JP3077674B2 - Moving object approach prediction method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method for predicting the approach of a moving object such as an aircraft, a ship or a vehicle, which can process the approaching of the moving object such as an aircraft, a ship or a vehicle at a high speed. About.

[0002]

2. Description of the Related Art Conventionally, in a traffic control system or an air traffic control system of a ship or the like, collision prevention has been an important problem, and an approach prediction process, which is a part thereof, has been indispensable. In addition, approach prediction processing is indispensable for preventing approach to dangerous sea areas and prevention of entry into training airspace using the same system. In particular, with the increasing number of aircraft and ships in recent years, marine and air traffic conditions that come and go, such as during rush hours, require monitoring and control at many points. Is becoming the age of doing

In the approach prediction processing applied to a surveillance control system or an air traffic control system such as a ship, it is necessary to calculate approach prediction between a certain object (or area) and all other objects (or areas). For this purpose, it is necessary to perform approach calculation using a distance and a speed for each combination of individual objects (or regions). As this type of technology, for example, a method disclosed in Japanese Patent Application No. 10-032923 for determining the overlap of the circumcircle of each other's region (or the existence prediction region) and a method for determining the overlap of the estimated region of the polygon are known. Have been.

[0004]

By the way, each other's area
(Or the existence prediction area)
In the case of approach prediction using a method of obtaining overlapping polygon estimation regions, it is difficult to realize such a system if a high treatment capability is required for approach estimation processing that handles many objects at the same time. For example, as shown in the conventional aircraft approach prediction processing block diagram shown in FIG. 5, a simple comparison calculation is performed between almost all objects, or a comparison calculation is performed by discriminating regions, and the calculation is performed when the number of target objects increases. There is a problem that time increases exponentially, and particularly, vector calculation and distance calculation are indispensable, so that a computer with low performance cannot perform high-speed processing. Therefore, the present invention has been made in view of such circumstances,
It is an object of the present invention to provide a method for predicting the approach of a moving object that can perform the approach prediction in real time.

[0005]

In order to achieve the above object, according to the first aspect of the present invention, for each moving object to be monitored, the distance between the moving object and all other moving objects is calculated in advance. In addition, subtract the sum of the mutual speed (scalar value) from the distance calculated in advance for each monitoring cycle,
It is characterized in that a detailed approach prediction calculation is performed only when the result falls below a specified value.

According to the second aspect of the present invention, the speed (scalar ) of each moving object is monitored for each monitoring cycle in accordance with the position of each moving object obtained based on the radar output and the stored previous position.
Value) and the speed calculation process of registering it in the database in the speed table, and the specified moving object and other moving objects calculated in advance
(Old) distance judgment value indicated by the distance (scalar value)
Hand, the speed of the other mobile designated mobile from the speed table
Find the sum of (scalar value) , (new) distance judgment value = (old)
The detailed calculation execution determination process for executing the calculation of the distance determination value− (the sum of the speeds of the two aircraft), and the detailed distance when the (new) distance determination value is equal to or less than the specified value in the detailed calculation execution determination process An approach prediction detailed calculation process for executing a calculation and issuing an alarm when the value is equal to or less than a specified value.

According to the third aspect of the present invention, in the approach prediction detailed calculation process, only the combination of moving objects whose (new) distance determination value is equal to or less than a specified value is detailed. The distance calculation is performed.

According to the present invention, for each moving object to be monitored,
The distance between the moving object and all other moving objects is calculated in advance, and the sum of the mutual velocities (scalar values) is subtracted from the calculated distance for each monitoring cycle, and the result is the specified value. Since the detailed approach prediction calculation is performed only when the value is less than, the real-time processing can be performed.

[0009]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an outline of the present invention will be described first, and then an embodiment will be described with reference to the drawings. (1) Summary of the Invention In the present invention, the distance at a certain time between the monitored object and all other objects is calculated in advance for each monitored object, and the mutual speed (scalar value) is calculated for each monitoring cycle. Subtracts the sum of the distance from the distance calculated in advance, and performs detailed approach prediction calculation only when the result is less than the specified value, greatly reducing the number of times of approach prediction calculation. I have.

(2) One Embodiment FIG. 1 is a block diagram showing a functional configuration of an aircraft approach prediction process 1 according to one embodiment of the present invention. The aircraft approach prediction process 1 includes a speed calculation unit 2, a speed table 3 for recording, as a database, speed information for each moving object calculated every moment by the speed calculation unit 2, and each movement output by the speed calculation unit 2. A detailed calculation execution determination unit 4 that determines whether or not to perform a detailed calculation based on the speed information for each body, the speed information for each moving object stored in the speed table 3, and the detailed calculation execution determination table 5. And an approach prediction detail calculation unit 6 for predicting the approach of a moving object determined by the detail calculation execution determination unit 4 to perform the detail calculation.

