JP3520014B2 - Tracking load control 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 of tracking a target by applying a transmitted wave to a target, receiving a reflected wave thereof, or an outgoing signal from the target with respect to the transmitted wave, and processing the received signal. It is a thing.

[0002]

2. Description of the Related Art Tracking radars are used for defense and control for defense, and for launching and observing rockets for observation and artificial satellites. An example of a tracking processing device in such a tracking radar is disclosed in Japanese Patent Laid-Open No. 8-43526. This device, as shown in FIG.
The received radio wave thus obtained is input to the data processor 5 through the receiver 2, and is input as radar information to the radar information processing unit 5b through the radar signal processing unit 5a.

The radar information processing unit 5b calculates the target radar reflection cross section (RCS) from the distance (representing an aircraft in this case) and the reception intensity and refers to the model file to determine the target model. presume. Then, tracking smoothing constants α and β that can follow the estimated turning performance of the model.
And the tracking smoothing constant (α-β filter) is used to perform tracking processing of the target aircraft by position prediction.

[0004]

As described above, in the conventional tracking processing method, by using the turning performance obtained by the estimation of the target model in the tracking processing, the tracking ability for the turning target is improved. It is strengthening. However, the same tracking algorithm, that is, the α-β filter is used for all targets. As a result, the importance of each target to be tracked is not taken into consideration at all, and performing the same process on a target with a low importance is not limited to the H / W of the device that can perform the tracking process based on various tracking algorithms. (Hardware) There was a problem that resources would be wasted.

The present invention has been made in order to solve the above problems, and by reducing the tracking algorithm of a model of an unimportant target, the H / W resource can be effectively used for the important target. The purpose is to obtain a tracking load control method that can be utilized for

[0006]

According to the present invention, a tracking algorithm by a radar is selected as a simple tracking algorithm for a tracking target of low importance, and a normal tracking algorithm of high tracking accuracy for a target of high importance. Is to be selected.

According to the present invention, when the tracking target has a selective ally identification (SIF) code, a simple tracking algorithm is selected for the tracking target, and the tracking target is SI.
When the F code is not included, the normal tracking algorithm is selected for the tracking target.

The present invention distinguishes a tracking target having a SIF code into a civilian aircraft and a military aircraft, selects a simple tracking algorithm for the civilian aircraft's tracking target, and selects the military aircraft's tracking target. Normally, a tracking algorithm is selected.

According to the present invention, a tracking target having a SIF code is assigned to a civilian plane and a military plane as an SI in the SIF code.
It is identified from the F mode.

According to the present invention, a tracking target having an SIF code is discriminated between a commercial aircraft and a military aircraft based on whether or not the flight schedule is registered for the tracking target.

The present invention selects a simple tracking algorithm for a tracking target with a large shape and a low tracking target by a radar, and a normal tracking algorithm for a tracking target with a small shape.

According to the present invention, in the tracking processing, the radar reflection cross section (RCS) of the tracking target is repeatedly calculated several times,
The average value (average RCS) of the calculation results is calculated, and the average R
A tracking target having a CS value equal to or larger than a predetermined threshold is subjected to tracking processing by a simple tracking algorithm, and an average R
For targets whose CS magnitude is less than a predetermined threshold, a normal tracking algorithm is used.

The present invention uses a Kalman filter as a normal tracking algorithm and an α-β filter as a simple tracking algorithm.

[0014]

BEST MODE FOR CARRYING OUT THE INVENTION The target tracking method of the present invention includes, for example, a SIF code for discriminating allies, a SIF mode for discriminating between commercial aircraft and military aircraft, a flight plan or several scan average RCS (radar reflection). Cross-sectional area) is used to determine the degree of importance to the target, and the tracking algorithm for the target of low importance is simplified to reduce the overall tracking process.

Hereinafter, the tracking process by the simplified tracking algorithm will be referred to as "simple tracking", and the target for performing the simple tracking will be referred to as "simple tracking target". In addition, for a target with high tracking importance, the tracking processing by a tracking algorithm with high tracking accuracy is set as “normal tracking”, and a target for performing normal tracking is set as “normal tracking target”.

Embodiment 1. FIG. 1 is a flowchart of the tracking process according to this embodiment. Hereinafter, the tracking process will be described with reference to three flowcharts, taking a civilian aircraft, an aircraft having SIF mode 2 and an aircraft with which he / she is unknown as examples of the tracking target. SIF mode 3 / A for commercial aircraft, S for unknown
There is no IF code.

[0017] For example, the target is a hostile machine that does not perform hostilities against itself (it may be a ally machine other than a commercial machine).
In this case, since the SIF code is included, the SIF code is transmitted from the civilian machine as an inquiry response signal when it is captured by the search beam. The device determines whether or not the SIF code is received (step S-1). Then, if it is determined that the SIF code is received, it is determined whether the SIF code matches a preset SIF code for determining a commercial aircraft (step S-2).

