
An accumulation step for accumulating the estimated position and target data of the target at each observation time;
When target data whose observation time is the latest observation time is input, in the tracking step, the estimated position of the target at the latest observation time and the observation position of the target at the latest observation time are stored. Calculated based on the estimated position held in the step, and in the holding step, the calculated estimated position of the target at the latest observation time is held,
When target data whose observation time is a past time before the latest observation time is input, in the tracking step, the observation position of the target at the past time and the target accumulated in the accumulation step Based on the estimated position and the target data, the estimated position of the target at the latest observation time is recalculated. In the holding step, the estimated position of the target at the latest observation time is updated.

The second target tracking method of the present invention is:
When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking step for calculating the estimated position of the target at the observation time;
A holding step for holding the estimated position of the target at the latest observation time;
An accumulation step for accumulating the estimated position and target data of the target at each observation time;
When target data whose observation time is the latest observation time is input, in the tracking step, the estimated position of the target object at the latest observation time and the observation position of the target object at the previous latest observation time are stored. Calculated based on the estimated position held in the step, and in the holding step, the calculated estimated position of the target at the latest observation time is held,
The observation time is earlier than the latest observation time and the same or the oldest observation time among the observation times of the target data accumulated in the accumulation step. In the tracking step, the tracking step is performed based on the observation position of the target at the past time, the estimated position of the target accumulated in the accumulation step, and the target data. The estimated position of the target at the latest observation time is recalculated. In the holding step, the estimated position of the target at the latest observation time is updated.

The first program of the present invention is:
On the computer,
When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking procedure for calculating the estimated position of the target at the observation time;
A holding procedure for holding the estimated position of the target at the latest observation time;
A program for executing an estimated position of a target object at each observation time and an accumulation procedure for accumulating target data,
When target data whose observation time is the latest observation time is input, in the tracking procedure, the estimated position of the target at the latest observation time and the observation position of the target at the latest observation time are stored. Calculated based on the estimated position held in the procedure, and in the holding procedure, the calculated estimated position of the target at the latest observation time is held,
When target data whose observation time is a past time before the latest observation time is input, in the tracking procedure, the observation position of the target object at the past time and the target object accumulated in the accumulation procedure Based on the estimated position and the target data, the estimated position of the target at the latest observation time is recalculated. In the holding procedure, the estimated position of the target at the latest observation time is updated.

The second program of the present invention is:
On the computer,
When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking procedure for calculating the estimated position of the target at the observation time;
A holding procedure for holding the estimated position of the target at the latest observation time;
A program for executing an estimated position of a target object at each observation time and an accumulation procedure for accumulating target data,
When target data whose observation time is the latest observation time is input, in the tracking procedure, the estimated position of the target at the latest observation time and the observation position of the target at the latest observation time are stored. Calculated based on the estimated position held in the procedure, and in the holding procedure, the calculated estimated position of the target at the latest observation time is held,
The observation time is earlier than the latest observation time and the same or the oldest observation time among the observation times of the target data accumulated in the accumulation step. In the tracking procedure, the tracking procedure is performed based on the observation position of the target at the past time, the estimated position of the target accumulated in the accumulation procedure, and the target data. The estimated position of the target at the latest observation time is recalculated, and in the holding procedure, the estimated position of the target at the latest observation time is updated.

  According to the present invention, when target data at a previous observation time is input later, the tracking process can be performed using the target data without providing two tracking processing units. can get.

It is a block diagram which shows the structure of the target tracking apparatus of the 1st and 2nd embodiment of this invention. It is a flowchart explaining the operation | movement at the time of the tracking process of the target tracking part of the 1st Embodiment of this invention. It is a figure explaining the operation | movement at the time of the tracking process of the target tracking apparatus of the 1st Embodiment of this invention. It is a figure explaining the operation | movement at the time of the tracking process of the target tracking apparatus of the 1st Embodiment of this invention. It is a figure explaining the operation | movement at the time of the tracking process of the target tracking apparatus of the 1st Embodiment of this invention. It is a flowchart explaining the operation | movement at the time of the tracking process of the target tracking part of the 2nd Embodiment of this invention. It is a figure which shows the structure of the air traffic control system to which the target tracking apparatus of 1st or 2nd embodiment of this invention is applied.

EMBODIMENT OF THE INVENTION Below, the form for implementing this invention is demonstrated with reference to drawings.
(1) Embodiment of the present invention (1-1) Target tracking device

(1-1-1) Target Tracking Device of First Embodiment FIG. 1 shows the configuration of the target tracking device of the present embodiment.
As shown in FIG. 1, the target tracking device of the present embodiment performs target tracking processing using target data input from a plurality of identical or different monitoring sensors.
The target tracking device of this embodiment includes a target tracking unit 10, a past estimated position storage unit 11, and an integrated target data output unit 12. In FIG. 1, the target tracking processing unit 13 is configured by the target tracking unit 10 and the past estimated position storage unit 11.

