JP2780428B2 - Tracking processing device - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target tracking device based on target position information obtained from a radar device, and particularly relates to an actual target and unnecessary images generated by various reflections. The present invention relates to a tracking processing device which enables accurate tracking by distinguishing the clutter from the clutter.

[Conventional technology]

Conventionally, this type of tracking processing device in a radar device is:
The tracking process is performed on the target position information obtained from the radar device. In this case, the tracking process is performed without discriminating between the actual target and the clutter. This process is performed similarly even when the actual target enters the clutter area where clutter is generated. FIG. 3 shows an example of a state in which a real target has entered the clutter area 100 and has tracked the real target. In the figure, the solid line indicates the course of the actual target, △ indicates the position of the actual target, and.

[Problems to be solved by the invention]

Since the conventional tracking processing device described above performs the tracking process without discriminating the actual target and the clutter, as shown in FIG. 3, when the real target enters the clutter area 100, It may be determined that the position information is the position information of the actual target, and the actual target may be lost and the clutter may be erroneously tracked as indicated by a broken line in FIG.

An object of the present invention is to provide a tracking processing device capable of preventing such erroneous tracking and accurately tracking a real target.

[Means for solving the problem]

The tracking processing device of the present invention is a clutter area determination unit that performs an inside / outside determination of a target position information and a clutter area that is manually set, and a target position information and a clutter prediction position information within the clutter area. And a clutter tracking unit that tracks clutter based on clutter position information obtained from the comparison, and predicts the position of a clutter that will be obtained next based on the position information of the tracked clutter. And a clutter prediction unit that outputs the data to the clutter prediction unit.

As a preferred embodiment of the present invention, in addition to the above configuration, a wake target correlation unit, a wake prediction unit, and an initial capture unit are provided. The track target correlation section compares the target position information with the target predicted position information, and outputs the target position information to the track prediction section or the first-time capturing section based on the comparison result, and the track prediction section outputs the target smoothing information. To output target predicted position information, and the first-time capturing unit outputs initial target position information using the previous target position information.

[Action]

According to the present invention, it is possible to track clutter by comparing clutter predicted position information obtained from clutter position information with target position information after determining that the clutter is within the clutter area. And clutter are identified, the clutter is removed, and tracking of the actual target can be continued.

〔Example〕

 Next, the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of one embodiment of the present invention. The position data (R _i ,
θ _i ) is input to the target data buffer 3. The clutter area determination unit 5 determines the target position data (R _i , θ _i )
And the clutter area set by the operator in advance, and outputs target position data (R _i , θ _i ) to the wake target correlation unit 4 if outside and to the clutter tracking unit 7 if inside. I do. The clutter tracking unit 7 outputs the target position data (R _i , θ
_i ) and a clutter prediction position (R _cpi-1 , θ _cpi-1 ) output from the clutter tracking buffer 10 to determine a difference. If the difference is within a reference value, the difference is treated as clutter. The target position data (X _i , Y _i ) is output to the section 9.
If it is outside the reference value, the target position data (R _i , θ _i ) is output to the track target correlation unit 4 as an actual target. The comparison performed by the clutter tracking unit 7 is shown in the following relational expression (1).

(1) Clutter detection criteria in the clutter tracking unit In the case of, the target of the target position data (R _i , θ _i ) is assumed to be clutter.

In the case of, the target of the target position data (R _i , θ _i ) is set as the actual target.

The relationship between the target position data (R _i , θ _i ) and (X _i , Y _i ) is shown in the following relational expression (2).

(2) Relationship between target position data (R _i , θ _i ) and (X _i , Y _i ) The clutter prediction unit 9 calculates the target position data (X _i , Y _i )
From the clutter smoothing position (X _csi-1 , Y _csi-1 ) and the clutter smoothing speed (X ' _csi-1 , Y' _csi-1 ) input from the clutter tracking buffer 10 Position (X _cpi , Y _cpi ), clutter smoothing position (X _csi ,
Y _csi ) and the clutter smoothing speed (X ′ _csi , Y ′ _csi ) are calculated, and the results are output to the clutter tracking buffer 10.
The relational expressions for this calculation are shown in the following relational expressions (3) and (4).

