JP2737497B2 - Proximity alarm device - Google Patents
Proximity alarm deviceInfo
- Publication number
- JP2737497B2 JP2737497B2 JP3338681A JP33868191A JP2737497B2 JP 2737497 B2 JP2737497 B2 JP 2737497B2 JP 3338681 A JP3338681 A JP 3338681A JP 33868191 A JP33868191 A JP 33868191A JP 2737497 B2 JP2737497 B2 JP 2737497B2
- Authority
- JP
- Japan
- Prior art keywords
- processing means
- tracking
- accuracy
- proximity
- deviation
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
Landscapes
- Radar Systems Or Details Thereof (AREA)
Description
【０００１】[0001]
【産業上の利用分野】本発明は、近接警報装置に関し、
たとえば、航空機間の異常接近を速やかに検知すること
により、航空交通の安全性を向上させるようにした近接
航空機検知装置に関するものである。BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a proximity alarm device,
For example, the present invention relates to a proximity aircraft detection device that improves the safety of air traffic by quickly detecting an abnormal approach between aircraft.
【０００２】[0002]
【従来の技術】従来、航空機間の異常接近を検知する近
接航空機検知装置が知られている。図４は、特開昭６２
−２４２８７９による近接航空機検知装置の第１図に対
応するブロック図である。なお、図４において、特開昭
６２−２４２８７９の第１図におけるレーダ接続装置
（２）、マトリックステーブル（１１）、記憶領域（１
２）の図示は省略している。また同図における制御手段
（１９）は、図４における接近計算処理部（７）に対応
する。図中、１は検出手段としてのレーダーを示す。該
レーダー１は、航空機の位置情報２をアナログ信号とし
て出力するものであり、該レーダー１は１回転毎に、航
空機の位置情報２を１回入力するものである。３は上記
位置情報２を入力する数値化処理部で、該数値化処理部
３は上記位置情報２を数値化し、数値化信号４として出
力するものである。該数値化処理部３は、例えばレーダ
ービーコンビデオディジタイザにより構成される。ま
た、５は上記数値化信号４を入力する追尾処理部を示
す。該追尾処理部５は上記数値化信号４に基づき各航空
機毎の追尾処理を行い、航空機の正しいと思われる位置
・針路・速度等を算出し、位置・針路・速度等の追尾情
報６を接近計算処理部７に出力する。接近計算処理部７
は航空機間の距離を求めることにより、近接する航空機
を算出するものである。また、８は上記接近計算処理部
７により制御される警報処理部を示す。警報処理部８は
上記接近計算処理部７が、近接する航空機を検出したと
きに警報を出力するものである。接近計算処理部７は、
航空機同士が接近する危険があるかを計算し、危険があ
ると判断された場合は警報処理部８が警報を発すること
になる。2. Description of the Related Art Conventionally, a proximity aircraft detection device for detecting an abnormal approach between aircraft has been known. FIG.
FIG. 2 is a block diagram corresponding to FIG. 1 of the proximity aircraft detection device according to −242879. In FIG. 4, the radar connection device (2), the matrix table (11), and the storage area (1) in FIG.
Illustration 2) is omitted. The control means (19) in the figure corresponds to the approach calculation processing unit (7) in FIG. In the figure, reference numeral 1 denotes a radar as a detecting means. The radar 1 outputs the aircraft position information 2 as an analog signal, and the radar 1 inputs the aircraft position information 2 once per revolution. Numeral 3 is a digitizing processor for inputting the position information 2, which digitizes the position information 2 and outputs it as a digitized signal 4. The digitizing unit 3 is constituted by, for example, a radar beacon video digitizer. Reference numeral 5 denotes a tracking processing unit that inputs the digitized signal 4. The tracking processing unit 5 performs a tracking process for each aircraft based on the digitized signal 4, calculates a position, course, speed, and the like that are considered to be correct for the aircraft, and approaches tracking information 6 such as the position, course, and speed. Output to the calculation processing unit 7. Approach calculation processing unit 7
Calculates the approaching aircraft by calculating the distance between the aircraft. Reference numeral 8 denotes an alarm processing unit controlled by the approach calculation processing unit 7. The warning processing unit 8 outputs a warning when the approach calculation processing unit 7 detects an approaching aircraft. The approach calculation processing unit 7
It is calculated whether there is a danger that the aircraft will approach each other. If it is determined that there is a danger, the alarm processing unit 8 issues an alarm.