The target tracking unit 10 receives target data indicating the observation position and observation time of the target observed by each of the plurality of monitoring sensors. However, there is variation in signal processing / transmission delay for each type of monitoring sensor. Therefore, in the target tracking unit 10, there may be a delay difference between the time when the target data of a certain type of monitoring sensor is input and the time when the target data of another type of monitoring sensor is input.
When the target data is input from any of the plurality of monitoring sensors, the target tracking unit 10 uses the tracking filter to calculate the estimated position of the target at the observation time indicated by the target data. Further, the target tracking unit 10 holds only the estimated position of the target at the latest observation time.
The past estimated position accumulation unit 11 accumulates the estimated position and target data of the target at each observation time.
The integrated target data output unit 12 calculates the predicted position of the target at a time later than the latest observation time based on the estimated position of the target at the latest observation time held by the target tracking unit 10. The calculated predicted position is output as integrated target data.
The integrated target data output unit 12 may output the estimated position of the target at the latest observation time held by the target tracking unit 10 as integrated target data as it is.

Hereinafter, the operation at the time of the tracking process of the target tracking device of the present embodiment will be described.
First, with reference to FIG. 2, the operation | movement at the time of the tracking process of the target tracking part 10 of this embodiment is demonstrated.
FIG. 2 shows a flowchart for explaining the operation during the tracking process of the target tracking unit 10 of the present embodiment.
As shown in FIG. 2, when the target data is input (step A1), the target tracking unit 10 determines whether or not the observation time of the target data input this time is the latest observation time (step A2). ).
In step A2, when the observation time of the target data input this time is the latest observation time (Yes in step A2), the target tracking unit 10 determines the estimated position of the target object at the latest observation time. A new calculation is performed based on the observation position of the target at the observation time and the estimated position of the target held by itself (step A3). Then, the target tracking unit 10 newly holds the estimated position of the target at the latest observation time (step A4).

  On the other hand, in step A2, if the observation time of the target data input this time is not the latest observation time, that is, if it is a past time before the latest observation time (No in step A2), the target tracking unit 10 Recalculates the estimated position of the target at the latest observation time based on the observed position of the target at the past time and the estimated position and target data of the target accumulated in the past estimated position storage unit 11. Then, the estimated position of the target at the latest observation time is updated (step A5). Here, when recalculating the estimated position of the target at the latest observation time, the target tracking unit 10 goes back to the past time that is the observation time of the target data input this time, and estimates the estimated position of the target at the past time. Is newly calculated, and the estimated position of the target at the observation time after the past time is sequentially recalculated. Specifically, for the estimated position of the target at a certain observation time, the target tracking unit 10 estimates the target position at the observation time and the estimated position of the target at the observation time immediately before that observation time. And based on the above. Thereby, although the latest observation time remains as it is, the estimated position of the target at the latest observation time is updated.

Next, with reference to FIG. 3A-FIG. 3C, the operation | movement at the time of the tracking process of the target tracking apparatus of this embodiment is demonstrated concretely.
FIG. 3A shows preconditions for the tracking process of the target tracking device of the present embodiment.
As shown in FIG. 3A, target data is input to the target tracking unit 10 from the two monitoring sensors A and B.
The monitoring sensors A and B perform processing for receiving a signal from the target, processing for generating signal data indicating the observation position and time of the target by performing signal processing on the signal, and the target tracking unit. 10 is performed.
In FIG. 3A, the number with a number in Δ represents the observation time when the monitoring sensors A and B observed the position of the target. X represents the observation position of the target observed at that time. A symbol with a number in the circle represents a reception time when the target tracking unit 10 receives the target data sent from the monitoring sensors A and B (the same applies to FIGS. 3B and 3C).

Here, although the monitoring sensor B has low observation accuracy, the signal processing delay is small. Therefore, the target data at the observation times 1, 5, 9, 13 of the monitoring sensor B is received by the target tracking unit 10 at the reception times 1, 5, 9, 13 at the same time as the observation time.
On the other hand, although the monitoring sensor A has high observation accuracy, the signal processing delay is large. Therefore, the target data at the observation times 3, 7, and 11 of the monitoring sensor A is received by the target tracking unit 10 at the reception times 10, 11, and 12 later than the observation time.
Therefore, as shown in the upper part and the lower part of FIG. 3A, first, target data at the observation time 1 of the monitoring sensor B is input to the target tracking unit 10 at time 1. Next, at time 5, target data at observation time 5 of monitoring sensor B is input. Next, at time 9, the target data at the observation time 9 of the monitoring sensor B is input. Next, at time 10, target data at observation time 3 of monitoring sensor A is input. Next, at time 11, the target data at the observation time 7 of the monitoring sensor A is input. Next, at time 12, target data at the observation time 11 of the monitoring sensor A is input. Thereafter, at time 13, the target data at the observation time 13 of the monitoring sensor B is input. When these target data are sorted in the order of observation time, the result becomes the central portion of FIG. 3A.

  Hereinafter, with reference to FIG. 3B and FIG. 3C, the operation after time 9 of the target tracking device of the present embodiment will be described. In FIGS. 3B and 3C, x represents the observation position of the target observed by the monitoring sensors A and B, as in FIG. 3A, and ○ near the center of x is calculated by the target tracking unit 10. Represents the estimated position of the target.

