JP3405184B2 - Target tracking method and target tracking device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a target tracking system and a target tracking device for reducing tracking deviation due to a transfer to a clutter in automatic tracking of a radar device.

[0002]

2. Description of the Related Art Conventionally, as a technique in such a field,
The thing of Unexamined-Japanese-Patent No. 64-73275 is known.
The conventional target tracking method described in this publication will be described with reference to FIG. In the figure, 101 is a correlation processing unit that detects the degree of correlation of each target from a large number of target information,
Reference numeral 102 is a tracking gate creation processing unit that creates a gate for tracking a target, 103 is a model-specific performance specification storage unit in which the target athletic performance for each model is registered, and 104 is a measurement error included in the correlation degree information. Smoothing prediction processing unit that performs smoothing processing, 1
Reference numeral 05 is a track data storage unit for accumulating sample data obtained up to now for each target, and reference numeral 106 is a flight plan information storage unit in which aircraft call signs, beacon codes, model types, etc. are registered.

Next, the operation will be described. In FIG. 13, the correlation processing unit 101 links the target information of the previous scan and the target information of the next scan with the highest degree of correlation, and determines the time transition state of each target from a large number of target information. Perform processing to confirm. The correlation degree information output from the correlation processing unit 101 is given to the smoothing prediction processing unit 104, and the smoothing prediction processing unit 107 performs the smoothing process of the measurement error included in the correlation degree information. In addition, the smooth prediction processing unit 1
In 07, the accumulated sample data is retrieved from the track data storage unit 105, and based on this, the position, speed, etc. of the target at the next scan are predicted.

Then, these data are registered in the track data storage unit 105 and output to another processing device (eg, a display processing device). When new track data is registered in the track data storage unit 105, the flight performance specification data corresponding to the model category that matches the beacon code of the track data is read from the model-specific performance specification storage unit 103, It is output to the tracking gate creation processing unit 102.

The tracking gate creation processing section 102 is based on the target data registered in the track data storage section 105 and the performance specification data such as the acceleration / deceleration rate and turning rate output from the model-specific performance specification storage section 103. And create a tracking gate of the minimum size that can cover the target athletic performance. Since the size of the tracking gate is small as described above, the probability that an erroneous target such as clutter gets into the tracking gate decreases.

FIG. 14 shows the relationship between the tracking gate and the predicted flight position of the target. In FIG. 14, P1, P2,
P3 is the target track, P4 is the predicted position during constant velocity straight flight,
P5 is a predicted position during decelerating right turn, and P6 is a predicted position during accelerated left turn. Further, G1 is a tracking gate indicating a prediction range including target acceleration / deceleration and turning.

[0007]

However, since the conventional target tracking method uses a tracking gate of a minimum size capable of covering the target's movement performance, the target progresses beyond the movement performance due to airflow or the like. In that case, there was a problem that the arrival position of the target might deviate from the tracking gate.

The present invention has been made in order to solve such a problem, and a target tracking method capable of reliably tracking a target even when the target reaches a position beyond the exercise performance. And it aims at providing a target tracking device.

[0009]

A target tracking method according to the present invention is for tracking a target traveling in a radar detection area.
By analyzing the echo signal at the tracking gate for
Calculated athletic performance of the detected target
Depending on the output exercise performance calculation step and the target,
The target signal emitted is analyzed to identify the target model,
A target identifying step of outputting target identifying information;
Based on the performance information and the target identification information, the next scan
Reach prediction range, which is the range within which the target can be reached by
Along with seeking the rear, this arrival prediction area and the tracking
Overlap with the gate and divide inside the arrival prediction area.
Compared to the weighting factors attached,
Assign a small weighting factor to
And the eye based on the assigned weighting factor.
The arrival position determination step of determining the arrival position of the target, and
Based on the arrival position determined in the arrival position determination step
Predicted arrival position where the target will reach by the next scan
Detected, and set the tracking gate to include this predicted arrival position.
And a tracking gate setting step for setting .

Further, in the target tracking method according to the present invention, when a plurality of target candidates are obtained from the echo signal, the respective distances from these target candidates are multiplied by the weighting factors to be equal positions. Is the reaching position of the target.

Further, in the target tracking method according to the present invention, when the clutter in the radar detection area is large, the weighting coefficient has a smaller numerical value in the peripheral portion of the arrival prediction area than in the central portion of the arrival prediction area. Is assigned.

Further, in the target tracking method according to the present invention, when the distances between the targets are close to each other, the weighting coefficient is within the range of the distances between the targets as compared with the range of the distances between the targets. A small number is assigned to the outside.

Further, in the target tracking method according to the present invention, the size of the tracking gate is adjusted according to the motion performance of the target.

In the target tracking method according to the present invention, the target motion performance is at least one of straight-line speed performance and turning acceleration performance.