If they match, the target is a commercial aircraft having an SIF code, and the simple tracking algorithm "α-
The tracking process is performed by the "β filter" (step S-
3). If the SIF codes do not match, a tracking process using the "Kalman filter" of the normal tracking algorithm is performed as an unconfirmed target (steps S-2 and S-4).

If the target aircraft is an unknown aircraft, there is no response to the question from the radar side, so there is no SIF code (step S-1), and tracking processing by the Kalman filter is performed (step S-4). . In addition, even if the target is an aircraft with SIF mode 2, it has an SIF code.
SIF code received and SIF code set on the machine side
If it matches the IF code, the same processing as the civilian machine described in the previous section is performed (steps S-1 to S-3).

The target is continuously tracked by repeating the above process, but the target does not transmit the SIF code at the time of capturing by the search beam but transmits the response signal of the SIF code during the tracking. Is described below.

Each tracking target holds a “tracking filter / gain” as state information. Therefore, if the target, which has not transmitted the response signal of the SIF code during the tracking as it is, transmits the response signal of the SIF code during the tracking, the tracking algorithm may be switched. In that case, the tracking process is continued by inheriting the information of the target “tracking filter / gain”.

In the first embodiment described above, the target is S
The target tracking algorithm is selected only by the presence or absence of the IF code. Α for commercial aircraft with SIF code, and aircraft with SIF code and SIF mode 2
-Use a simple tracking method with a β filter. Also, SI
A normal tracking method using a Kalman filter is used for the unidentified aircraft that does not have an F code.

Embodiment 2. FIG. 2 is a flowchart illustrating the tracking process according to this embodiment. Hereinafter, as in the first embodiment, the tracking target is a commercial aircraft, SIF mode 2
The tracking processing according to the present embodiment will be described with reference to the flowcharts, taking as an example three aircraft, one having an aircraft and one having an unknown person.

In the SIF mode, for defense,
There are four modes: 1, 2, 3 / A, and C. SIF modes 1 and 2 are SI for non-commercial aircraft such as military aircraft.
It is the F mode. Civil aircraft have SIF mode 3 / A or C. Here, SIF mode C is an altitude report, which indicates the target altitude in units of 100 feet.

In the flow chart shown in FIG. 2, the processing up to the judgment of whether or not the SIF code of the own machine and the SIF code transmitted by the target (step S-2) are the same as those in the first embodiment. is there. In addition, since the target has a SIF code when the target is other than the unknown device, each step of the flowchart shown in FIG. 1 of the first embodiment is performed until the determination of SIF mode 3 / A (step S-2A) in FIG. The operation is similar.

If it is determined that the SIF codes match and the SIF mode is 3 / A (step S-
2A), and SIF mode 3 / A indicates a commercial aircraft, so a simple tracking process is performed on the target by the α-β filter (step S-3).

However, even if the target is an aircraft having SIF mode 2, since the SIF code is naturally transmitted,
If it is determined in step S-2A that the SIF mode is not 3 / A, "the SIF mode of the main tracking target is 3 / A.
It is not A ”, and normal tracking processing is performed by a Kalman filter for a military aircraft or the like (step S-4).

When the target is an unidentified aircraft, since there is no response to the question from the radar side as in the first embodiment,
If there is no SIF code (step S-1), normal tracking processing by the Kalman filter is performed (step S-).
4).

In the second embodiment described above, after determining whether or not the target is an unidentified machine based on the presence / absence of the SIF code, for the target having the SIF code, the SIF mode is 3 / A or Whether the value is 1 or 2 is used as a determination factor for selecting the tracking algorithm. This allows the SIF
For commercial aircraft in mode 3 / A or C, the simple tracking method using the α-β filter is selected.

This is because the civilian machine does not need to perform high maneuvering such as sharp turns and rapid accelerations, and it is considered that the tracking process is easy. Therefore, the target is a simple tracking target and is tracked by the α-β filter. The simple tracking process is performed by the method.

Further, for an aircraft having SIF mode 1 or 2 and an unknown aircraft having no SIF code, normal tracking processing is performed by a tracking method using a Kalman filter. It can be determined that the tracking target having modes 1 and 2 is other than the commercial aircraft. The targets other than civilian planes are bombers, transport planes,
Since it is possible that an attack aircraft will perform high maneuvers such as sharp turns and sudden acceleration, it is considered that tracking processing is not easy,
The normal tracking processing is performed by the tracking method using the Kalman filter with the target as the normal tracking target.

Embodiment 3. FIG. 3 is a flowchart explaining the tracking process according to the present embodiment. In the present embodiment, as in the case of the first and second embodiments, the tracking processing will be described along with a flow chart, taking as an example three civilian aircraft, an aircraft having SIF mode 2, and an unidentified aircraft.