Time 9 (FIG. 3B):
At time 9, the target data of the monitoring sensor B whose observation time is the current time 9 is input to the target tracking unit 10. Therefore, the target data input this time is the target data at the latest observation time (current time 9). At this time, the target tracking unit 10 holds the estimated position of the target at the past time 5 as the estimated position of the target at the latest observation time.
Therefore, the target tracking unit 10 starts the tracking filter update process from the estimated position of the target at the past time 5 that is the observation time immediately before the current time 9 that is the observation time of the target data input this time. That is, the target tracking unit 10 newly calculates the estimated position of the target at the current time 9 based on the estimated position of the target at the past time 5 and the observed position of the target at the current time 9. Then, the target tracking unit 10 newly holds the estimated position of the target at the current time 9.
The past estimated position accumulating unit 11 accumulates the estimated position and target data of the target at the past times 1, 5 and the current time 9.
The integrated target data output unit 12 outputs the estimated position of the target at the current time 9 held by the target tracking unit 10 as integrated target data. The integrated target data output unit 12 calculates the predicted position of the target object at future times 10, 11, and 15 based on the estimated position of the target object at the current time 9, and includes these in the integrated target data for output. May be.

Time 10 (FIG. 3B):
At time 10, target data of the monitoring sensor A whose observation time is past time 3 is input to the target tracking unit 10. At this time, the target tracking unit 10 holds the estimated position of the target at the past time 9 as the estimated position of the target at the latest observation time. Therefore, the target data input this time is target data at an observation time (past time 3) prior to the latest observation time.
Therefore, first, the target tracking unit 10 sorts the target data at the past time 3 and the target data at the past times 1, 5, and 9 read from the past estimated position accumulation unit 11 in the order of observation time.
Subsequently, the target tracking unit 10 starts the tracking filter update process from the estimated position of the target at the past time 1 that is the observation time immediately before the past time 3 that is the observation time of the target data input this time. . That is, the target tracking unit 10 newly calculates the estimated position of the target at the past time 3 based on the estimated position of the target at the past time 1 and the observed position of the target at the past time 3. Further, the target tracking unit 10 recalculates the estimated position of the target at the past time 5 based on the newly calculated estimated position of the target at the past time 3 and the observed position of the target at the past time 5. To do. Further, the target tracking unit 10 recalculates the estimated position of the target at the past time 9 based on the recalculated estimated position of the target at the past time 5 and the observed position of the target at the past time 9. . Then, the target tracking unit 10 updates the estimated position of the target at the past time 9 held by itself.

The past estimated position accumulation unit 11 accumulates the estimated position and target data of the target at the past times 1, 3, 5, and 9.
The integrated target data output unit 12 calculates the predicted position of the target at the current time 10 based on the estimated position of the target at the past time 9 held by the target tracking unit 10 and outputs this as integrated target data. . Note that the integrated target data output unit 12 may calculate the predicted position of the target object at the future times 11 and 15 based on the estimated position of the target object at the past time 9 and output them by including them in the integrated target data. good.
According to FIG. 3B, by using the target data at the previous observation time (past time 3) input this time for the tracking process, the predicted position of the target at the current time 10 also changes accordingly. Recognize.

Time 11 (FIG. 3B):
At time 11, the target data of the monitoring sensor A whose observation time is the past time 7 is input to the target tracking unit 10. At this time, the target tracking unit 10 holds the estimated position of the target at the past time 9 as the estimated position of the target at the latest observation time. Therefore, the target data input this time is target data at an observation time (past time 7) prior to the latest observation time.
Therefore, similarly to time 10, first, the target tracking unit 10 observes the target data at the past time 7 and the target data at the past times 1, 3, 5, and 9 read from the past estimated position storage unit 11. Sort by time.
Subsequently, the target tracking unit 10 starts the tracking filter update process from the estimated position of the target at the past time 5 which is the observation time immediately before the past time 7 which is the observation time of the target data input this time. . That is, the target tracking unit 10 newly calculates the estimated position of the target at the past time 7 based on the estimated position of the target at the past time 5 and the observed position of the target at the past time 7. Further, the target tracking unit 10 recalculates the estimated position of the target at the past time 9 based on the newly estimated position of the target at the past time 7 and the observed position of the target at the past time 9. To do. Then, the target tracking unit 10 updates the estimated position of the target at the past time 9 held by itself.

The past estimated position accumulation unit 11 accumulates the estimated position and target data of the target at the past times 1, 3, 5, 7, and 9.
The integrated target data output unit 12 calculates the predicted position of the target at the current time 11 based on the estimated position of the target at the past time 9 held by the target tracking unit 10, and outputs this as integrated target data. . The integrated target data output unit 12 calculates the predicted position of the target at future times 12, 13, and 15 based on the estimated position of the target at the past time 9, and outputs these by including them in the integrated target data. May be.
According to FIG. 3B, by using the target data at the previous observation time (past time 7) input this time for the tracking process, the predicted position of the target at the current time 11 also changes accordingly. Recognize.

Time 12 (FIG. 3C):
At time 12, target data of the monitoring sensor A whose observation time is the past time 11 is input to the target tracking unit 10. At this time, the target tracking unit 10 holds the estimated position of the target at the past time 9 as the estimated position of the target at the latest observation time. Therefore, the target data input this time is target data at the latest observation time (past time 11).
Therefore, the target tracking unit 10 starts the tracking filter update process from the estimated position of the target at the past time 9 that is the observation time immediately before the past time 11 that is the observation time of the target data input this time. That is, the target tracking unit 10 newly calculates the estimated position of the target at the past time 11 based on the estimated position of the target at the past time 9 and the observed position of the target at the past time 11. Then, the target tracking unit 10 newly holds the estimated position of the target at the past time 11.