The target tracking device according to the present invention is a radar search device.
To the tracking gate to track the target moving in the knowledge area
Targets detected by analyzing echo signals in
Athletic performance that calculates athletic performance of a person and outputs athletic performance information
Calculator and analyze the target signal reflected by the target
Then, the target model is identified and the target identification information is output.
The target model identification unit, the athletic performance information, and the target identification information.
Based on the report, the target will be reached by the next scan
While obtaining the reachable area that is possible,
Of the arrival prediction area and the tracking gate,
Compared with the weighting factor assigned to the inside of the predicted arrival area
A small weighting factor outside the reach prediction area.
Weighting coefficient assigning section to assign, and the assigned weight
A reaching position that determines the reaching position of the target based on a coefficient
The position determining unit and the arrival position determined in this arrival position determining step.
The target is reached by the next scan based on the reached position
The predicted position to reach is detected and this predicted position is included.
And a tracking gate setting unit for setting the tracking gate .

Further, in the target tracking device according to the present invention, the arrival position determining unit has a plurality of targets in the tracking gate.
In this case, each of them is set as a target candidate position, and each position from these candidate positions is multiplied by each of the weighting factors to make it equal to the target reaching position.

Further, the target tracking device according to the present invention further comprises a clutter environment judging section for judging whether or not there are many clutters in the radar detection area, and the weighting factor allocation
In the section, when it is determined by the clutter environment determination unit that the radar detection area has a large amount of clutter, compared to the weighting coefficient of the central portion of the arrival prediction area, the weighting coefficient of the peripheral portion of the arrival prediction area It assigns small numbers.

Further, the target tracking device according to the present invention, when a plurality of the targets exist in the radar detection area,
The target-to-target distance proximity determination unit that determines whether or not the distances between the targets are close to each other, and the weighting factor assigning unit determines that the distances between the targets are close to each other. When determined by the distance / proximity determination unit , a smaller numerical value is assigned to the weighting coefficient outside the range of the distance between the targets than the weighting coefficient within the range of the distance between the targets.

The target tracking device according to the present invention further comprises gate size control means for adjusting the size of the tracking gate in accordance with the motion performance of the target.

Further, in the target tracking device according to the present invention, the target motion performance is at least one of straight-line speed performance and turning acceleration performance.

[0021]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Preferred embodiments of a target tracking method and a target tracking device according to the present invention will be described below with reference to the accompanying drawings. Embodiment 1. FIG. 1 is a block diagram showing a target tracking device according to the first embodiment. In FIG. 1, reference numeral 1 is an echo signal detection unit that analyzes radar reception signals and detects all echo signals.
Extracts all the echo signals present in the tracking gate from the echo signals detected by the echo signal detector 1,
A candidate position extracting unit (candidate position extracting means) 3 which uses the position information of these echo signals as the target candidate position information, 3 detects the echo signal reflected at the position closest to the previously predicted arrival position as the target signal. Target signal detector 4
Is a straight-line speed calculation unit that calculates the straight-line speed of the target based on the target signal detected by the target signal detection unit 3. Reference numeral 5 analyzes the information obtained based on the target signal detected by the target signal detection unit 3. A model identification unit for identifying the target model of which the signal is captured, and 6 is a model-specific straight-line speed performance database in which the straight-line speed performance of each model is registered.

Reference numeral 7 is a weighting coefficient assignment for assigning a weighting coefficient in the tracking gate based on the straight-ahead traveling speed information calculated by the straight-ahead traveling speed calculating section 4 and the straight-ahead traveling speed performance information read from the model-specific straight-ahead traveling speed performance database 6. The unit (weighting factor allocating means) 8 determines the target reaching position based on the candidate position information extracted by the candidate position extracting unit 2 and the weighting factor allocated by the weighting factor allocating unit 7, and smoothes the measurement error. A track position information storage unit 9 for accumulating information on the target position arrivals obtained by the position arrival position determination unit 8, and a reference numeral 10 for the radar from the trajectory of the target stored in the track information storage unit 9. Predicted arrival position detection unit for detecting the predicted arrival position of the target at the next scan, 1
Reference numeral 1 denotes a tracking gate setting unit that sets a tracking gate having a predetermined size based on the predicted arrival position detected by the predicted arrival position detection unit 10.

Here, the size of the tracking gate set by the tracking gate setting unit 11 is one size larger than the minimum size that can cover the target motion performance. As a result, the arrival position of the target does not deviate from the tracking gate even when the target progresses beyond the exercise performance due to airflow or the like.

Next, the operation of the target tracking device according to the first embodiment will be described. First, a radar device (not shown)
The echo signal detection unit 1 receives the radar signal output from each scan. The echo signal detection unit 1 analyzes the radar signal to detect all echo signals reflected by an object or the like existing in the radar detection area. Each echo signal detected by the echo signal detector 1 is given to the candidate position extractor 2 and the target signal detector 3. Candidate position extraction unit 2
Then, the position information of all echo signals existing in the tracking gate is extracted from each echo signal as target candidate position information.