【０００３】[0003]
【発明が解決しようとする課題】従来技術による近接航
空機検知装置は、上記のように構成されていたため、以
下の問題点があった。すなわち、接近計算処理部７にお
いて、最接近時よりなるべく前の早い時間に警報を発す
るようにパラメータを設定すれば、追尾処理部６から出
力される航空機の速度・針路に誤差が含まれているた
め、航空機の近接を検知し警報処理部８に警報を出力し
ても誤警報の確率が高くなり、装置の信頼性を損ねるこ
とになる。また、警報の精度を上げようとすれば、警報
を出力する時間を最接近時に近い時間とせざるを得ず、
航空機近接防止に不十分となる恐れがあった。Since the proximity aircraft detection device according to the prior art is configured as described above, it has the following problems. That is, if the approach calculation processing unit 7 sets a parameter so that an alarm is issued as soon as possible before the time of the closest approach, an error is included in the speed and course of the aircraft output from the tracking processing unit 6. Therefore, even if the proximity of the aircraft is detected and an alarm is output to the alarm processing unit 8, the probability of a false alarm increases, and the reliability of the device is impaired. Also, if the accuracy of the warning is to be improved, the time for outputting the warning must be close to the time of the closest approach,
There was a risk that it would be insufficient to prevent aircraft from approaching.
【０００４】この発明は、上記のような不具合を解消す
るためになされたもので、信頼性の高い警報機能をもっ
た近接警報装置を得ることを目的とする。[0004] The present invention has been made to solve the above-mentioned problems, and has as its object to obtain a proximity alarm device having a highly reliable alarm function.
【０００５】[0005]
【課題を解決するための手段】この発明に係る近接警報
装置は、移動体が直線運動をしているものとして移動 体
の移動を予測する第１の追尾処理手段と、 第１の追尾処
理手段による予測の精度を検出する第１の精度検出手段
と、 第１の精度検出手段により検出された精度が所定値
以下の場合、移動体が旋回運動をしているものとして移
動体の移動を予測する第２の追尾処理手段と、 第２の追
尾処理手段による予測の精度を検出する第２の精度検出
手段と、 第１の精度検出手段により検出された精度が所
定値以上の場合、第１の追尾処理手段による予測を用
い、第１の精度検出手段により検出された精度が所定値
以下の場合、第２の追尾処理手段による予測を用いて移
動体と他の物体の近接状態を検出する接近計算処理手段
と、 上記接近計算処理手段により検出された近接状態に
基づいて、警報を出力する警報処理手段とを備えたこと
を特徴とする。 A proximity alarm according to the present invention
Device, mobile as the moving body is a linear motion
A first tracking processing means for predicting the movement of the first tracking processing
Accuracy detecting means for detecting the accuracy of the prediction by the logical means
And the accuracy detected by the first accuracy detecting means is a predetermined value.
In the following cases, it is assumed that the moving object is
A second tracking processing means for predicting the movement of the moving body, the second add
Second accuracy detection for detecting accuracy of prediction by tail processing means
Means and the accuracy detected by the first accuracy detecting means
If the value is equal to or more than the fixed value, use the prediction by the first tracking processing means.
The accuracy detected by the first accuracy detecting means is a predetermined value.
In the following case, the movement is performed using the prediction by the second tracking processing means.
Approach calculation processing means for detecting the proximity of a moving object to another object
And the proximity state detected by the approach calculation processing means.
Alarm processing means for outputting an alarm based on the
It is characterized by.
【０００６】上記近接警報装置は、更に、上記移動体の
位置データを記憶する追尾データバッファを備え、 上記
第１の追尾処理手段は、上記移動体について直線の軌跡
を想定して追尾処理として直線の軌跡のモデル式を算出
し、 上記第１の精度検出手段は、算出された直線の軌跡
のモデル式から得られるデータと、上記追尾データバッ
ファに記憶される上記位置データとの差から直線の偏差
を算出し、 上記第２の追尾処理手段は、算出した偏差と
所定値とを比較して、移動体が直線運動をしているか否
かを判定し、直線運動と判定した場合には、直線の軌跡
のモデル式と直線の偏差を出力し、直線運動と判定しな
い場合には、上記移動体について旋回の軌跡を想定して
追尾処理として旋回の軌跡のモデル式を算出し、 上記第
２の精度検出手段は、算出された旋回の軌跡のモデル式
から得られるデータと、上記追尾データバッファに記憶
される上記位置データとの差から旋回の偏差を算出し、
算出した旋回の軌跡のモデル式と旋回の偏差を出力する
とともに、 上記接近計算処理手段は、出力された直線の
軌跡のモデル式と旋回の軌跡のモ デル式とのいずれかと
直線の偏差と旋回の偏差とのいずれかとを入力して近接
状態を検出することを特徴とする。 [0006] The proximity alarm device may further include:
Comprising tracking data buffer for storing the position data, the
The first tracking processing means is a linear trajectory for the moving body.