The past estimated position accumulating unit 11 accumulates the estimated position and target data of the target at past times 1, 3, 5, 7, 9, and 11.
The integrated target data output unit 12 calculates the predicted position of the target at the current time 12 based on the estimated position of the target at the past time 11 held by the target tracking unit 10, and outputs this as integrated target data. . Note that the integrated target data output unit 12 may calculate predicted positions at future times 13 and 15 based on the estimated position of the target at the past time 11, and may output these by including them in the integrated target data.
According to FIG. 3C, by using the target data at the latest observation time (past time 11) input this time for the tracking process, the predicted position of the target at the current time 12 changes accordingly. Recognize.

Time 13 (FIG. 3C):
At time 13, the target data of the monitoring sensor B whose observation time is the current time 13 is input to the target tracking unit 10. Therefore, the target data input this time is target data at the latest observation time (current time 13). At this time, the target tracking unit 10 holds the estimated position of the target at the past time 11 as the estimated position of the target at the latest observation time.
Therefore, the target tracking unit 10 starts the tracking filter update process from the estimated position of the target at the past time 11 that is the observation time immediately before the current time 13 that is the observation time of the target data input this time. That is, the target tracking unit 10 newly calculates the estimated position of the target at the current time 13 based on the estimated position of the target at the past time 11 and the observed position of the target at the current time 13. Then, the target tracking unit 10 newly holds the estimated position of the target at the current time 13.

The past estimated position accumulation unit 11 accumulates the estimated position and target data of the target at past times 1, 3, 5, 7, 9, 11 and the current time 13.
The integrated target data output unit 12 outputs the estimated position of the target at the current time 13 held by the target tracking unit 10 as integrated target data. Note that the integrated target data output unit 12 may calculate the predicted position at the future time 15 based on the estimated position of the target at the current time 13 and output it by including it in the integrated target data.

Time 15 (FIG. 3C):
By repeating the above processing, the accuracy of the predicted position of the target calculated by the integrated target data output unit 12 is improved. As a result, the predicted position and the actual position of the target at the current time 15 almost coincide with each other.

As described above, in the target tracking device of the present embodiment, when target data at an observation time (past time) prior to the latest observation time is input, the target tracking unit 10 determines the target object at that past time. Based on the observation position and the estimated position and target data of the target accumulated in the past estimated position accumulation unit 11, the estimated position of the target at the latest observation time is recalculated, and the target position at the latest observation time is calculated. Update the estimated position.
Therefore, even if target data that was previously observed by a monitoring sensor with high observation accuracy and large signal processing / transmission delay is input later, the target data can be used for tracking processing. The position calculation accuracy can be improved.
As a result, when the target tracking device of this embodiment is applied to an air traffic control information processing system, it is possible to achieve high quality / high reliability of target data used in the system, and safety of air traffic control. / I can improve completeness.
Further, by providing only one target tracking unit 10, the target data previously observed by the monitoring sensor can be used for the tracking process. As in Patent Document 3, the time-series data tracking processing unit and the non-timer can be used. There is no need to provide two tracking processing units called a series data tracking processing unit.

(1-1-2) Target tracking device of the second embodiment The target tracking device of the present embodiment is similar in configuration to the target tracking device of the first embodiment, but the operation of the target tracking unit 10 is different. .
That is, in the first embodiment, the target tracking unit 10 uses the target data for tracking processing when the observation time of the input target data is a past time before the latest observation time, Recalculated and updated the estimated position of the target at the observation time.
On the other hand, in the present embodiment, the target tracking unit 10 has the observation time of the input target data as the oldest of the observation times of the target data accumulated in the past estimated position accumulation unit 11 in the above case. If the past time is earlier than the observation time, the target data is not used for the tracking process and the estimated position of the target at the latest observation time is not recalculated and updated.

Hereinafter, with reference to FIG. 4, the operation | movement at the time of the tracking process of the target tracking part 10 of this embodiment is demonstrated.
FIG. 4 shows a flowchart for explaining the operation during the tracking process of the target tracking unit 10 of the present embodiment.
As shown in FIG. 4, when target data is input (step B1), the target tracking unit 10 determines whether or not the observation time of the target data input this time is the latest observation time (step B2). ).
In step B2, when the observation time of the target data input this time is the latest observation time (Yes in step B2), the target tracking unit 10 determines the estimated position of the target object at the latest observation time. A new calculation is made based on the observation position of the target at the observation time and the estimated position of the target held by itself (step B3). Then, the target tracking unit 10 newly holds the estimated position of the target at the latest observation time (step B4).
On the other hand, in step B2, if the observation time of the target data input this time is not the latest observation time, that is, if it is a past time before the latest observation time (No in step B2), the target tracking unit 10 Determines whether the observation time of the target data input this time is a past time before the oldest observation time among the observation times of the target data accumulated in the past estimated position accumulation unit 11. (Step B5).