Further, the target signal detecting section 3 detects an echo signal reflected at a position closest to the predicted arrival position detected by the predicted arrival position detecting section 10 as a target signal, and the target signal is detected by the straight traveling speed calculating section 4 and Output to the model identification unit 5. Further, in the straight traveling speed calculation unit 4, the target signal detection unit 3
The target straight ahead speed is calculated based on the target signal detected in. Further, the model identifying unit 5 analyzes the information (for example, the radar reflection cross section) obtained based on the target signal detected by the target signal detecting unit 3 to identify the target model in which the target signal is captured.

Next, the straight-line speed information calculated by the straight-line speed calculation unit 4 and the tracking gate information set by the tracking gate setting unit 11 are given to the weighting factor allocating unit 7. Further, the straight-line speed performance database 6 for each model is accessed by using the target type identified by the model identification unit 5 as a key, and the target straight-line speed performance information is read. Then, the read target straight-line speed performance information is also given to the weighting factor allocating unit 7.

The weighting factor assigning unit 7 assigns a weighting factor to the inside of the tracking gate based on these pieces of information.
That is, the weighting factor allocating unit 7 determines the target based on the current straight-ahead speed information of the target calculated by the straight-ahead speed calculating unit 4 and the target straight-ahead speed performance information read from the model-specific straight-ahead speed performance database 6. An arrival prediction area that is a range that can be predicted to be reachable by the next scan is obtained.

Then, as shown in FIG. 2, the arrival prediction area 13 is superposed on the tracking gate area 12 set by the tracking gate setting section 11, and a large numerical value is assigned to the weighting coefficient inside the arrival prediction area 13. At the same time, a small numerical value is assigned to the weighting coefficient outside the arrival prediction area 13. In the weighting factors thus assigned, the weighting factors inside the arrival prediction area 13 are almost equivalent, while the weighting factors outside the arrival prediction area 13 are directed toward the peripheral edge of the tracking gate area 12. It has decreased significantly.

The weighting factors assigned by the weighting factor assigning unit 7 are given to the arrival position determining unit 8. Further, each candidate position information extracted by the candidate position extracting unit 2 is also given to the arrival position determining unit 8. The arrival position determination unit 8 determines the arrival position of the target based on these input data. Here, an example of processing in the arrival position determination unit 8 is shown in FIG. From the figure, first, the arrival position determination unit 8 finds the weighting factors corresponding to the candidate positions A, B, and C, respectively, based on the weighting factors and each candidate position information.

As a result, the weighting coefficient of candidate position A is 0.95, and the weighting coefficient of candidate position B is 0.20.
As a weighting factor for the candidate position C, 0.10. Next, the distance between the target reaching position O and each candidate position A, B, C is set as x, y, z. Then, the coordinates of the reaching position O are obtained by adjusting the coordinates of the reaching position O based on the following equation so that the values obtained by multiplying these distances and the weighting factors become equal to each other. 0.95x = 0.20y = 0.10
z

The target arrival position obtained by the arrival position determination unit 8 is accumulated in the track information storage unit 9 every time the radar device scans. Then, the track information accumulated in the track information storage unit 9 is given to the predicted arrival position detection unit 10, and the predicted arrival position detection unit 10 detects the predicted arrival position at the next scan based on this track information. Further, the predicted arrival position information detected by the predicted arrival position detection unit 10 is given to the target signal detection unit 3 and the tracking gate setting unit 11, and the tracking gate setting unit 11 sets a tracking gate including the predicted arrival position. The tracking gate set in this way is used for the tracking process for the radar signal at the next scan.

As described above, since the tracking gate having a size slightly larger than the minimum size capable of covering the target straight-line speed performance is used, when the target progresses beyond the straight-line speed performance due to the air flow or the like. However, the target can be reliably tracked.

Further, since the size of the tracking gate becomes large, it becomes easy to detect an erroneous target such as clutter.
By making the weighting factor outside the arrival prediction area 13 smaller than inside the target arrival prediction area 13, it is less likely to be affected by the false target detected outside the arrival prediction area 13. As a result, it is possible to reduce the probability of tracking failure due to transfer to an erroneous target, and to effectively improve the tracking maintenance rate.

Embodiment 2. Next, the target tracking device according to the second embodiment will be described. FIG. 4 is a block diagram showing a target tracking device according to the second embodiment. The second embodiment is the same as the first embodiment shown in FIG.
The difference is that a turning acceleration calculation unit 20 is provided instead of the straight traveling speed calculation unit 4, and a model-based turning acceleration performance database 21 is provided instead of the model-based straight traveling speed performance database 6. . Other configurations are the same as or equivalent to those in the first embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the first embodiment, and the description thereof will be omitted.