(3) _{Calculation of} clutter smoothing position (X _csi , Y _csi ) and clutter smoothing speed ( _csi , _csi ) However, (X _cpi-1 , Y _cpi-1 ) is the clutter prediction position (R
_cpi-1 , R _cpi-1 ). Also, α _X , α
_Y , β _X and β _Y are smoothing constants, and T is an antenna rotation period.

(4) Calculation of clutter predicted position (X _cpi , Y _cpi ) On the other hand, the track target correlation unit 4 outputs the target position data (R _i , θ
_i ) and the target predicted position (R
_pi-1 , θ _pi-1 ), and a difference is obtained. If the difference is within the reference value, the target position data (X _i , Y _i ) is output to the wake prediction unit 6 and outside the reference value. Then, the target position data (R _i ,
θ _i ) is output to the first-time acquisition unit 8.

The trajectory prediction unit 6 calculates the target position data (X _i , Y _i ) and the target smoothed position data (X _si−1 ,
Y _si−1 ) and target smoothing speed data (X ′ _si−1 ,
Y ′ _si−1 ), the target smoothed position data (X _si , Y _si ), target smoothed speed data (X ′ _si , Y ′ _si ), and target predicted position data (X _pi , Y _pi ) are tracked. Output to buffer 2.

The first-time capturing unit performs initial target capturing based on the target position data (R _i , θ _i ) and the target position data (R _i−1 , θ _i−1 ) not correlated before the rotation of the radar device 1, The data is output to the track buffer 2 in the same manner as the output of the track prediction unit 6.

The clutter tracking buffer 10 outputs the clutter prediction position (X _cpi-1 , Y _cpi-1 ) to the clutter tracking unit 7 and the clutter smoothing position (X _csi-1 , Y _csi-1 ) and the clutter smoothing speed (X ' _Csi-1 , Y' _csi-1 ) to the clutter prediction unit 9.

The data control unit 11 receives an azimuth signal from the radar device 1 and outputs a processing timing to each unit.

According to this tracking processing device, as shown in FIG. 2, even when a real target enters the clutter area 100, it is possible to accurately track clutter in the clutter area and remove it. It is possible to accurately track the actual target as shown by the broken line in the figure on the path of the actual target shown by the solid line in FIG. The hatched area in the figure is a clutter tracking area.

〔The invention's effect〕

As described above, the present invention makes it possible to track the clutter in the clutter area by comparing the clutter predicted position information with the target position information. There is an effect that the target can be removed and the actual target can be accurately tracked.

[Brief description of the drawings]

FIG. 1 is a block diagram of an embodiment of a tracking processing device of the present invention, FIG. 2 is a diagram of a clutter area showing a tracking state in the tracking processing device of the present invention, and FIG. It is a figure of an area. 1 radar apparatus, 2 wake buffer, 3… target data buffer, 4… track target correlation section, 5… clutter area determination section, 6… track prediction section, 7… clutter tracking section, 8: First-time capturing unit, 9: Clutter prediction unit, 10:
... clutter tracking buffer, 11 ... data control unit.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁶ , DB name) G01S 7/00-7/42 G01S 13/00-13/95

Claims (2)

(57) [Claims] In a processing apparatus for tracking a target by a radar, clutter information manually set with position information of the target is provided.
A clutter / area determining unit that determines whether the area is inside or outside;
A clutter tracking unit that compares the target position information and the clutter predicted position information within the clutter area, and tracks the clutter with the clutter position information obtained from the comparison;
A clutter prediction unit that predicts the position of a clutter obtained next based on the position information of the tracked clutter, and outputs the predicted position to the clutter tracking unit. A tracking processing device, characterized in that the tracking processing device is configured to be removed. 2. A wake target correlation unit, a wake prediction unit, and a first time acquisition unit, wherein the wake target correlation unit compares target position information with target predicted position information, and determines a target position based on the comparison result. Information is output to a track prediction unit or a first-time capturing unit, the track prediction unit outputs target predicted position information using target smoothing information, and the first-time capturing unit outputs an initial target position using the previous target position information. The tracking processing device according to claim 1, which outputs information.