JP3576031B2 - Bin setting processing device, bin setting processing method, and aircraft monitoring system - Google Patents

Description

[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a bin setting processing apparatus, method, and aircraft monitoring system, and particularly to determination of a bin shape and size appropriate for a moving state of a moving object.
[0002]
[Prior art]
An aircraft monitoring system installed in a control tower or the like detects the flight position of the aircraft by scanning the radar at predetermined time intervals, and constantly monitors the flight status of the aircraft by displaying the detected position on the display board. ing. If any of the aircraft enters the no-fly zone, a warning is issued. Conventionally, this alarm processing is performed in conjunction with the tracking processing.
[0003]
Generally, a tracking processing device mounted on an aircraft monitoring system obtains a wake by connecting flight positions detected by radar for each aircraft. However, actually, since the detected value includes a measurement error or the like that cannot be completely removed, it is necessary to smooth the wake by the detected value. The least-squares method is used as one method for performing this smoothing. In the least-squares method, a wake is obtained based on flight positions detected by aircraft in the past several times. Then, at the time of the next scan, it can be predicted that the aircraft will appear on the line of the obtained wake. Therefore, it can be said that improving the accuracy of the prediction of the flight position is equivalent to improving the accuracy of the wake. By referring to the flight speed and the like, it is possible to predict the flight position at a point one scan ahead at a pinpoint. However, actually, a certain degree of appearance range is set based on the predicted flight position obtained by pinpointing so that the aircraft can be tracked even when a sudden change in the flight state such as measurement error or drift occurs. . This range of appearance is called a “bin”. In tracking, the aircraft must be reliably detected, so that the size of the bin cannot be made smaller than necessary in consideration of measurement errors and the like. In the conventional tracking processing device, the size of the bin is determined by going straight or turning, or the shape of the bin is set according to the flight performance. In the tracking processing, a bin is set to detect a flight position at the time of the next scan, and an aircraft appearing in the area of the bin is identified as an aircraft to be tracked.
[0004]
When a bin is set for the next scan, an overlap between the bin and the no-fly zone is checked. The no-fly zone is a general term for an intrusion-prohibited area that is actually allowed to fly but must not fly according to regulations, etc., and an area that overlaps the bin of another aircraft. When the bin set for each aircraft overlaps the no-fly zone, the aircraft monitoring system issues a warning that there is a risk that the aircraft may enter the no-fly zone or that aircraft may collide with each other.
[0005]
By the way, in monitoring the flight of an aircraft, it is desired to be able to accurately predict the flight position not only in a short time of one scan but also in a long time of several scans. It seems that the prediction of the flight position ahead of a long time is possible by simply linking the prediction one scan ahead.
[0006]
[Problems to be solved by the invention]
However, if the prediction error of the wake of one scan is large, a large bin must be set as a result, so that a larger bin must be set in the next scan. If the bin size is cumulatively increased as it goes ahead in this way, the possibility that the bin and the no-fly zone overlap will increase, and the number of false alarms will increase. In tracking, it is only necessary to detect the flight position one scan (for a short time) ahead, so that a slightly larger bin size and shape may be set in anticipation of some errors. However, in the case of predicting the flight position several scans (long time) ahead, setting a bin based on the predicted flight position, and performing monitoring such as issuing an alarm according to the degree of overlap of the bins, this tracking trajectory prediction technology is used. If is used as it is, as described above, the bin size becomes unnecessarily large, and the possibility that a false alarm is issued increases, which is practically meaningless.
[0007]
The present invention has been made to solve the above problems, and an object of the present invention is to provide a bin setting processing device and a bin setting processing device capable of setting an appropriate bin according to the moving state of a moving object. It is in.
[0008]
Another object of the present invention is to provide an aircraft monitoring system capable of reducing the number of false alarms by setting an appropriate bin shape according to a flight state when a moving object is an aircraft.