As shown in FIG. 4, the turning acceleration calculation unit 20.
Detects the target turning acceleration based on the target echo signal output from the target signal detector 3. The model-based turning acceleration performance database 21 is a database in which the turning acceleration performance of each model is registered, and the target turning acceleration performance information can be accessed using the target type output from the model identification unit 5 as a key.

Next, the operation of the target tracking device according to the second embodiment will be described. First, a radar device (not shown)
The echo signal detection unit 1 receives the radar signal output from each scan. The echo signal detection unit 1 analyzes the radar signal to detect all echo signals reflected by an object or the like existing in the radar detection area. Each echo signal detected by the echo signal detection unit 1 is given to the candidate position extraction unit 2 and the target signal detection unit 3, and the candidate position extraction unit 2 selects all the echoes existing in the tracking gate from each echo signal. The signal position information is extracted as target candidate position information.

Further, the target signal detecting section 3 detects an echo signal reflected at a position closest to the predicted arrival position detected by the predicted arrival position detecting section 10 as a target signal, and the target signal is detected by the turning acceleration calculating section 20 and the turning acceleration calculating section 20. Output to the model identification unit 5. Further, the turning acceleration calculation unit 20 calculates the target turning acceleration based on the target signal detected by the target signal detection unit 3. Further, the model identifying unit 5 analyzes the information (for example, the radar reflection cross section) obtained based on the target signal detected by the target signal detecting unit 3 to identify the target model in which the target signal is captured.

Next, the turning acceleration information calculated by the turning acceleration calculating unit 20 and the tracking gate information set by the tracking gate setting unit 11 are given to the weighting factor assigning unit 7. Further, the turning acceleration performance database 21 for each model is accessed by using the target type identified by the model identification unit 5 as a key, and the target turning acceleration performance information is read. Then, the read target turning acceleration performance information is also given to the weighting factor allocating unit 7.

The weighting factor assigning unit 7 assigns a weighting factor to the inside of the tracking gate based on these pieces of information.
That is, the weighting factor allocating unit 7 controls the turning acceleration calculating unit 20.
Within the range in which it is possible to predict that the target will be reachable by the next scan, based on the current turning acceleration information of the target calculated in step 5 and the target turning acceleration performance information read from the model-specific turning acceleration performance database 21. Find a certain predicted arrival area.

The weighting factors assigned by the weighting factor assigning unit 7 are given to the arrival position determining unit 8. Further, each candidate position information extracted by the candidate position extracting unit 2 is also given to the arrival position determining unit 8. The arrival position determination unit 8 determines the arrival position of the target based on these input data.

The target arrival position obtained by the arrival position determination unit 8 is accumulated in the track information storage unit 9 for each scan of the radar device. Then, the track information accumulated in the track information storage unit 9 is given to the predicted arrival position detection unit 10, and the predicted arrival position detection unit 10 detects the predicted arrival position at the next scan based on this track information. Further, the predicted arrival position information detected by the predicted arrival position detection unit 10 is given to the target signal detection unit 3 and the tracking gate setting unit 11, and the tracking gate setting unit 11 sets a tracking gate including the predicted arrival position. The tracking gate set in this way is used for the tracking process for the radar signal at the next scan.

As described above, since the tracking gate having a size slightly larger than the minimum size capable of covering the target turning acceleration performance is used, when the target goes beyond the turning acceleration performance due to the air flow or the like. However, the target can be reliably tracked.

Further, as the size of the tracking gate increases, it becomes easier to detect an erroneous target such as clutter.
By making the weighting factor outside the arrival prediction area 13 smaller than inside the target arrival prediction area 13, it is less likely to be affected by the false target detected outside the arrival prediction area 13. As a result, it is possible to reduce the probability of tracking failure due to transfer to an erroneous target, and to effectively improve the tracking maintenance rate.

Embodiment 3. Next, a target tracking device according to the third embodiment will be described. FIG. 5 is a block diagram showing a target tracking device according to the third embodiment. The third embodiment is the same as the first embodiment shown in FIG.
The difference is that a straight-line speed / turning acceleration calculation section 30 is provided instead of the straight-line speed calculation section 4, and a straight-line speed / turning acceleration performance database 31 is provided instead of the straight-line speed performance database 6 by model. And points. Other configurations are the same as or equivalent to those in the first embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the first embodiment, and the description thereof will be omitted.

As shown in FIG. 4, the straight traveling speed / turning acceleration calculating section 30 detects the target straight traveling speed and the turning acceleration based on the target echo signal output from the target signal detecting section 3. Further, the straight-line speed / turning acceleration performance database 31 for each model is a database in which the straight-line speed performance and the turning acceleration performance for each model are registered, and the target straight-line speed is set using the target type output from the model identification unit 5 as a key. Access to performance information and turning acceleration performance information.