Calculates the model formula of the trajectory of a straight line as tracking processing
And, the trajectory of the first accuracy detector was calculated linear
Data obtained from the model equation of
Deviation of the straight line from the difference with the above position data stored in the file
It is calculated, and the second tracking processing unit includes a calculated deviation
Compare with the specified value to determine whether the moving body is performing linear motion
And if it is determined to be a linear motion, the trajectory of the straight line
Outputs the deviation of the model formula from the straight line and determines
In this case, assume a turning trajectory
As a tracking process, a model formula of a turning locus is calculated, and the
The accuracy detection means of (2) uses a model equation of the calculated turning trajectory.
And data stored in the above tracking data buffer
Calculate the deviation of the turn from the difference with the above position data,
Outputs the calculated turning trajectory model formula and turning deviation
At the same time, the approach calculation processing means
And either the model equation of the locus of turning the model equation of the trajectory
Enter either the deviation of the straight line or the deviation of the turn to approach
The state is detected.
【０００７】この発明に係る近接警報装置は、以下の要
素を有することを特徴とする。 （ａ）移動体を追尾する追尾処理手段、 （ｂ）上記追尾処理手段の追尾精度を検出する精度検出
手段、 （ｃ）上記精度検出手段で検出された追尾精度を用い
て、上記移動体と他の物体の近接状態を判定するための
近接確率を算出する接近計算処理手段、 （ｄ）上記接近計算処理手段により算出された近接確率
に基づいて、警報を出力する警報処理手段。 The proximity alarm device according to the present invention has the following features.
Characterized by having an element. (A) tracking processing means for tracking a moving object; (b) accuracy detection for detecting the tracking accuracy of the tracking processing means
Means, (c) using the tracking accuracy detected by the accuracy detection means
To determine the proximity of the moving object to another object.
Approach calculation processing means for calculating the proximity probability, (d) the proximity probability calculated by the approach calculation processing means
Alarm processing means for outputting an alarm based on the
【０００８】[0008]
【作用】本発明に係る近接警報装置は、まず、移動体の
直線運動を想定し、第１の追尾処理手段と第１の精度検
出手段により検出された精度を評価し、直線運動の精度
が高ければ、直線運動の想定に基づいて近接状態を検出
し、直線運動の精度が低ければ、移動体の旋回運動を想
定し、第２の追尾処理手段と第２の精度検出手段により
精度を検出し、旋回運動の想定に基づいて近接状態を検
出する。 The proximity alarm device according to the present invention firstly
Assuming a linear motion, the first tracking processing means and the first accuracy detection
The accuracy of linear motion
High, the proximity is detected based on the assumption of linear motion
If the accuracy of the linear motion is low,
And the second tracking processing means and the second accuracy detecting means
Accuracy is detected, and the proximity state is detected based on the assumption of the turning motion.
Put out.
【０００９】本発明に係る近接警報装置は、第１と第２
の追尾処理手段が、直線あるいは旋回の軌跡を想定して
モデル式を算出し、第１と第２の精度検出手段は、軌跡
のモデル式と追尾データバッファに記憶された位置デー
タとの差から偏差を算出する。また、算出された偏差を
用いて、直線運動か否かを判定し、予測が比較的簡単な
直線運動の時は第２の追尾処理手段と第２の精度検出手
段を動作させることなく速やかに警報を出力する。 The proximity alarm device according to the present invention comprises first and second
Tracking processing means assumes a straight or turning trajectory
A model formula is calculated, and the first and second accuracy detecting means calculate the trajectory
Model formula and the position data stored in the tracking data buffer.
The deviation is calculated from the difference from the data. Also, the calculated deviation is
Is used to determine whether the motion is linear or not, making predictions relatively easy.
In the case of linear motion, the second tracking processing means and the second accuracy detecting means
Outputs an alarm immediately without operating the stage.