In step B5, if the observation time of the target data input this time is not a past time before the oldest observation time, that is, the same time as the oldest observation time or after the oldest observation time. When it is the past time (No in Step B5), the target tracking unit 10 is based on the observed position of the target at the past time and the estimated position and target data of the target accumulated in the past estimated position accumulating unit 11. Then, the estimated position of the target at the latest observation time is recalculated, and the estimated position of the target at the latest observation time is updated (step B6). The method for recalculating the estimated position of the target is the same as in the first embodiment.
On the other hand, in step B5, when the observation time of the target data input this time is a past time before the oldest observation time (Yes in step B5), the target tracking unit 10 sets the target time at the latest observation time. Without recalculating and updating the estimated position of the object, the target data input this time is rejected, and the process ends. Therefore, the past estimated position accumulation unit 11 does not accumulate the target data input this time and the estimated position of the target at the observation time of the target data.
In addition, since operation | movement except the above of the target tracking apparatus of this embodiment is the same as that of 1st Embodiment, description is abbreviate | omitted.

(1-2) Target Tracking System Next, a target tracking system to which the target tracking device of the first or second embodiment described above is applied will be described. Below, the air traffic control system which uses an aircraft as a target object is demonstrated as a specific example of a target tracking system.
FIG. 5 shows a configuration of an air traffic control system to which the first or second target tracking device is applied.
As shown in FIG. 5, the air traffic control system of this embodiment includes monitoring sensors 1-1 to 1-L (L is a natural number of 1 or more) and monitoring sensors 2-1 to 2-M (M is 1 or more). Natural number), monitoring sensors 3-1 to 3-N (N is a natural number of 1 or more), monitoring data smoothing processing units 4-1 to 4-3, and same monitoring system target integration processing units 5-1 to 5 -3, a heterogeneous monitoring system target integration processing unit 6, an integrated target data output unit 12, an air traffic control information processing device 7, and target tracking processing devices 13-1 to 13-7.
That is, in the air traffic control system of the present embodiment, the monitoring data smoothing processing units 4-1 to 4-3, the same monitoring system target integration processing units 5-1 to 5-3, and the heterogeneous monitoring system target integration processing unit 6 Each of these is provided with target tracking processing devices 13-1 to 13-7 corresponding to the target tracking processing 13 shown in FIG. Further, the integrated target data output unit 12 shown in FIG. 1 is provided in the previous stage of the air traffic control information processing apparatus 7.

The monitoring sensors 1-1 to 1-L are radar devices (SSR (Secondary Surveillance Radar) / ORSR (Oceanic Route Surveillance Radar)). The monitoring sensors 1-1 to 1-L transmit the question signal to the aircraft while rotating the antenna (antenna) at a constant period, and generate target data from the response signal to the question signal. Each of the monitoring sensors 1-1 to 1-L operates asynchronously with each other.
The monitoring sensors 2-1 to 2-M are automatic dependent monitoring devices (ADS-B (Automatic Dependent Surveillance-Broadcast)). The monitoring sensors 2-1 to 2-M receive a signal in which the aircraft transmits information such as its own position in a broadcast format, decode the received signal, and generate target data. The monitoring sensors 2-1 to 2-M operate asynchronously with each other.
The monitoring sensors 3-1 to 3-N are wide area multilateration (WAM). The monitoring sensors 3-1 to 3-N transmit an interrogation signal to an aircraft by an existing radar device, and intercept a response signal transmitted from the aircraft to the interrogation signal by a plurality of reception devices. The target data is generated by detecting the target. The monitoring sensors 3-1 to 3-N operate asynchronously with each other.

The monitoring data smoothing processing unit 4-1 receives target data from each of the monitoring sensors 1-1 to 1-L that are operating asynchronously, and performs target data smoothing processing.
When the target data is input to the monitoring data smoothing processing unit 4-1, the target tracking processing unit 13-1 calculates the estimated position of the target at the observation time indicated by the target data, and the target at the latest observation time. Holds the estimated position of the object. The monitoring data smoothing processing unit 4-1 refers to the estimated position of the target held by the target tracking processing unit 13-1 in the smoothing processing.
The monitoring data smoothing processing units 4-2 and 4-3 also perform substantially the same operation as the monitoring data smoothing processing unit 4-1. The target tracking processing units 13-2 and 13-3 also perform substantially the same operation as the target tracking processing unit 13-1.
The same monitoring system target integration processing unit 5-1 inputs target data from each of the monitoring sensors 1-1 to 1-L operating asynchronously via the monitoring data smoothing processing unit 4-1, Integration processing of target data is performed by performing data correlation processing.
When the target data is input to the same monitoring system target integration processing unit 5-1, the target tracking processing unit 13-4 calculates the estimated position of the target at the observation time indicated by the target data, and at the latest observation time. Holds the estimated position of the target. The same monitoring system target integration processing unit 5-1 refers to the estimated position of the target held by the target tracking processing unit 13-4 in the integration processing. Thereby, the improvement of the correlation rate in an integrated process can be aimed at.
The same monitoring system target integration processing 5-2 and 5-3 also perform substantially the same operation as the same monitoring system target integration processing unit 5-1. The target tracking processing units 13-5 and 13-6 also perform substantially the same operation as the target tracking processing unit 13-4.