[0009]
[Means for Solving the Problems]
In order to achieve the above object, a bin setting processing device according to the present invention includes a system having a function of detecting a moving position of a moving object by scanning a radar at predetermined time intervals. Moving position prediction processing means for calculating a moving position of the moving object at the time of scanning for performing prediction based on information; a predicted moving position of the moving object at the time of scanning before performing the prediction; and the moving object detected at the time of the scanning An error is evaluated by comparing the detected moving position with the detected moving position, and a bin, which is an appearance range of the moving body at the time of scanning, is determined based on the evaluation result and the moving position predicted by the moving position prediction processing means. Bin determination processing means, wherein the bin determination processing means determines the type of error between the predicted movement position and the detected movement position and It is to determine the shape and size of the bottle according to of come.
[0010]
Further, the bin determination processing means uses, as an evaluation target, information on at least one of the measurement error of the radar, the detected movement position of the moving body, the accuracy of the predicted movement position of the moving body, a course error, and a speed error. It is.
[0011]
Further, the bin determination processing means sets the bin so that an area on the side where the possibility of deviation of the course from the predicted movement position recognized based on the evaluation result is increased with respect to the predicted traveling direction is increased. It is.
[0012]
Further, the moving object is an aircraft.
[0013]
Further, the bin setting processing method according to the present invention, in a system having a function of detecting a moving position of a moving object by scanning a radar at a predetermined time interval, in a scan for performing prediction based on detected moving position information A moving position prediction processing step of calculating a moving position of the moving object in the step (c), and comparing the predicted moving position of the moving object during the scan before performing the prediction with the detected moving position of the moving object detected during the scan And a bin determination processing step of determining a bin that is an appearance range of the moving body at the time of scanning for performing prediction based on the evaluation result and the movement position predicted in the movement position prediction processing step. , The bin determination processing step includes determining a type and a magnitude of an error between the predicted movement position and the detected movement position. It is to determine the shape and size of the bottle according.
[0014]
Further, the bin determination processing step uses information of at least one of a measurement error of the radar, a detected moving position of the moving object, accuracy of a predicted moving position of the moving object, a course error, and a speed error as an evaluation target. It is.
[0015]
Further, the bin determination processing step sets the bin so that an area on the side where the possibility that the course deviates from the predicted movement position recognized based on the evaluation result with respect to the predicted traveling direction becomes large is increased. It is.
[0016]
Further, the moving object is an aircraft.
[0017]
Further, the aircraft monitoring system according to the present invention detects the flight position of the aircraft by scanning the radar at predetermined time intervals, and monitors the flight status of the aircraft by displaying the flight position on the screen. In the monitoring system, a moving position prediction processing means for calculating a moving position of the moving object at the time of scanning for performing prediction based on the detected moving position information, and a predicted moving position of the moving object at the time of scanning before performing the prediction. An error is evaluated by comparing the detected moving position of the moving object detected at the time of scanning, and the moving object at the time of scanning performing prediction based on the result of the evaluation and the moving position predicted by the moving position prediction processing means. Bin determination processing means for determining a bin which is an appearance range of the bin, and the bin set by the bin setting processing means Comparing the no-fly zone with which the aircraft should not fly, and when there is a risk that the aircraft may enter the no-fly zone, monitoring processing means for generating alarm information; and issuing an alarm based on the alarm information generated by the monitoring processing means. Alarm processing means for issuing a warning, wherein the bin determination processing means determines the shape and size of the bin according to the type and size of the error between the predicted movement position and the detected movement position.
[0018]
Further, the monitoring processing means generates intrusion alarm information when the bin set by the bin setting processing means overlaps with the intrusion prohibition area, and when the bin set by the bin setting processing means is in another aircraft during the same scan. For this reason, collision warning information is generated when the bin overlaps the bin set by the bin setting processing means.
[0019]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, a preferred embodiment of the present invention will be described with reference to the drawings.