【００１０】本発明に係る近接警報装置において、精度
検出手段は、航空機等の移動体の追尾を行う場合に入力
データとモデル式とのバラツキから追尾精度を算出す
る。接近計算処理手段では、近接確率の算出にあたり、
移動体の追尾精度から近接確率を算出する。警報処理手
段は警報の出力にあたり、近接確率が一定の確率に達す
れば警報の出力を行う。 In the proximity alarm device according to the present invention, the accuracy
The detection means is input when tracking a moving object such as an aircraft.
Calculate tracking accuracy from the variation between data and model formula
You. In the approach calculation processing means, when calculating the proximity probability,
The proximity probability is calculated from the tracking accuracy of the moving object. Alarm processing hand
The stage outputs an alarm, and the probability of approach reaches a certain probability
If so, an alarm is output.
【００１１】[0011]
【実施例】実施例１．以下に、本発明の実施例を図１な
いし図３に基づき説明する。なお、従来技術と同一構成
要素には同一符号を付して説明を省略するものとする。
１１はレーダーからの入力データを記憶する追尾データ
バッファを示す。数値化処理部３から入力された数値化
信号４は追尾処理部５で追尾が行われ、過去Ｎ回（Ｎは
パラメータ）分の入力位置が追尾データバッファ１１に
保存される。１３は軌跡と入力データの差から偏差を算
出する精度検出部である。図２は、追尾処理部５及び精
度検出部１３の動作を示すフローチャート図であり、最
新の位置が入力された時点で過去Ｎ回のデータから、航
空機が直線運動しているのか旋回運動しているのかを判
断し、それぞれのモデル式に対応させるものである。直
線運動しているか旋回運動しているかの判定は、図２に
示すように、まず、直線運動を仮定して、以下に示す計
算を行い、モデル式から得られる軌跡と過去Ｎ回のデー
タの偏差を求め、その偏差が一定値以上大きい場合、旋
回運動でやり直す。 直線運動の場合 Ｘ（ｔ）＝Ａ・ｔ＋Ｂ Ｙ（ｔ）＝Ｃ・ｔ＋Ｄ 旋回運動の場合 Ｘ（ｔ）＝Ｅ・ｔ2＋Ｆ・ｔ＋Ｇ Ｙ（ｔ）＝Ｈ・ｔ2＋Ｉ・ｔ＋Ｊ Ｘ（ｔ），Ｙ（ｔ） 入力タイミングｔにおけ
る座標 Ａ〜Ｊ モデル式係数 この計算は過去Ｎ回の入力データからＡ〜ＤまたはＥ〜
Ｊの係数を最小自乗法や他の手法を用いて最適解を求め
るものである。精度検出部１３は算出した航空機の軌跡
と入力データの誤差から偏差を算出する。偏差はモデル
式どおりにあてはめた値から入力値のバラツキを求める
ことにより算出する。[Embodiment 1] Hereinafter, an embodiment of the present invention will be described with reference to FIGS. It is to be noted that the same components as those of the conventional art are denoted by the same reference numerals, and description thereof will be omitted.
Reference numeral 11 denotes a tracking data buffer for storing input data from the radar. The digitizing signal 4 input from the digitizing processing unit 3 is tracked by the tracking processing unit 5, and input positions for the past N times (N is a parameter) are stored in the tracking data buffer 11. Reference numeral 13 denotes an accuracy detection unit that calculates a deviation from the difference between the trajectory and the input data. FIG. 2 is a flowchart illustrating the operations of the tracking processing unit 5 and the accuracy detection unit 13. At the time when the latest position is input, the data is used to determine whether the aircraft is performing a linear motion or a turning motion based on the past N times of data. Is determined, and is made to correspond to each model formula. As shown in FIG. 2, the determination as to whether the robot is performing a linear motion or a turning motion is made by first performing the following calculation on the assumption of a linear motion, and calculating the trajectory obtained from the model formula and the data of the past N times. The deviation is obtained, and if the deviation is larger than a certain value, the operation is repeated by the turning motion. For linear motion X (t) = A · t + B Y (t) = C · t + D pivoting case of movement X (t) = E · t 2 + F · t + G Y (t) = H · t 2 + I · t + J X ( t), Y (t) Coordinates at input timing t A to J Model equation coefficients This calculation is based on the past N times of input data, A to D or E to
This is for obtaining an optimal solution for the coefficient of J by using the least squares method or another method. The accuracy detection unit 13 calculates a deviation from the calculated error of the trajectory of the aircraft and the input data. The deviation is calculated by calculating the variation of the input value from the value applied according to the model formula.