Next, the operation of the target tracking device according to the third embodiment will be described. First, a radar device (not shown)
The echo signal detection unit 1 receives the radar signal output from each scan. The echo signal detection unit 1 analyzes the radar signal to detect all echo signals reflected by an object or the like existing in the radar detection area. Each echo signal detected by the echo signal detection unit 1 is given to the candidate position extraction unit 2 and the target signal detection unit 3, and the candidate position extraction unit 2 selects all the echoes existing in the tracking gate from each echo signal. The signal position information is extracted as target candidate position information.

Further, the target signal detecting section 3 detects an echo signal reflected at a position closest to the predicted arrival position detected by the predicted arrival position detecting section 10 as a target signal, and the target signal is detected by the straight traveling speed turning acceleration calculating section. 30 and the model identification unit 5. Further, the straight traveling speed turning acceleration calculation unit 30
Then, based on the target signal detected by the target signal detection unit 3, the straight traveling speed and the turning acceleration of the target are calculated. Furthermore, the model identifying unit 5 analyzes information (for example, radar reflection cross-section) obtained based on the target signal detected by the target signal detecting unit 3 to identify the target model in which the target signal is captured. .

Next, the straight traveling speed information and the turning acceleration information calculated by the straight traveling speed / turning acceleration calculating section 30 and the information of the tracking gate set by the tracking gate setting section 11 are given to the weighting factor allocating section 7. In addition, the straight-line speed / turning acceleration performance database 31 for each model is accessed using the target type identified by the model identification unit 5 as a key, and the target straight-line speed performance information and turning acceleration performance information are read. Then, the read target straight-line speed performance information and turning acceleration performance information are also given to the weighting factor allocating unit 7.

The weighting factor assigning section 7 assigns a weighting factor to the inside of the tracking gate based on these pieces of information.
That is, the weighting factor allocating unit 7 calculates the current straight ahead speed information and the turning acceleration information of the target calculated by the straight ahead speed / turning acceleration calculation unit 30, and the target straight ahead speed read from the model-specific straight ahead / turning acceleration performance database 31. From the performance information and the turning acceleration performance information, the predicted arrival area, which is a range in which the target can be predicted to be reachable by the next scan, is obtained.

The weighting factor assigned by the weighting factor assigning unit 7 is given to the arrival position determining unit 8. Further, each candidate position information extracted by the candidate position extracting unit 2 is also given to the arrival position determining unit 8. The arrival position determination unit 8 determines the arrival position of the target based on these input data.

The target arrival position obtained by the arrival position determination unit 8 is accumulated in the track information storage unit 9 for each scan of the radar device. Then, the track information accumulated in the track information storage unit 9 is given to the predicted arrival position detection unit 10, and the predicted arrival position detection unit 10 detects the predicted arrival position at the next scan based on this track information. Further, the predicted arrival position information detected by the predicted arrival position detection unit 10 is given to the target signal detection unit 3 and the tracking gate setting unit 11, and the tracking gate setting unit 11 sets a tracking gate including the predicted arrival position. The tracking gate set in this way is used for the tracking process for the radar signal at the next scan.

As described above, since the tracking gate having a size slightly larger than the minimum size capable of covering the target straight-line speed performance and turning acceleration performance is used, the straight-line speed performance and the turning acceleration performance depend on the air flow and the like. Even if the target progresses over the range, the target can be reliably tracked.

Further, as the size of the tracking gate increases, it becomes easier to detect an erroneous target such as clutter.
Since each weighting coefficient is adjusted so that a small weighting coefficient is assigned to an erroneous target, it is unlikely to be affected by an erroneous target such as clutter. As a result, it is possible to reduce the probability of tracking failure due to transfer to an erroneous target, and to effectively improve the tracking maintenance rate.

Fourth Embodiment Next, a target tracking device according to the fourth embodiment will be described. FIG. 6 is a block diagram showing a target tracking device according to the fourth embodiment. The fourth embodiment is the third embodiment shown in FIG.
The difference from the above is that a clutter environment determination unit (clutter environment determination means) 32 for determining whether or not there are many clutters in the radar detection area is provided. Other configurations are the same as or equivalent to those in the first embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the fourth embodiment, and the description thereof will be omitted.

As shown in FIG. 6, the clutter environment judging section 3
At 2, it is determined whether or not there is much clutter based on the echo signals detected by the echo signal detection unit 1. The echo signal is a pulse signal included in the radar signal output from the radar device. The number of pulse signals is compared with a predetermined threshold value, and when the number of pulse signals is equal to or more than the predetermined threshold value, it is determined that there is a large amount of clutter in the radar detection area. If the number of pulse signals is less than the predetermined threshold value, it is determined that the radar detection area has less clutter.

The determination result of the clutter environment determination unit 32 is
It is given to the weighting factor allocating unit 7, and the determination result is reflected in the weighting factor allocating process. That is, as shown in FIG. 7A, when it is determined that the radar detection area has less clutter, the weighting factors in the arrival prediction area 13 are assigned so as to be substantially equivalent. Also, FIG.
As shown in (b), when it is determined that the radar detection area has a large amount of clutter, the weighting coefficient of the peripheral portion of the arrival prediction area 13 is assigned to be smaller than that of the central portion of the arrival prediction area 13. .