[0020]
FIG. 1 is an overall configuration diagram showing an embodiment of an aircraft monitoring system according to the present invention. This aircraft monitoring system is a system generally used in air traffic control. FIG. 1 shows a radar sensor 1, a target detection device 2, a tracking processing device 3, a display device 4, a bin setting processing device 5, a monitoring processing device 6, and an alarm processing device 7. Among them, the radar sensor 1, the target detection device 2, the tracking processing device 3, and the display device 4 are devices conventionally provided for tracking. Tracking of the aircraft is performed by detecting the flight position of the aircraft with a radar, determining the flight of the detected aircraft, and displaying the flight position. When the radar scans at a predetermined time interval, for example, one revolution every four seconds, the flight position of each aircraft is updated every four seconds. Then, the radar sets a bin within 4 seconds for performing the next scan and prepares for tracking. The radar sensor 1 and the target detection device 2 are used for detecting a flight position of an aircraft when tracking. The tracking processing device 3 includes a tracking processing unit 8, a correlation processing unit 9, and a display processing unit 10. The tracking processing unit 8 obtains the trajectory of each aircraft based on the detected flight positions of the aircraft captured in time series. The correlation processing unit 9 determines the type (flight name) of the detected aircraft by referring to the database relating to the flight schedule. The display processing unit 10 generates display data for displaying a flight position of each aircraft. The display device 4 displays the flight position of the aircraft on a predetermined display device based on the display data generated by the display processing unit 10.
[0021]
The aircraft monitoring system according to the present embodiment is characterized in that a bin setting processing device 5, a monitoring processing device 6, and an alarm processing device 7 are newly provided. In the present embodiment, bins are set based on the prediction of the wake, not for tracking, the flight status of the aircraft is monitored based on the positions of the bins, and these devices are provided in order to prevent accidents and the like from occurring. Was.
[0022]
The bin setting processing device 5 is a means for predicting the wake up to several scan destinations and setting a bin at each predicted scan. For example, based on the detected flight position information of the aircraft, the least square method A flight position prediction processing unit 11 that predicts a wake by calculation and predicts a flight position, based on wake prediction information including a predicted flight position generated by the flight position prediction processing unit 11 and error information such as a measurement error. A bin determination processing unit 12 that sets bins at the time of scanning for performing prediction by using a bin setting information database 13 that stores bin setting information including wake prediction information.
[0023]
The monitoring processing device 6 monitors the flight status of each aircraft based on the bin setting information generated by the bin setting processing device 5. Then, it is determined whether or not the bin set for each aircraft overlaps the no-fly zone in order to avoid the invasion of the aircraft into the no-go area and the collision of the aircraft beforehand, and determines that there is an overlap. When this is done, alarm information is generated. The alarm processing device 7 issues an alarm according to the alarm information generated by the monitoring processing device 6. The monitoring processing of monitoring the flight status of each aircraft based on the flight position detected by each aircraft and issuing an alarm as necessary has been conventionally performed. However, the monitoring processing device 6 and the alarm processing device in the present embodiment have been used. 7 performs the characteristic process of generating and outputting the alarm information based on the bin overlap predicted and set by the bin setting processing device 5 which is a characteristic component in the present embodiment. In the following, only the characteristic processing will be described, and the conventional monitoring processing will not be described.
[0024]
By the way, one of the factors for accurately predicting the wake is to accurately detect the flight position of the aircraft, but in reality, errors such as measurement errors cannot be completely removed. If the error is large in the past detection, a bin having a certain size must be set similarly to the conventional tracking technique. However, if the error is small, it can be determined that the prediction of the flight position has been performed with high accuracy, so that the bin can be reduced. By analyzing past detection results, it is considered that the direction in which an error between the predicted flight position and the actually detected flight position appears appears to some extent. For example, if it is determined from the past results that the aircraft is turning right, it can be assumed that the aircraft will continue turning right or change the course to straight ahead during the next scan, and suddenly turn left. I don't think it will start. Therefore, it is not a line symmetry centering on the traveling direction with respect to the predicted pinpoint flight position, but a direction in which an error occurs, that is, a side where the possibility of deviation of the actual detected flight position increases (in this case, a right turning side). It may be appropriate to set the bins so that the area is large.