As shown in FIG. 2, the approach of the aircraft is predicted by drawing circles with the distances VA and VB within a certain period of time centered on the current positions of the aircrafts A and B, respectively.
A method of issuing a warning when they overlap with each other is generally adopted. This "distance within a certain time"
In some cases, safety margins are expected. In the present invention, first, based on the position of each aircraft obtained by the sensors such as radars and the position calculating unit in FIG. 1 and the stored previous position, the speed calculating unit 2 calculates the speed of each aircraft (this In this case, the distance to be advanced within the processing cycle) is calculated and registered in the speed table 3 in the database. As shown in FIG. 3, the speed table 3 has a database structure in which the speed (distance advanced within the processing cycle) of each moving object is sequentially updated and registered.

The detailed calculation execution determining unit 4 obtains the sum of the speeds of the designated aircraft and the other aircraft from the speed table 3, and refers to the detailed calculation execution determination table 5 having the structure shown in FIG. It is subtracted from the distance judgment value of the position of the combination. In other words, (new) distance determination value = (old) distance determination value− (2
(Sum of machine speeds). Here, when the (new) distance determination value becomes equal to or less than a specified value (for example, 0), the detail calculation necessity column is set to “Yes”. If the value exceeds the specified value, set “None”.

The approach prediction detail calculation unit 6 carries out a detailed distance calculation (such as the distance of the predicted position in FIG. 5) only for a combination of aircraft whose detailed calculation necessity column of the detailed calculation execution determination table 5 is “Yes”. . If the value is equal to or less than a specified value, an alarm is issued. The distance of the predicted position obtained by the calculation by the approach prediction detail calculation unit 6 is written in the distance determination value of the detailed calculation execution determination table 5. However, in the above processing, the treatment of the newly monitored aircraft is a problem (the distance determination value was not obtained in the calculation immediately after), but the speed calculation unit The judgment value shall be set to a specified value or less. by this,
At the time of the first calculation, the detailed distance calculation is always performed by the approach prediction detail calculation unit 6.

As described above, the detailed distance calculation includes a multiplication and a square root calculation that require a long time for the calculation, as shown in FIG. Conventionally, as shown in FIG. 5, this detailed distance calculation is performed for a combination of all aircraft. Therefore, when the number of target aircraft increases, the amount of calculation increases exponentially, and there is a problem that real-time processing cannot be performed. However, according to the above-described embodiment, the calculation of the distance determination value is performed for all combinations of devices as in the related art, but only addition and subtraction with a short processing time are required. As shown in the figure, the detailed distance calculation is performed only for the combination of aircraft determined to be necessary as a result of the distance determination value calculation, so that real-time processing can be performed.

In this embodiment, since the present invention does not depend on the detailed distance calculation method and the alarm judgment method, it is possible to combine a more detailed distance calculation method and a special alarm judgment method. In the above-described embodiment, two-dimensional approach prediction is referred to for the sake of simplicity. However, the approach is not limited to two-dimensional. Of course, it is also possible to make an approach prediction.

[0016]

According to the present invention, for each moving object to be monitored, the distance between the moving object and all other moving objects is calculated in advance, and the mutual speed (scalar value) is calculated for each monitoring period. ) Is subtracted from the distance calculated in advance,
Since the detailed approach prediction calculation is performed only when the result falls below the specified value, real-time processing can be performed.

[Brief description of the drawings]

FIG. 1 is a block diagram showing an embodiment according to the present invention.

FIG. 2 is a diagram for explaining an approach prediction method.

FIG. 3 is a diagram showing an example of a speed table 3;

FIG. 4 is a diagram showing an example of a detailed calculation execution determination table 5.

FIG. 5 is a diagram showing a conventional aircraft approach prediction process.

FIG. 6 is a diagram for explaining a calculation amount according to the present invention.

[Explanation of symbols]

 1 Aircraft approach prediction processing 2 Speed calculation section 3 Speed table 4 Detailed calculation execution determination section 5 Detailed calculation execution determination table 6 Approach prediction detailed calculation section

Claims (3)

(57) [Claims] 1. The distance between a moving object to be monitored and all other moving objects is calculated in advance, and the sum of the mutual velocities (scalar values) is calculated in advance in each monitoring period. A method for predicting the approach of a moving object, characterized in that a detailed approach prediction calculation is performed only when the result of the subtraction is less than a specified value. 2. The speed (scalar value) of each moving object is calculated for each monitoring period according to the position of each moving object obtained based on the radar output and the stored previous position, and the speed table is generated. The speed calculation process to be registered in the database , and the distance between the specified moving object and other moving objects calculated in advance
With respect to the (old) distance judgment value indicated by (scalar value), the speed (scalar
Calculates the sum of the over value), (New) distance determination value = (old) Distance determination value - In (Details computation execution determination program for executing the speed of the sum) comprising the calculation of the two aircraft, the detailed calculation execution determination program , A (new) approach prediction detailed calculation process for executing a detailed distance calculation when the distance determination value is equal to or less than a specified value and issuing an alarm when the value is equal to or less than the specified value. Approach prediction method. 3. The movement according to claim 2, wherein, in the approach prediction detailed calculation process, the detailed distance calculation is performed only for a combination of moving objects whose (new) distance determination value is equal to or less than a specified value. How to predict body approach.