【００１２】次に、図３は、接近計算処理部７の動作を
示すフローチャート図である。追尾処理部５で算出され
た、モデル式のパラメータ及び座標位置は追尾情報１２
として接近計算処理部７に送られる。接近計算処理部７
はモデル式どおり航空機が飛行するものと想定して、近
接する可能性がある航空機対について高度的・平面的に
接近し、その接近の時間帯が重なる可能性のある航空機
対を選択する。すなわち、近接の可能性のある航空機対
を選択し、両航空機の針路・速度・高度・高度変化率か
ら、平面的に両航空機が近接し、高度的にも近接し、か
つ平面的・高度的に近接する時間帯が重なるかを判断す
る。つぎに最接近するときの両航空機の距離と両航空機
の偏差の和の積を以下の式のように求めることにより判
定値を得る。α＝（最接近時の予測距離）＊（両航空機
の偏差の和）このようにして求めた判定値αが一定のパ
ラメータ値より小さければ近接の可能性大として、警報
処理部８が警報を出力する。FIG. 3 is a flowchart showing the operation of the approach calculation processing section 7. The parameters and coordinate positions of the model formula calculated by the tracking processing unit 5 are the tracking information 12.
Is sent to the approach calculation processing unit 7 as Approach calculation processing unit 7
Assuming that the aircraft flies according to the model formula, the aircraft pair approaching in a highly advanced and planar manner with respect to the pair of aircraft that may be close to each other and selecting a pair of aircraft that may overlap in the time zone of the approach. That is, a pair of aircraft that are likely to be close to each other is selected, and based on the course, speed, altitude, and altitude change rate of both aircraft, the two aircraft are two-dimensionally close, two-dimensionally close, and two-dimensional It is determined whether or not the time zones close to are overlapped. Next, a determination value is obtained by obtaining the product of the distance between the two aircraft at the time of closest approach and the sum of the deviation of the two aircraft as in the following equation. α = (estimated distance at the time of closest approach) * (sum of deviations of both aircraft) If the determination value α thus obtained is smaller than a certain parameter value, the possibility of approach is large, and the alarm processing unit 8 issues an alarm. Output.
【００１３】以上のように、この実施例では、近接航空
機検知装置であって、所定空間内を飛行する航空機の追
尾精度を軌跡と入力データの差から偏差を算出すること
により検出する精度検出手段と、航空機の追尾精度を航
空機近接確率の算出に用いる接近計算処理手段と、一定
の近接確率以上に航空機近接の可能性が高くなれば、警
報を出力する警報処理手段を備えたことを特徴とした近
接航空機検知装置を説明した。As described above, in this embodiment, the proximity aircraft detection device is an accuracy detection means for detecting the tracking accuracy of an aircraft flying in a predetermined space by calculating a deviation from a difference between a trajectory and input data. And an approach calculation processing means for using the tracking accuracy of the aircraft for calculating the aircraft proximity probability, and an alarm processing means for outputting an alert if the possibility of aircraft proximity becomes higher than a certain proximity probability. Described proximity aircraft detection device.
【００１４】実施例２． なお、近接判定の算式として最接近するときの両航空機
の距離と両航空機の偏差の和の積を判定値に用いたが、
以下の式に示すように最接近するときの両航空機の距離
と両航空機の偏差あるいは両飛行機の偏差に一定の値ｒ
を乗じたものとの和を判定値に用いることでも良い。 α＝（最接近時の予測距離）＋（両飛行機の偏差の和） α＝（最接近時の予測距離）＋（（両飛行機の偏差の和）＊ｒ） また、偏差を用いたその他の算式を用いる場合でもかま
わない。 Embodiment 2 FIG . In addition, although the product of the sum of the distance between the two aircraft and the difference between the two aircraft when approaching the closest approach was used as the determination value as a formula for the proximity determination,
As shown in the following equation, the distance r between the two aircraft at the time of closest approach and the deviation between the two aircraft or the deviation between the two aircraft are constant values r.
May be used as the determination value. α = (estimated distance at the time of closest approach) + (sum of deviations of both aircraft) α = (estimated distance at the time of closest approach) + ((sum of deviations of both aircraft) * r) A formula may be used.
【００１５】実施例３． また、上記実施例では、追尾精度として偏差を用いる場
合を示したが、偏差は精度を示す一例であり、その他の
精度をあらわす値を用いてもかまわない。Embodiment 3 FIG. Further, in the above-described embodiment, the case where the deviation is used as the tracking accuracy has been described. However, the deviation is an example indicating the accuracy, and a value representing other accuracy may be used.