[0025]
Therefore, in the present embodiment, an error is evaluated each time a flight position is detected based on the flight status of the aircraft and past detected flight position information, and bin setting is performed in accordance with the type of the error and the size of each error. Is performed. This makes it possible to set an appropriate bin for the detected flight state. In other words, for example, when the value of the error is small, a small-sized bin can be set, and a bin shape can be set according to the flight condition. It is possible to prevent the bin size at the time point from becoming unnecessarily large. For this reason, the number of occurrences of false alarms can be reduced.
[0026]
Here, the shape of the bin set in the present embodiment will be described. In the present embodiment, four types of bin shapes, which are set according to the type and value of the error, are prepared: arrowhead shape, two-range two-azimuth shape, circular shape, and rectangular shape. Of course, the bin shape to be set is not limited to this.
[0027]
FIG. 2 is a diagram illustrating an example of an arrowhead-shaped bin. In FIG. 2, Xi (i = m−3 to m) is a detected flight position, and Q is a predicted one-scanning flight position. The arrow-shaped bin is formed by an acceleration range range RA and a deceleration range range RD in the traveling direction based on the predicted position Q, and an azimuth range AL and AR around the detection position Xm at the time of the scan immediately before the scan to be predicted. It is generated by connecting the four points. In this shape, the actual flight position one scan ahead is captured. Each of the ranges RA, RD, AL, and AR is determined by determining a speed change, a course change, an error between a predicted position and a detected position, and a standard error of a detected position in past several scans. An arrowhead shaped bin is effective when the detection position X has high reliability and either the course error or the speed error is large. Note that the course error is a standard error obtained by dividing the standard deviation of the course at each flight position represented by the coordinate data by the square root of the sampling number. It can be called the standard error of course change in position. The course error indicates that the vehicle is turning, and a larger value indicates a larger change in the course, that is, a larger turn. The speed error is the standard error obtained by dividing the standard deviation of the speed at each flight position obtained by dividing the distance from the immediately preceding flight position by the time interval by the square root of the sampling number. It can be said that it is the standard error of the speed change at each of the other flight positions with respect to the flight position at the time of scanning. The speed error indicates that the vehicle is accelerating or decelerating, and a large value indicates that the degree (change in speed) is severe. The symbols used in FIG. 2 are similarly used in other drawings for explaining other bin shapes.
[0028]
FIG. 3 is a diagram illustrating an example of a bin having two azimuths and two ranges. The bins of the two ranges and two azimuth shapes are defined by an acceleration range RA, a deceleration range RD, and an azimuth range AL, AR centered on the detection position Xm at the time of the scan immediately before the scan to be predicted to include the predicted position Q. Generated in two ranges, two azimuths. In this shape, the actual flight position one scan ahead is captured. Each of the ranges RA, RD, AL, and AR is determined by determining a speed change, a course change, an error between a predicted position and a detected position, and a standard error of a detected position in past several scans. A bin having two ranges and two azimuth shapes is effective when the detection position X has high reliability and both the course error and the speed error of the detection position are large.
[0029]
FIG. 4 is a diagram illustrating an example of a circular bin. The circular bin is generated as a circle having a radius L centered on the predicted position Q. In this shape, the actual flight position one scan ahead is captured. The radius L is determined by determining the error between the predicted position and the detected position and the standard error of the detected positions in the past several scans. The circular bin is effective when the reliability of the detected position X is low and the distribution of the error is not determined, that is, when it is assumed that the direction in which the error appears with respect to the predicted flight position extends in all directions. .
[0030]
FIG. 5 is a diagram illustrating an example of a rectangular bin. The rectangular bins are generated in a rectangular shape of vertical V and horizontal H with respect to the traveling direction based on the predicted position Q. In this shape, the actual flight position one scan ahead is captured. The height V and the width H are determined by determining the error between the predicted position and the detected position and the standard error of the detected positions in the past several scans. The rectangular bin is effective when the measurement error is large regardless of the reliability of the detection position X. The measurement error refers to a measurement error by a radar, and is represented by an azimuth error and a range error. The azimuth error is an error in the azimuth direction of the radar, and the range error is an error in the range direction of the radar. The measurement error increases when the detection position periodically fluctuates (zigzag fluctuation). For example, when the aircraft is flying toward radar, a rectangular bin is effective.