As a result, the influence of clutter on the peripheral portion of the arrival prediction area 13 (that is, the position away from the arrival prediction position) is less likely to occur, and it is possible to suppress the tracking error due to the transfer to the wrong target.

Embodiment 5. Next, a target tracking device according to the fifth embodiment will be described. FIG. 8 is a block diagram showing a target tracking device according to the fifth embodiment. The fifth embodiment is the third embodiment shown in FIG.
2 is different from that in that the target-to-target distance proximity determination unit (inter-target-distance proximity determination means) 33 that determines whether or not the distances between the plurality of targets are close to each other is provided. Other configurations are the same as or equivalent to those in the first embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the fifth embodiment, and the description thereof will be omitted.

The target tracking device according to the fifth embodiment can simultaneously track a plurality of targets. That is, when simultaneously tracking a plurality of targets, a plurality of tracking gates are set by the tracking gate setting unit 11. Then, the candidate position extracting unit 2 extracts candidate positions in each tracking gate, and the arrival position determining unit 8 determines the arrival position for each tracking gate based on these candidate positions. The arrival positions of the plurality of targets determined by the arrival position determination unit 8 are respectively stored in the track information storage unit 9, and the arrival predicted position detection unit 10 is based on the plurality of track targets stored in the track information storage unit 9. , The predicted arrival position for each target is detected.

The plurality of predicted arrival position information output from the predicted arrival position detection unit 10 is given to the target detection signal detection unit 3, and the target detection signal detection unit 3 targets the echo signal closest to these predicted arrival positions. Each is detected as a signal.
A plurality of target signals detected by the target detection signal detection unit 3 are given to the inter-target distance proximity determination unit 33, and the inter-target distance proximity determination unit 33 determines whether or not these targets are in proximity. In this determination, the distances between the plurality of targets are detected, and when the distances are equal to or less than a predetermined threshold value, it is determined that the targets are close to each other. Further, when the detected distance is larger than the predetermined threshold value, it is determined that these targets are not close to each other.

The determination result of the inter-target distance proximity determination unit 33 is given to the weighting factor allocating unit 7, and this determination result is reflected in the weighting factor allocating process. That is, FIG.
As shown in (a), when it is determined that the plurality of targets are not close to each other, the weighting factors in the arrival prediction area 13 are assigned so as to be substantially equivalent. In addition, FIG.
As shown in (b), when it is determined that a plurality of targets are close to each other, the weight coefficient outside the range to the proximity target is compared with the weight coefficient inside the range to the proximity target. It is allocated so that it becomes smaller.

As a result, it is possible to suppress the transfer to the near target, and it is possible to reduce the probability that the tracking error occurs due to the transfer to the near target.

Sixth Embodiment Next, a target tracking device according to the sixth embodiment will be described. FIG. 10 is a block diagram showing a target tracking device according to the sixth embodiment. The sixth embodiment differs from the first embodiment shown in FIG. 1 in that a gate size control unit (gate size control means) 40 for controlling the size of the tracking gate in accordance with the target straight-line speed performance is provided. Is. Other configurations are the same as or equivalent to those in the first embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the sixth embodiment, and the description thereof will be omitted.

As shown in FIG. 10, the gate size control unit 40 inputs the straight-line speed performance information registered in the straight-line speed performance database 6 for each model, and becomes the minimum size capable of covering this straight-line speed performance. To determine the size of the tracking gate. The control information regarding the size of the tracking gate determined by the gate size control unit 40 is given to the tracking gate setting unit 11, and the tracking gate setting unit 11 adjusts the size of the tracking gate based on this control information. As a result, the size of the tracking gate set by the tracking gate setting unit 11 becomes the minimum size that can cover the straight-line speed performance.

As described above, since the size of the tracking gate is set to the minimum size capable of covering the straight traveling speed performance,
The weighting factor can be distributed only to the echo signals that do not exceed the target speed performance. Therefore, the distribution of the weighting factors can be finely adjusted, and the calculation load on the arrival position determination unit 8 can be reduced.

Embodiment 7. Next, a target tracking device according to the seventh embodiment will be described. FIG. 11 is a block diagram showing a target tracking device according to the seventh embodiment. The seventh embodiment differs from the second embodiment shown in FIG. 4 in that a gate size control unit (gate size control means) 41 for controlling the size of the tracking gate according to the target turning acceleration performance is provided. Is. Other configurations are the same as or equivalent to those in the second embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the seventh embodiment, and the description thereof will be omitted.