【００１６】実施例４． また、上記実施例では、接近する場合を距離をパラメー
タとして判断する場合を示したが、移動体が同一地点あ
るいはそのまわりの所定の範囲を通過する場合の通過時
刻の差を、接近を判定するためのパラメータとしてもよ
い。また、この場合は、偏差も、軌跡と入力位置の距離
差ではなく、時刻差により算出されるものとしてもよ
い。また、上記実施例とこの実施例の両方をあわせて、
距離による接近判断と時刻による接近判断の両方を行な
えるようにしてもよい。Embodiment 4 FIG. Further, in the above-described embodiment, the case where the approach is determined using the distance as a parameter has been described. However, the difference between the passing times when the moving object passes through the same point or a predetermined range around the same point is determined as the approach. May be used. Further, in this case, the deviation may be calculated based on a time difference instead of a distance difference between the trajectory and the input position. In addition, by combining both the above embodiment and this embodiment,
Both the approach determination based on the distance and the approach determination based on the time may be performed.
【００１７】実施例５． また、上記実施例では航空機の近接を例にあげて説明し
たが、船舶、潜水艦、自動車、ヘリコプター等他の移動
体の場合にも同様に適用できる。また、移動体は物体に
限るものでなく、鳥や魚や動物等の生き物でもよい。ま
た、上記実施例では、飛行機２機が接近する場合を例に
して説明したが、両方とも移動する場合に限らず、一方
が建物や山や岩等の不動体であり、他方が飛行機や船舶
等の移動体の場合でもかまわない。Embodiment 5 FIG. In the above embodiment, the proximity of an aircraft has been described as an example, but the present invention can be similarly applied to other moving objects such as ships, submarines, automobiles, and helicopters. The moving object is not limited to an object, but may be a living thing such as a bird, a fish, or an animal. Further, in the above-described embodiment, the case where two airplanes approach each other has been described as an example. However, the present invention is not limited to the case where both airplanes move, one is an immovable body such as a building, a mountain or a rock, and the other is an airplane or a ship. Such a mobile body may be used.
【００１８】[0018]
【発明の効果】本発明によれば、予測が比較的簡単な直
線運動の時は第２の追尾処理手段と第２の精度検出手段
を動作させることなく速やかに警報が出力でき、また、
直線運動でないときは、旋回運動に必要な計算を行った
後に警報を出力するので、信頼 性の高い近接警報装置を
実現できるという効果を奏する。 According to the present invention, direct prediction is relatively simple.
A second tracking processing means and a second accuracy detecting means for linear motion;
Alarm can be output immediately without operating
When not linear motion, necessary calculations for turning motion were performed.
An alarm is output later, so a highly reliable proximity alarm
This has the effect of realizing it.
【００１９】また、本発明によれば、軌跡のモデル式と
位置データから算出された偏差を用いて近接状態を検出
するので、信頼性の高い近接警報装置を実現できるとい
う効果を奏する。 Further , according to the present invention, the trajectory model formula and
Proximity detection using deviation calculated from position data
That a highly reliable proximity alarm device can be realized.
Has the effect of
【００２０】また、本発明によれば、移動体の入力デー
タの信頼性が高い場合は、前広に警報を出力することが
可能となり、またデータの信頼性が低い場合は近接の可
能性が高まった段階で警報を出力するので、近接警報装
置の警報機能の信頼性を高めることができる。 Further , according to the present invention, the input data of the moving body is provided.
If the reliability of the data is high, a warning can be output to Maehiro.
Possible, and if data reliability is low, proximity
An alarm is output when the performance is enhanced.
The reliability of the alarm function of the device can be increased.
【図１】本発明の一実施例を示す図。FIG. 1 is a diagram showing one embodiment of the present invention.
【図２】本発明の動作を示すフローチャート図。FIG. 2 is a flowchart showing the operation of the present invention.
【図３】本発明の動作を示すフローチャート図。FIG. 3 is a flowchart showing the operation of the present invention.
【図４】従来例を示す図。FIG. 4 is a diagram showing a conventional example.