The heterogeneous monitoring system target integration processing unit 6 receives target data from the monitoring sensors 1-1 to 1-L, 2-1 to 2-M, and 3-1 to 3-N that are operating asynchronously as monitoring data. The data is input via the smoothing processing units 4-1 to 4-3 and the same monitoring system target integration processing units 5-1 to 5-3. The heterogeneous monitoring system target integration processing unit 6 performs target data integration processing by performing target data correlation processing.
When the target data is input to the heterogeneous monitoring system target integration processing unit 6, the target tracking processing unit 13-7 calculates the estimated position of the target at the observation time indicated by the target data, and the target at the latest observation time. Holds the estimated position. The heterogeneous monitoring system target integration processing unit 6 refers to the estimated position of the target held by the target tracking processing unit 13-7 in the integration processing. Thereby, the improvement of the correlation rate in an integrated process can be aimed at.
The integrated target data output unit 12 performs processing for outputting the integrated target data in a predetermined format to the air traffic control information processing device 7. As described above, the integrated target data is data such as the estimated position and predicted position of the target at the current time, the predicted position of the target at the future time, and the like.

(2) Other Embodiments Although the present invention has been described above with reference to the embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention within the scope of the present invention. Hereinafter, modifications of the present embodiment will be shown.

(2-1) Modification 1
In the first embodiment, the past estimated position accumulation unit 11 accumulates the estimated position and target data of the target at all observation times. In the second embodiment, the past estimated position accumulating unit 11 stores the target object at the observation time at the same time as the oldest observation time of the accumulated target data or after the oldest observation time. The estimated position and target data were accumulated. However, if data is continuously stored in the past estimated position storage unit 11, the storage capacity of the past estimated position storage unit 11 is compressed. Therefore, the old data stored in the past estimated position storage unit 11 may be discarded.
For example, the past estimated position accumulating unit 11 accumulates only the estimated position and target data of the most recent fixed number of targets, or only the estimated position and target data of the target at the observation time within a certain past time from the current time. However, other old data may be discarded.
Thereby, the storage capacity of the past estimated position accumulation unit 11 can be reduced.
Further, the cycle for sending the target data is different for each type of monitoring sensor. In general, the period of the radar apparatus is 10 seconds or 4 seconds, the period of the automatic slave monitoring apparatus is 0.5 seconds or more, and the period of wide area multilateration is about 1 second.
Therefore, the past estimated position storage unit 11 changes the fixed number according to the type of the monitoring sensor that is the input source of the target data when storing only the estimated position and target data of the last certain number of targets. May be.
Thereby, when using a plurality of types of monitoring sensors, the tracking process can be executed in consideration of this.

(2-2) Modification 2
In the first embodiment, the target tracking unit 10 uses all input target data for the tracking process. Further, in the second embodiment, the target tracking unit 10 determines that the observation time of the input target data is the same as the oldest observation time of the accumulated target data or the oldest observation time. At a later time, the target data is used for the tracking process. However, the observation position indicated by the target data includes an error component, and the error component of the observation position is different for each type of monitoring sensor.
Therefore, when the target data is input from the monitoring sensor, the target tracking unit 10 calculates the error component of the observation position indicated by the target data according to the type of the monitoring sensor, and the calculated error component is determined in advance. If the specified value is exceeded, the target data may be rejected and excluded from the tracking process.
As a result, target data having a large error component at the observation position can be excluded from the target of the tracking process, so that the calculation accuracy of the estimated position of the target can be further improved.
Further, when a plurality of types of monitoring sensors are used, the tracking process can be executed in consideration of this.

  Hereinafter, a method of calculating the error component of the observation position for each type of monitoring sensor in the target tracking unit 10 will be described. Here, it is assumed that the target tracking unit 10 is provided in any of the monitoring data smoothing processing units 4-1 to 4-3 illustrated in FIG. In this case, the target data excluded from the tracking processing target is also excluded from the smoothing processing target.

When the monitoring sensor is a radar device (SSR / ORSR), the aircraft detection method is determined according to the azimuth and distance of the aircraft from the center of the radar device. Here, when the observation position is subjected to coordinate conversion for the smoothing process, there is a characteristic that the position error increases as the distance of the aircraft from the radar apparatus increases. Therefore, the target tracking unit 10 inputs the target data that also stores the distance of the aircraft from the center of the radar apparatus, and based on the preset error coefficient and the distance of the aircraft from the center of the radar apparatus. The error component of the observation position is detected. For example, it is conceivable to multiply the error coefficient and the distance and use the multiplication result as an error component of the observation position.
When the monitoring sensor is an automatic subordinate monitoring device (ADS-B), the aircraft measures its own position, calculates an error component at the measured position at the same time, and digitizes the error component as an index. Then, the aircraft transmits its position and numerical error component in a broadcast format. The ADS-B sends out target data storing the position obtained from the aircraft and the numerical error component. Therefore, the target tracking unit 10 holds a table in which the numerical error component and the actual error component are associated with each other, collates the table with the numerical error component stored in the target data, and detects the error of the actual observation position. Find the ingredients.
When the monitoring sensor is wide area multilateration (WAM), the wide area multilateration simultaneously calculates an error component at the observation position at the time of observation and transmits target data storing the observation position and the error component. Therefore, the target tracking unit 10 refers to the error component of the observation position stored in the target data.