If the target is a commercial aircraft, it has an SIF code. Therefore, the steps up to the flight plan registration determination (step S-2B) in the flowchart shown in FIG. 3 are the same as in the first and second embodiments. If it is determined that the aircraft is a civilian aircraft based on the target aircraft number and aircraft shape captured by the search beam, or the interception of communication between the target and the control side, the commercial aircraft must register the planned route in the flight plan. Therefore, it is determined that the flight plan of the target tracking is a registered commercial aircraft (step S-2B), and α-β
Simple tracking processing is performed by a tracking method using a filter (step S-3).

Even in the case of an aircraft whose target has SIF mode 2, etc., since it has a SIF code, the processing up to the determination of flight plan registration in FIG.
Is the same as. If it is judged from the shape of the aircraft that the aircraft has SIF mode 2, etc., the target is not registered in the flight plan,
It is judged that "the flight plan for this tracking target is not a registered military plane", and normal tracking processing is performed by the tracking method using the Kalman filter.

Further, when the target is an unidentified aircraft, as in the first embodiment, since there is no response to the question from the radar side, the SIF code is absent, and the normal tracking process by the Kalman filter is performed.

In the third embodiment described above, after the target is judged by the presence or absence of the SIF code, it is judged by the tracking algorithm whether or not the flight plan is registered for the target having the SIF code. It is used as a material. As a result, a commercial aircraft that has registered a flight plan has a simple tracking method using an α-β filter, an aircraft that has a mode 2 that does not have a flight plan registered, and he does not have a SIF code. A normal tracking method using a Kalman filter is used for the aircraft.

Fourth Embodiment FIG. 4 is a flowchart illustrating the tracking process according to this embodiment. The radar reflection cross section (RSC) is added over several scans to the target captured by the search beam from the radar, and the average value (average RCS) is calculated (step S-1).
0). If the average RCS is equal to or higher than the set threshold, it is determined that the target is a large aircraft such as a commercial aircraft or a transport aircraft (step S-11). It is considered that the tracking process is easy because the large aircraft has low mobility. Therefore, the target determined to be a large-sized machine is set as the "simple tracking target", and the simple tracking process by the α-β filter is performed (step S-3).

When the average RCS is less than the threshold, it is determined that the target is a medium-sized aircraft such as a bomber or an attack aircraft or a small aircraft such as a missile or stealth (step S-
11). These goals are highly mobile and highly threatening.
Therefore, the target whose average RCS is less than the threshold is set as the "normal tracking target", and the normal tracking process by the Kalman filter is performed (step S-4).

Embodiment 5. FIG. 5 is a flowchart explaining the tracking process according to the present embodiment. Although the average RCS threshold is one in the fourth embodiment,
In the fifth embodiment, the target is discriminated by two thresholds. Let these two thresholds be A and B, and satisfy the condition of “average RCS> threshold A or threshold A> average RCS> threshold B”.

An average RCS is calculated for the target captured by the search beam of the radar (step S-1).
0). Average RCS is above threshold A (average RCS
> In the case of threshold A), as in the fourth embodiment,
It is determined that the target is a large machine, and the simple tracking process by the α-β filter is performed (steps S-11 and S-3). This means that large machines are less mobile than small ones, and
Since / N is large, tracking is easy and the tracking algorithm can be simplified. Therefore, a simple tracking process using an α-β filter is performed.

If the average RCS is less than the threshold A and more than the threshold B (threshold A> average RCS> threshold B) (step S-1
2) It is determined that the target is a medium-sized aircraft such as a bomber or an attack aircraft or a small aircraft such as a missile or stealth, and normal tracking processing is performed by the Kalman filter for medium-movement (step S-
4A).

This is because the target medium-sized machine is more mobile and has a higher degree of threat than a large machine. In addition, the medium-sized machine is less mobile than the small-sized machine and is less susceptible to drive noise. Therefore, the "normal tracking process by the Kalman filter for medium vehicle operation" is performed on the medium-sized vehicle with the drive noise reduced. Although the medium-sized machine and the small-sized machine are not distinguished in the fourth embodiment, this distinction is judged by the threshold B.

When the average RCS is less than the threshold B (step S-12), it is determined that the target is a small machine. Small aircraft such as missiles and stealth have higher maneuverability and threat levels than medium-sized aircraft, and there is a possibility that emergency response is required. In addition, since small aircraft are highly mobile, they are easily affected by driving noise such as operation by the operator. Therefore, the "normal tracking processing by the high maneuvering Kalman filter" in which the driving noise is set large is performed on the small-sized machine (step S-4B).

In the fifth embodiment described above, in the case where the target average RCS is equal to or higher than the threshold, the fourth embodiment is adopted.
Similar to the above, the simple tracking process by the α-β filter is performed. Furthermore, in the fourth embodiment, the threshold value is set to one, which is one, and the medium-sized machine is subjected to the normal tracking processing by the Kalman filter in which the driving noise is set small. For small aircraft, the Kalman filter with large drive noise is usually used for tracking processing.