５ 追尾処理部 ７ 接近計算処理部 ８ 警報処理部 １１ 追尾データバッファ １３ 精度検出部 5 tracking processing unit 7 approach calculation processing unit 8 alarm processing unit 11 tracking data buffer 13 precision detection unit
Claims (3)
移動体の移動を予測する第１の追尾処理手段と、 第１の追尾処理手段による予測の精度を検出する第１の
精度検出手段と、 第１の精度検出手段により検出された精度が所定値以下
の場合、移動体が旋回運動をしているものとして移動体
の移動を予測する第２の追尾処理手段と、 第２の追尾処理手段による予測の精度を検出する第２の
精度検出手段と、 第１の精度検出手段により検出された精度が所定値以上
の場合、第１の追尾処理手段による予測を用い、第１の
精度検出手段により検出された精度が所定値以下の場
合、第２の追尾処理手段による予測を用いて移動体と他
の物体の近接状態を検出する接近計算処理手段と、 上記接近計算処理手段により検出された近接状態に基づ
いて、警報を出力する警報処理手段とを備えたことを特
徴とする近接警報装置。 (1) Assuming that the moving body is performing a linear motion.
First tracking processing means for predicting the movement of the moving body, and first tracking processing means for detecting the accuracy of the prediction by the first tracking processing means.
The accuracy detected by the accuracy detecting means and the first accuracy detecting means is equal to or less than a predetermined value.
In the case of, the moving object
Tracking processing means for predicting the movement of the moving object, and a second tracking processing means for detecting the accuracy of the prediction by the second tracking processing means.
The accuracy detected by the accuracy detecting means and the first accuracy detecting means is equal to or more than a predetermined value.
In the case of, using the prediction by the first tracking processing means,
If the accuracy detected by the accuracy detection means is less than a predetermined value,
In this case, the moving object and the other
Proximity calculation processing means for detecting a proximity state of an object, and an approach calculation processing means based on the proximity state detected by the approach calculation processing means.
And an alarm processing means for outputting an alarm.
Proximity alarm device to be called.
の位置データを記憶する追尾データバッファを備え、 上記第１の追尾処理手段は、上記移動体について直線の
軌跡を想定して追尾処理として直線の軌跡のモデル式を
算出し、 上記第１の精度検出手段は、算出された直線の軌跡のモ
デル式から得られるデータと、上記追尾データバッファ
に記憶される上記位置データとの差から直線の偏差を算
出し、 上記第２の追尾処理手段は、算出した偏差と所定値とを
比較して、移動体が直線運動をしているか否かを判定
し、直線運動と判定した場合には、直線の軌跡のモデル
式と直線の偏差を出力し、直線運動と判定しない場合に
は、上記移動体について旋回の軌跡を想定して追尾処理
として旋回の軌跡のモデル式を算出し、 上記第２の精度検出手段は、算出された旋回の軌跡のモ
デル式から得られるデータと、上記追尾データバッファ
に記憶される上記位置データとの差から旋回の 偏差を算
出し、算出した旋回の軌跡のモデル式と旋回の偏差を出
力するとともに、 上記接近計算処理手段は、出力された直線の軌跡のモデ
ル式と旋回の軌跡のモデル式とのいずれかと直線の偏差
と旋回の偏差とのいずれかとを入力して近接状態を検出
することを特徴とする請求項１記載の近接警報装置。 2. The mobile terminal according to claim 2, wherein the proximity alarm device further comprises:
A tracking data buffer for storing the position data of the moving object;
Assuming a trajectory, a tracking trajectory
And the first accuracy detecting means calculates the model of the locus of the calculated straight line.
Data obtained from the Dell equation and the tracking data buffer
Calculate the deviation of the straight line from the difference with the above position data stored in
And the second tracking processing means compares the calculated deviation with a predetermined value.
Compare to determine whether the mobile is performing linear motion
If it is determined to be a linear motion,
Outputs the deviation between the equation and the straight line.
Is a tracking process assuming a turning trajectory for the moving object.
The second accuracy detecting means calculates the model of the calculated turning trajectory.
Data obtained from the Dell equation and the tracking data buffer
Calculate the deviation of the turn from the difference with the above position data stored in
And calculate the model equation of the calculated trajectory of the turn and the deviation of the turn.
And the approach calculation processing means outputs a model of the trajectory of the output straight line.
Deviation between the linear formula and the model formula of the turning trajectory and the straight line
And the deviation of turning are input to detect the proximity state
The proximity alarm device according to claim 1, wherein:
手段、 （ｃ）上記精度検出手段で検出された追尾精度を用い
て、上記移動体と他の物体の近接状態を判定するための
近接確率を算出する接近計算処理手段、 （ｄ）上記接近計算処理手段により算出された近接確率
に基づいて、警報を出力する警報処理手段。 3. A proximity alarm device having the following elements : (a) tracking processing means for tracking a moving object; and (b) accuracy detection for detecting the tracking accuracy of the tracking processing means.