(2-3) Modification 3
In FIG. 3B and FIG. 3C of the first embodiment, it has been described that target data having different observation times is input to the target tracking unit 10, but in a situation where a plurality of monitoring sensors are used, the observation time is The same target data may be input.
In this case, it is conceivable that target data with the same observation time inputted later is dealt with by any of the following.
・ Exclude them from the tracking process.
・ Include them in the tracking process. Then, the tracking filter update processing is started from the estimated position of the target at the observation time immediately before the observation time.
-Compare the error components at the observation position indicated by the target data with the same observation time. If the target data input later has a smaller error component, the target data is the target of the tracking process. include. Then, the tracking filter update processing is started from the estimated position of the target at the observation time immediately before the observation time. At this time, the error component of the observation position is calculated by the method shown in (2-2).

(2-4) Modification 4
The method performed by the target tracking device of the present invention may be applied to a program for causing a computer to execute. In addition, the program can be stored in a storage medium and can be provided to the outside via a network.

  The present invention is applicable to all target tracking devices that track a target. Specifically, the present invention can be used for an air traffic control radar information processing device, a composite monitoring sensor processing device, a multi-radar processing device, and the like.

DESCRIPTION OF SYMBOLS 10 Target tracking part 11 Past estimated position storage part 12 Integrated target data output part 13, 13-1 to 13-7 Target tracking processing device 1-1 to 1-L monitoring sensor 2-1 to 2-M monitoring sensor 3-1 ˜3-N monitoring sensor 4-1 to 4-3 monitoring data smoothing processing unit 5-1 to 5-3 same monitoring system target integration processing unit 6 heterogeneous monitoring system target integration processing unit 7 air traffic control information processing apparatus

Claims (20)