[0045]

According to the present invention, as the tracking algorithm by the radar, the simple tracking algorithm is selected for the tracking target of low importance, and the normal tracking algorithm of high tracking accuracy is selected for the target of high importance. By selecting,
The H / W resource of the device can be effectively used.

According to the present invention, when the tracking target has the selective ally identification (SIF) code, the simple tracking algorithm is selected for the tracking target, and when the tracking target does not have the SIF code, By selecting the normal tracking algorithm for the tracking target, each tracking algorithm can be properly selected, and it is possible to expect improvement in tracking accuracy.

According to the present invention, the tracking target having the SIF code is discriminated between a civilian aircraft and a military aircraft, and a simple tracking algorithm is selected for the tracking objective of the civilian aircraft, and the tracking objective of the military aircraft is selected. However, by selecting the normal tracking algorithm, it is possible to more appropriately select the tracking algorithm and to expect an improvement in tracking accuracy.

According to the present invention, the tracking target having the SIF code is discriminated between the civilian aircraft and the military aircraft from the SIF mode in the SIF code, so that the tracking algorithm can be selected more appropriately and the tracking accuracy can be improved. There is an effect that can be expected to improve.

According to the present invention, the tracking target having the SIF code is discriminated between the civilian aircraft and the military aircraft based on the presence or absence of the flight schedule registration of the tracking target, so that the tracking algorithm can be properly selected and the tracking algorithm can be selected. This has the effect of improving accuracy.

According to the present invention, the tracking algorithm by the radar is selected by selecting the simple tracking algorithm for a tracking target having a large shape and selecting the normal tracking algorithm for a target having a small shape. There is an effect that a tracking algorithm can be properly selected by a simple method and an improvement in tracking accuracy can be expected.

According to the present invention, in the tracking process, the radar reflection cross section (RCS) of the tracking target is repeatedly calculated several times, and the average value (average RCS) of the calculation results is calculated.
By using a simple tracking algorithm for a tracking target whose average RCS magnitude is greater than or equal to a predetermined threshold, and using a normal tracking algorithm for targets whose average RCS magnitude is less than a predetermined threshold. There is an effect that a tracking algorithm can be selected more appropriately by a simple method, and an improvement in tracking accuracy can be expected.

[Brief description of drawings]

FIG. 1 is a flowchart illustrating a target tracking process according to a first embodiment of the present invention.

FIG. 2 is a flowchart illustrating target tracking processing according to Embodiment 2 of the present invention.

FIG. 3 is a flowchart illustrating target tracking processing according to Embodiment 3 of the present invention.

FIG. 4 is a flowchart illustrating target tracking processing according to Embodiment 4 of the present invention.

FIG. 5 is a flowchart illustrating target tracking processing according to Embodiment 5 of the present invention.

FIG. 6 is a configuration diagram of a general radar device.

─────────────────────────────────────────────────── ─── Continuation of front page (56) Reference JP-A-9-257923 (JP, A) JP-A-8-43526 (JP, A) JP-A-4-344488 (JP, A) JP-A-2- 116777 (JP, A) JP-A-2-116778 (JP, A) JP-A-10-246778 (JP, A) JP-A-10-160829 (JP, A) JP-A-6-51056 (JP, A) JP 63-196880 (JP, A) JP 5-232217 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00 -13/95

Claims (5)

(57) [Claims] As claimed in claim 1] Tracking Algorithm by radar, select the simple tracking algorithm for less important tracking target, for high tracking target importance to select a high tracking accuracy normal tracking algorithm tracking load To control method
Where the tracking target has a selective ally identification (SIF) code
If the tracking target is
Is selected and the tracking target does not have a SIF code,
In this case, the normal tracking algorithm is selected for the tracking target.
A tracking load control method, characterized by selecting. 2. A tracking target having an SIF code is used as a commercial aircraft.
And military aircraft, and for the tracking target of the civilian aircraft,
Select the simple tracking algorithm to track the military aircraft
The feature is that a normal tracking algorithm is selected for
The tracking load control method according to claim 1. 3. A tracking target having the SIF code is
For interplane and military aircraft, in SIF mode in the SIF code
The tracking negative according to claim 2, wherein the tracking negative is further identified.
Load control method. 4. A tracking target having the SIF code is
Whether or not the tracking schedule of the tracking target is registered for the interplanetary aircraft and the military aircraft
The tracking negative according to claim 2, wherein the tracking negative is further identified.
Load control method. 5. A Kalmanphy as a normal tracking algorithm.
Filter as a simple tracking algorithm.
5. The method according to claim 1, wherein the data is used.
The tracking load control method described.