[0031]
For example, in the case of a bin having two ranges and two azimuth shapes, the values of the range ranges RA and RD and the values of the azimuth ranges AL and AR are calculated based on the result of evaluating the error. The values of AR and AR are not necessarily equal to each other, and are calculated as RA ≧ RD during acceleration and AL ≦ AR during right turn.
[0032]
Although the calculation formula for determining the bin size is shown in each drawing, the calculation formula is not limited to this example. Various parameter values shown in the calculation formula are set in consideration of various conditions such as acceleration / deceleration, straight-ahead traveling, turning, and other flight conditions, flight position (near an airport, at sea, etc.), flight speed, radar type, and the like. Further, the values of various parameters are not fixed values but fluctuate depending on the conditions described above and the time to be predicted (n-scan destination).
[0033]
Next, a bin setting process performed by the bin setting processing device 5 according to the present embodiment will be described with reference to the flowchart shown in FIG.
[0034]
In this embodiment, when an n-scan (long-time) bin is to be set, the target is set to be one scan destination, two scan destinations,..., Sequentially extending the time from the current aircraft detection position. A bin for n scans is set. In the present embodiment, a case where n = 3 will be described as an example. However, in this case, bins are sequentially set from n = 1.
[0035]
First, the scan destination n is set to 1 (step 101). The flight position prediction processing unit 11 predicts the wake by comparing the actually detected flight position with the predicted flight position at the time of the scan, and calculates the predicted flight position one scan ahead with reference to the flight speed and the like. (Step 102). The flight position prediction processing unit 11 in the present embodiment evaluates an error based on past detection results, such as comparing the detected flight position with the predicted flight position, and performs wake prediction in accordance with the magnitude of the error. Since the sampling number used for the calculation by the least square method is set to an appropriate value, the accuracy of the prediction of the flight position can be further improved. The flight position calculated here corresponds to the predicted position Q shown in FIGS.
[0036]
Next, if the measurement error is larger than the predetermined reference value 1, the bin determination processing unit 12 determines a bin having a rectangular shape (steps 103 and 104). Since the measurement error is specified by the characteristics of the radar, the reference value 1 to be compared with the measurement error sets a threshold value according to the radar currently used for detecting the flight position. If the bin is determined to be a rectangular bin, the bin size is determined based on the calculation formula shown in FIG. 5 (step 105).
[0037]
When the measurement error is smaller than the reference value 1, a detection error is calculated (step 106). The detection error is obtained as follows. First, in the case of bin setting for one scan, the bin determination processing unit 12 determines the flight position detected at the latest scan among the flight position information obtained by actually detecting the flight position, An error Ed from the predicted flight position is calculated. Data necessary for the calculation is extracted from the tracking processing device 3 as appropriate. Since each flight position is represented by coordinate data, an error can be obtained by calculating the distance between each flight position. FIG. 7A shows an example in which the detected flight position A1 is slightly shifted from the predicted flight position B1 in the immediately preceding scan. Subsequently, the standard error Es of the detection positions of the past several scans is obtained. The past several scans are the number of samplings of the detected flight position used for calculating the standard error Es, which may be set to a system-specific value or the same as the number of samplings used for predicting the wake. May be set. In the present embodiment, the latter method is adopted.
[0038]
For example, when the sampling number is set to 3, the flight positions detected in the scans up to three before the flight position detected in the immediately preceding scan, that is, the flight position information of the flight positions A1, A2, and A3 are used. The standard error is obtained by dividing the standard deviation by the square root of the number of samples. This value is corrected to be regarded as a relative error between the other flight positions A2 and A3 with respect to the flight position A1 at the time of the immediately preceding scan, and is further corrected by taking into account components such as the flight speed. Find Es. Either of the processes for obtaining the error Ed and the standard error Es may be performed first, or the processes may be performed simultaneously and in parallel.