When target data indicating the observation position and observation time of a target is input from one of a plurality of monitoring sensors, the estimated position of the target at the observation time is calculated, and the estimated position of the target at the latest observation time is calculated. A target tracking unit that holds
An accumulation unit for accumulating the estimated position and target data of the target at each observation time;
The target tracking unit is
When the target data whose observation time is the latest observation time is input, the estimated position of the target at the latest observation time is set to the observation position of the target at the latest observation time and the estimated position held by itself. Calculate and hold based on
When target data whose observation time is a past time before the latest observation time is input, the observation position of the target at the past time, the estimated position of the target stored in the storage unit, and the target A target tracking device that recalculates the estimated position of the target at the latest observation time based on the data and updates the estimated position of the target at the latest observation time. When target data indicating the observation position and observation time of a target is input from one of a plurality of monitoring sensors, the estimated position of the target at the observation time is calculated, and the estimated position of the target at the latest observation time is calculated. A target tracking unit that holds
An accumulation unit for accumulating the estimated position and target data of the target at each observation time;
The target tracking unit is
When the target data whose observation time is the latest observation time is input, the estimated position of the target at the latest observation time is set to the observation position of the target at the latest observation time and the estimated position held by itself. Calculate and hold based on
The observation time is earlier than the latest observation time, and the same or the oldest observation time among the observation times of the target data stored in the storage unit or later than the oldest observation time. When the target data that is the past time is input, based on the observation position of the target object at the past time, the estimated position of the target object stored in the storage unit, and the target data, A target tracking device that recalculates an estimated position of a target and updates the estimated position of the target at the latest observation time. The target tracking unit is
Target data whose observation time is before the latest observation time and that is a past time before the earliest observation time among the observation times of the target data stored in the storage unit is input. 3. The target tracking device according to claim 2, wherein the input target data is rejected without recalculating and updating the estimated position of the target at the latest observation time. The target tracking unit is
When recalculating the estimated position of the target at the latest observation time,
The estimated position of the target object at the past time, which is the observation time of the input target data, and the observed position of the target object at the past time and the estimated position of the target object at the observation time immediately before the past time A new calculation based on the estimated position of the target at the observation time after the past time, and the target position at the observation time immediately before the observation time and the observation position of the target at the observation time. The target tracking device according to claim 1, wherein recalculation is performed based on the estimated position.   An output unit that calculates and outputs a predicted position of the target at a time later than the latest observation time based on the estimated position of the target at the latest observation time held by the target tracking unit; The target tracking device according to any one of claims 1 to 4, further comprising: The storage unit
6. The target tracking device according to claim 1, wherein the target tracking device stores the estimated position and target data of the last certain number of targets among the estimated position and target data of the target at each observation time. The storage unit
The target tracking device according to claim 6, wherein the predetermined number is changed according to a type of a monitoring sensor that is an input source of the target data. The storage unit
The estimated position and target data of the target at the observation time within a certain past time from the current time are accumulated among the estimated position and target data of the target at each observation time. The target tracking device described. The target tracking unit is
When the target data is input, the error component of the observation position indicated by the target data is calculated according to the type of the monitoring sensor that is the input source of the target data, and the calculated error component is equal to or greater than a predetermined specified value. If so, the target tracking device according to any one of claims 1 to 8, wherein the target data is rejected. When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking step for calculating the estimated position of the target at the observation time;
A holding step for holding the estimated position of the target at the latest observation time;
An accumulation step for accumulating the estimated position and target data of the target at each observation time;
When target data whose observation time is the latest observation time is input, in the tracking step, the estimated position of the target object at the latest observation time and the observation position of the target object at the previous latest observation time are stored. Calculated based on the estimated position held in the step, and in the holding step, the calculated estimated position of the target at the latest observation time is held,
When target data whose observation time is a past time before the latest observation time is input, in the tracking step, the observation position of the target at the past time and the target accumulated in the accumulation step A target tracking method in which the estimated position of the target at the latest observation time is recalculated based on the estimated position and the target data, and in the holding step, the estimated position of the target at the latest observation time is updated. When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking step for calculating the estimated position of the target at the observation time;
A holding step for holding the estimated position of the target at the latest observation time;
An accumulation step for accumulating the estimated position and target data of the target at each observation time;
When target data whose observation time is the latest observation time is input, in the tracking step, the estimated position of the target object at the latest observation time and the observation position of the target object at the previous latest observation time are stored. Calculated based on the estimated position held in the step, and in the holding step, the calculated estimated position of the target at the latest observation time is held,
The observation time is earlier than the latest observation time and the same or the oldest observation time among the observation times of the target data accumulated in the accumulation step. In the tracking step, the tracking step is performed based on the observation position of the target at the past time, the estimated position of the target accumulated in the accumulation step, and the target data. A target tracking method of recalculating the estimated position of the target at the latest observation time, and updating the estimated position of the target at the latest observation time in the holding step. In the tracking step,
Target data whose observation time is before the latest observation time and that is a past time before the earliest observation time among the observation times of the target data accumulated in the accumulation step is input. The target tracking method according to claim 11, wherein, in the tracking step and the holding step, the input target data is rejected without recalculating and updating the estimated position of the target at the latest observation time. . In the tracking step,
When recalculating the estimated position of the target at the latest observation time,
The estimated position of the target object at the past time, which is the observation time of the input target data, and the observed position of the target object at the past time and the estimated position of the target object at the observation time immediately before the past time A new calculation based on the estimated position of the target at the observation time after the past time, and the target position at the observation time immediately before the observation time and the observation position of the target at the observation time. The target tracking method according to claim 10, wherein recalculation is performed based on the estimated position.   An output step of calculating and outputting a predicted position of the target at a time later than the latest observation time based on the estimated position of the target at the latest observation time held in the holding step; The target tracking method according to any one of claims 10 to 13. In the accumulation step,
The target tracking method according to any one of claims 10 to 14, wherein among the estimated position and target data of the target at each observation time, the estimated position and target data of the last certain number of targets are accumulated. In the accumulation step,
The target tracking method according to claim 15, wherein the predetermined number is changed according to a type of a monitoring sensor that is an input source of the target data. In the accumulation step,
The estimated position and target data of the target at the observation time within a certain past time from the current time are accumulated among the estimated position and target data of the target at each observation time. The target tracking method described. In the tracking step,
When the target data is input, the error component of the observation position indicated by the target data is calculated according to the type of the monitoring sensor that is the input source of the target data, and the calculated error component is equal to or greater than a predetermined specified value. If so, the target tracking method according to any one of claims 10 to 17, wherein the target data is rejected. On the computer,
When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking procedure for calculating the estimated position of the target at the observation time;
A holding procedure for holding the estimated position of the target at the latest observation time;
A program for executing an estimated position of a target object at each observation time and an accumulation procedure for accumulating target data,
When target data whose observation time is the latest observation time is input, in the tracking procedure, the estimated position of the target at the latest observation time and the observation position of the target at the latest observation time are stored. Calculated based on the estimated position held in the procedure, and in the holding procedure, the calculated estimated position of the target at the latest observation time is held,
When target data whose observation time is a past time before the latest observation time is input, in the tracking procedure, the observation position of the target object at the past time and the target object accumulated in the accumulation procedure A program for recalculating an estimated position of a target at the latest observation time based on the estimated position and the target data, and updating the estimated position of the target at the latest observation time in the holding procedure. On the computer,
When target data indicating the observation position and observation time of the target is input from any of the plurality of monitoring sensors, a tracking procedure for calculating the estimated position of the target at the observation time;
A holding procedure for holding the estimated position of the target at the latest observation time;
A program for executing an estimated position of a target object at each observation time and an accumulation procedure for accumulating target data,
When target data whose observation time is the latest observation time is input, in the tracking procedure, the estimated position of the target at the latest observation time and the observation position of the target at the latest observation time are stored. Calculated based on the estimated position held in the procedure, and in the holding procedure, the calculated estimated position of the target at the latest observation time is held,
The observation time is earlier than the latest observation time, and the observation time of the target data accumulated in the accumulation procedure is the same as the oldest observation time or later than the oldest observation time. In the tracking procedure, the tracking procedure is performed based on the observation position of the target at the past time, the estimated position of the target accumulated in the accumulation procedure, and the target data. A program for recalculating an estimated position of a target at the latest observation time and updating the estimated position of the target at the latest observation time in the holding procedure.