As shown in FIG. 11, in the gate size control unit 41, the turning acceleration performance information registered in the turning acceleration performance database 21 for each model is input to obtain the minimum size capable of covering the turning acceleration performance. To determine the size of the tracking gate. The control information regarding the size of the tracking gate determined by the gate size control unit 41 is given to the tracking gate setting unit 11, and the tracking gate setting unit 11 adjusts the size of the tracking gate based on this control information. As a result, the size of the tracking gate set by the tracking gate setting unit 11 becomes the minimum size that can cover the turning acceleration performance.

As described above, since the size of the tracking gate is set to the minimum size capable of covering the turning acceleration performance, the weighting factor can be distributed only to the echo signals which do not exceed the target turning acceleration performance. Therefore, the distribution of the weighting factors can be finely adjusted, and the calculation load on the arrival position determination unit 8 can be reduced.

Embodiment 8. Next, a target tracking device according to the eighth embodiment will be described. FIG. 12 is a block diagram showing a target tracking device according to the eighth embodiment. The eighth embodiment is different from the third embodiment shown in FIG. 5 in that a gate size control unit (gate size control means) 42 for controlling the size of the tracking gate according to the target straight speed performance and turning acceleration performance is provided. It is a point to have. Other configurations are the same as or equivalent to those in the third embodiment. Therefore, the same reference numerals are given to the same or equivalent components as in the eighth embodiment, and the description thereof will be omitted.

As shown in FIG. 12, the gate size control unit 42 inputs the straight-line speed performance information and the turning-acceleration performance information registered in the model-specific straight-line speed and turning-acceleration performance database 31, and inputs the straight-line speed performance and the turning speed. Determine the size of the tracking gate so that it is the minimum size that can cover the acceleration performance. The control information regarding the size of the tracking gate determined by the gate size control unit 42 is given to the tracking gate setting unit 11, and the tracking gate setting unit 11 adjusts the size of the tracking gate based on this control information. As a result, the size of the tracking gate set by the tracking gate setting unit 11 is the minimum size that can cover the straight-line speed performance and the turning acceleration performance.

As described above, since the size of the tracking gate is set to the minimum size capable of covering the straight-line speed performance and the turning acceleration performance, the weighting factor is distributed only to the echo signals which do not exceed the target speed performance and the turning acceleration. can do. Therefore, the distribution of the weighting factors can be finely adjusted, and the calculation load on the arrival position determination unit 8 can be reduced.

The present invention is not limited to the above-described embodiment, but may be modified as follows without departing from the spirit of the present invention. (1) In the above-described embodiment, at least one of the straight-line speed performance and the turning acceleration performance is set as the target motion performance. However, horsepower, total weight, cruising performance, climbing performance, etc. are also set as the target motion performance, and the weighting factor is set. May be used as an index when allocating. (2) In the above embodiment, the description has been given using the elliptical tracking gate, but it may be rectangular or triangular.
Further, the tracking gate may have a three-dimensional shape such as a spherical shape, a columnar shape, a conical shape, etc. that covers the target ascending direction and the descending direction.

[0073]

Since the present invention is configured as described above, the following effects can be obtained. In other words, the weighting coefficient of the tracking filter is controlled according to the motion performance of the target, the clutter environment, or the situation of the close target, and the weighting coefficient of the echo signal that is highly likely to be an erroneous target is set to a small value. Can be reduced and the tracking maintenance rate can be improved.

Since the size of the tracking gate is set to the minimum size capable of covering the target motion performance, the weighting factor can be distributed only to the echo signals which do not exceed the target motion performance. For this reason, it becomes possible to finely adjust the distribution of the weighting factors, and it becomes easy to analyze the echo signal.

[Brief description of drawings]

FIG. 1 is a block diagram showing a target tracking device according to a first embodiment.

FIG. 2 is a diagram showing distribution of weighting factors assigned by a weighting factor assigning unit.

FIG. 3 is a diagram showing a processing method for obtaining a target reaching position.

FIG. 4 is a block diagram showing a target tracking device according to a second embodiment.

FIG. 5 is a block diagram showing a target tracking device according to a third embodiment.

FIG. 6 is a block diagram showing a target tracking device according to a fourth embodiment.

FIG. 7A is a diagram showing distribution of weighting factors in an environment with little clutter. (B) is a diagram showing distribution of weighting factors in an environment with a lot of clutter.

FIG. 8 is a block diagram showing a target tracking device according to a fifth embodiment.

FIG. 9A is a diagram showing distribution of weighting factors when there is no proximity target. (B) is a diagram showing distribution of weighting factors when there is a proximity target.

FIG. 10 is a block diagram showing a target tracking device according to a sixth embodiment.

FIG. 11 is a block diagram showing a target tracking device according to a seventh embodiment.

FIG. 12 is a block diagram showing a target tracking device according to an eighth embodiment.

FIG. 13 is a block diagram showing a target tracking device according to a conventional example.

FIG. 14 is a diagram showing a tracking gate used in a target tracking device according to a conventional example.