Means, (c) using the tracking accuracy detected by the accuracy detection means
To determine the proximity of the moving object to another object.
Approach calculation processing means for calculating the proximity probability, (d) the proximity probability calculated by the approach calculation processing means
Alarm processing means for outputting an alarm based on the
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3338681A JP2737497B2 (en) | 1991-12-20 | 1991-12-20 | Proximity alarm device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP3338681A JP2737497B2 (en) | 1991-12-20 | 1991-12-20 | Proximity alarm device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH05172940A JPH05172940A (en) | 1993-07-13 |
| JP2737497B2 true JP2737497B2 (en) | 1998-04-08 |
Family
ID=18320459
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP3338681A Expired - Lifetime JP2737497B2 (en) | 1991-12-20 | 1991-12-20 | Proximity alarm device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2737497B2 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102420982B1 (en) * | 2021-09-23 | 2022-07-14 | 한화시스템 주식회사 | Apparatus and method for prediction target location |
Families Citing this family (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2009288255A (en) * | 2009-09-11 | 2009-12-10 | Denso Corp | Estimating device |
Family Cites Families (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS62242879A (en) * | 1986-04-15 | 1987-10-23 | Mitsubishi Electric Corp | Detecting device for approaching aircraft |
| JPH0797134B2 (en) * | 1988-07-05 | 1995-10-18 | 三菱電機株式会社 | Tracking filter |
-
1991
- 1991-12-20 JP JP3338681A patent/JP2737497B2/en not_active Expired - Lifetime
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR102420982B1 (en) * | 2021-09-23 | 2022-07-14 | 한화시스템 주식회사 | Apparatus and method for prediction target location |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH05172940A (en) | 1993-07-13 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| Borenstein et al. | Real-time obstacle avoidance for fast mobile robots in cluttered environments | |
| US9827811B1 (en) | Vehicular haptic feedback system and method | |
| JP6978870B2 (en) | Spatial filtering systems and methods using data with significantly different magnitudes of error | |
| WO2017166768A1 (en) | Information processing method, mobile device, and computer storage medium | |
| CN114599995A (en) | Estimating in-plane velocity from radar returns of stationary roadside objects | |
| WO2017167387A1 (en) | Method for predicting a motion of an object | |
| EP1210702A1 (en) | Air traffic control system | |
| Dezert et al. | Joint probabilistic data association for autonomous navigation | |
| CN116448115B (en) | Unmanned ship probability distance map construction method based on navigation radar and photoelectricity | |
| CN114894212A (en) | Improved path planning method based on adaptive parameters | |
| CN114578382A (en) | Automobile surrounding environment real-time detection method and system based on artificial intelligence | |
| US20190113612A1 (en) | Apparatus and Method for Ascertaining Object Kinematics of a Movable Object | |
| JP2022522298A (en) | Recognition of radar reflections using velocity and location information | |
| US20230205234A1 (en) | Information processing device, information processing system, method, and program | |
| Song et al. | Error mitigation algorithm based on bidirectional fitting method for collision avoidance of unmanned surface vehicle | |
| JP2737497B2 (en) | Proximity alarm device | |
| EP4198550A2 (en) | Localization system and method | |
| Brekke et al. | A long simulation scenario for evaluation of multi-target tracking methods | |
| JP2017142218A (en) | Passive positioning system and multisensor system | |
| JP3077674B2 (en) | Moving object approach prediction method | |
| Abd Rahman et al. | Tracking uncertain moving objects using dynamic track management in multiple hypothesis tracking | |
| RU2668597C1 (en) | Method of troubleshooting and failures of aircraft measurement parameters of movement and satellite navigation systems of moving objects | |
| JPH10288663A (en) | Collision prevention method and device | |
| Hem et al. | PMBM Filtering With Fusion of Target-Provided and Exteroceptive Measurements: Applications to Maritime Point and Extended Object Tracking | |
| Shuai et al. | Ship target tracking for marine radar in occluded environments |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20080116 Year of fee payment: 10 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20090116 Year of fee payment: 11 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100116 Year of fee payment: 12 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20100116 Year of fee payment: 12 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20110116 Year of fee payment: 13 |
|
| FPAY | Renewal fee payment (event date is renewal date of database) |
Free format text: PAYMENT UNTIL: 20120116 Year of fee payment: 14 |
|
| EXPY | Cancellation because of completion of term |