[0039]
Then, the error Ed obtained in each of the above processes is multiplied by the difference error parameter a, and the standard error Es is multiplied by the standard error parameter b, and then added to calculate the overall error E. The balance of the errors Ed and Es is adjusted by the error parameters a and b. This overall error corresponds to the detection error. The method of calculating the overall error, the method of adjusting the sampling number based on the calculated overall error, and the method of predicting the wake described above are described in the invention filed on the same day by the same applicant (the title of the invention, Processing apparatus, wake prediction processing method and aircraft monitoring system ").
[0040]
A large detection error means that the actual flight position of the aircraft is greatly deviated from the track predicted in the past track prediction processing, so it can be determined that the accuracy of the past prediction was not high. . That is, the probability that the aircraft is flying at the predicted flight position even at the time of the prediction of one scan destination is relatively low. Therefore, if the calculated detection error is larger than the predetermined reference value 2, it is determined that the prediction accuracy of the flight position is low, and the bin is determined as a circular bin (steps 107 and 108). The reference value 2 to be compared with the detection error is set while appropriately changing in consideration of factors such as the measurement accuracy of the radar used. If the bin is determined to be a circular bin, the bin size is determined based on the calculation formula shown in FIG. 4 (step 109).
[0041]
When the detection error is smaller than the reference value 2, a course error and a speed error are calculated (step 110). The method of obtaining the course error and the speed error has already been described in the description of the arrow-shaped bin shown in FIG. Here, if the course error is larger than the predetermined reference value 3 and the speed error is larger than the predetermined reference value 4, the bin is determined to have two ranges and two azimuths (steps 111 and 112). Each of the reference values 3 and 4 is set in consideration of various conditions such as a flight state such as acceleration / deceleration, straight ahead, turning, a flight position (near an airport, at sea, etc.), a flight speed, and a radar type. If the bin is determined to have two ranges and two azimuths, the bin size is determined based on the calculation formula shown in FIG. 3 (step 113).
[0042]
On the other hand, if at least one of the course error and the speed error is not larger than the predetermined reference value 3 or 4, the bin is determined to be an arrowhead (steps 111 and 114). If it is determined that the bin has an arrowhead shape, the bin size is determined based on the calculation formula shown in FIG. 2 (step 115).
[0043]
As described above, when the bin at one scan destination is set, various data obtained at the time of the bin setting, such as the bin shape, the bin size, and various parameter values used for calculating the bin size, are set as bin setting information. It is stored in the setting information database 13 (step 116). At this time, the track setting information on the track obtained when the flight position is predicted in step 102 is included in the bin setting information.
[0044]
In the present embodiment, since the flight position is predicted up to three scan destinations, the process proceeds to the process of setting a bin at two scan destinations (steps 117 and 118).
[0045]
Returning to step 102, the flight position prediction processing unit 11 calculates a predicted flight position two scan ahead (step 102). When calculating the predicted flight position, the flight position information of the immediately preceding scan is referred to, so when predicting the flight position of two scan destinations, the flight position information of one scan destination is used. However, the flight position one scan ahead has not actually been detected yet. As described above, when it is necessary to use the flight position information in the future, each predicted flight position at the time of the future scan is regarded as the detected flight position, and the flight position at the time of the subsequent scan is predicted.
[0046]
When predicting the track ahead for a long time, the prediction accuracy of the track is considered to decrease as the prediction time increases, but the flight position prediction processing unit 11 in the present embodiment increases the time of the prediction. Accordingly, the number of samplings used for calculating the track prediction is increased, so that a decrease in prediction accuracy can be suppressed as much as possible. FIG. 8 shows a conceptual diagram of an example in which the number of samplings is increased by one each time the number of samplings is extended to one scan destination.
[0047]
Next, if the measurement error is larger than the predetermined reference value 1, the bin determination processing unit 12 determines a bin having a rectangular shape (steps 103 and 104), and determines a bin size based on the calculation formula shown in FIG. (Step 105). When the measurement error is smaller than the reference value 1, a detection error is calculated (step 106). The calculation method of the detection error may be the same method as when the bin is set one scan destination. However, when the prediction target is the second or subsequent scan, there is no detected flight position data at the time of the immediately preceding scan, so that the predicted flight position obtained at step 102 for one scan is detected similarly to the flight position prediction processing. The detection error is determined assuming the flight position. For example, when the number of samplings is 3, as shown in FIG. 7B, the immediately preceding predicted flight position Q1 and the detected flight positions A1 and A2 are used.