[Explanation of symbols]

2 ... Candidate position extraction unit (candidate position extraction means), 7 ... Weighting factor allocating unit (weighting factor allocating unit), 8 ... Reached position determination unit (reached position determination unit), 32 ... Clutter environment determination unit (Clutter environment determination unit) ), 33 ... Inter-target distance proximity determination section (inter-target distance proximity determination means), 40 to 42 ... Gate size control section (gate size control means)

─────────────────────────────────────────────────── ─── Continuation of the front page (58) Fields surveyed (Int.Cl. ⁷ , DB name) G01S 3/00-3/789 G01S ⁷ /00-7/42 G01S 13/00-13/95

Claims (12)

(57) [Claims] 1. Tracking a target traveling in a radar detection area
To analyze the echo signal at the tracking gate for
The athletic performance is calculated by calculating the athletic performance of the target detected by
The athletic performance calculation step of outputting information, and analyzing the target signal reflected by the target to analyze the target
The target identification code that identifies the model of the target and outputs the target identification information.
Next time, based on the step, the athletic performance information and the target identification information
The target is within the reachable range by the time of
Along with the arrival prediction area,
Overlap with the tracking gate to
Compared to the weighting factors assigned internally, the arrival prediction error
Assigning a small weighting coefficient to the outside of a
Step, and based on the assigned weighting factor, the arrival of the target.
Based on the arrival position determination step for determining the arrival position and the arrival position determined in this arrival position determination step
Prediction that the target will be reached by the next scan
The position is detected, and the tracking game is
And a tracking gate setting step for setting a tracking target. 2. When a plurality of target candidates are obtained from the echo signal, the respective positions from these target candidates are multiplied by the weighting factor to be equal to each other, and the positions are equal to each other. The target tracking method according to claim 1, wherein: 3. The weighting factor is characterized in that, when there is a lot of clutter in the radar detection area, a smaller numerical value is assigned to a peripheral portion of the arrival prediction area than to a central portion of the arrival prediction area. Claim 1 or claim
The target tracking method described in 2 . 4. A small numerical value is assigned to the weighting factor outside the range of distances between the targets when the distances between the targets are close to each other, compared to within the range of distances between the targets. target tracking method as claimed in any one of claims 3, characterized in that. Wherein said tracking gate, target tracking method according to any one of claims 1 to 4, characterized in that the size to fit the dynamic performance of the target is adjusted. Wherein said target driving dynamics, the target tracking method as claimed in any one of claims 5, characterized in that at least one of the performance of the straight speed performance and the turning acceleration performance . 7. A target for advancing in a radar detection area is tracked.
To analyze the echo signal at the tracking gate for
The athletic performance is calculated by calculating the athletic performance of the target detected by
An athletic performance calculator that outputs information, and a target signal reflected by the target is analyzed to analyze the target.
Target model identification that identifies the target model and outputs target identification information
Next time, based on a separate part, the athletic performance information and the target identification information
The target is within the reachable range by the time of
Along with the arrival prediction area,
Overlap with the tracking gate to
Compared to the weighting factors assigned internally, the arrival prediction error
Assigning a small weighting coefficient to the outside of a
Based on the assigned weighting factor and the assigned weighting factor.
Based on the arrival position determining unit that determines the arrival position and the arrival position determined in this arrival position determination step.
Prediction that the target will be reached by the next scan
The position is detected, and the tracking game is
And a tracking gate setting unit for setting a target. 8. The arrival position determining unit determines each of the plurality of targets as a target candidate position when there are a plurality of targets in the tracking gate.
And, target tracking apparatus according to each multiplying equal to position the weight coefficient to claim 7, characterized in that the arrival position of the target with respect to each distance from these candidate positions. 9. A clutter environment determination unit that determines whether or not there are many clutters in the radar detection area, wherein the weighting factor allocation unit determines that the clutter environment determination unit determines that there are many clutters in the radar detection area. when the compared to the weight factor of the central portion of the expected arrival area, according to claim 7, characterized in that it allocated a small number in the weighting coefficient of the peripheral portion of the expected arrival area also
Is the target tracking device according to claim 8 . 10. A target-to-target distance proximity determination unit that determines whether or not the distances between the targets are close to each other when there are a plurality of targets in the radar detection area, and the weighting factor allocation unit includes When the inter-target distance proximity determination unit determines that the distances between the targets are close to each other, the weights outside the range of the distances between the targets are compared with the weighting coefficient within the range of the distances between the targets. 10. A small numerical value is assigned to the coefficient, according to claim 7.
The target tracking device according to item 1 . 11. The gate size control means for adjusting the size of the tracking gate according to the target motion performance, further comprising gate size control means .
The target tracking device according to item 1 . 12. The target tracking device according to claim 7, wherein the target motion performance is at least one of straight-line speed performance and turning acceleration performance.