[0048]
Subsequent processes (steps 107 to 116) are the same as the bin setting process for one scan destination, and a description thereof will be omitted. Next, a flight position is predicted three scan destinations. This process is the same as the bin setting process two scan destinations, and thus the description is omitted.
[0049]
The difference in the bin setting process between the one scan ahead and the second and subsequent scans is that the above-mentioned predicted flight position is regarded as the detected flight position, and the reference values used for determining the bin shape and calculating the bin size are various. The parameter values are different. The reason why the reference value and the like are different is that in the second and subsequent scans, the calculation is performed by regarding the predicted flight position as the detected flight position. That is, since the bin is set based on the uncertain data (predicted flight position information) obtained by the prediction, it is necessary to assume that the error slightly increases. Therefore, a reference value or the like that allows for this error is set. It is considered that as the error increases, the bin size sequentially increases as the time to be predicted increases from one scan destination to the next. However, in the present embodiment, since the flight position in the future can be accurately predicted, the initial (one scan destination) bin size can be set smaller than in the past, and the bin size further from that bin can be set. The bin set in time can also be made relatively small as compared with the conventional case. FIG. 9 shows an example of a bin having two ranges and two azimuths set as described above. In the present embodiment, since the shape and size of the bin that is considered to be optimal at each scan destination are set, the bin shape set at each scan destination of a certain aircraft is not always the same. It is clear from the description of the above processing.
[0050]
When bins are set for each scan in the future as described above, when the bins of each aircraft are set by the bin setting processing unit 5, the monitoring processing device 6 Based on the forbidden area, processing for generating alarm information is performed as necessary for avoiding a collision or the like. This monitoring process will be described with reference to the flowchart shown in FIG.
[0051]
The monitoring processing device 6 receives the bin setting information sent from the bin setting processing device 5 (Step 201). Note that the “predicted position” in FIG. 10 is not a flight position (pinpoint) of each aircraft but a set range of a bin.
[0052]
In the subsequent processing, alarm information is generated. First, it is determined whether or not the predicted position at the time of each scan predicted for each aircraft does not overlap with the intrusion prohibition area (step 202). Since each piece of information to be compared can be represented as coordinate data, it can be easily determined whether or not they overlap. The same applies to the processing for determining whether or not they overlap, which will be performed later. Here, when it is determined that they overlap, it is possible to determine that there is a risk that the corresponding aircraft may enter the intrusion prohibition area at the time of the corresponding scan, and the monitoring processing device 6 issues an intrusion alarm indicating that fact. Then, intrusion alarm information is generated (step 203). In the intrusion alarm information, information on which aircraft (flight) may enter at which position in the intrusion prohibited area at what time is set. If there is no possibility that all the predicted positions will enter the intrusion prohibited area, the intrusion alarm is canceled if it has been set (steps 204 and 205). In this way, the process of monitoring intrusion into the intrusion prohibited area is performed.
[0053]
Subsequently, the monitoring processing device 6 determines whether the predicted positions at the time of each scan predicted for each aircraft overlap each other at the same scan (step 206). When the predicted positions of the aircraft at the same scan overlap each other, it can be determined that there is a risk of collision at the time of the scan. Is generated (step 207). In the collision warning information, information about which aircraft (flight) is likely to collide when and where is set. When there is no possibility of collision, if a collision warning is set, it is canceled (steps 208 and 209). Thus, the collision monitoring process is performed.
[0054]
In this embodiment, in order to explain the characteristic setting of a bin at a long time (n scans) ahead, the monitoring processing unit 6 monitors the bin after the bin setting processing unit 5 sets the bin up to the n scan destination. Although the process is described as being performed, the monitoring processing device 6 may perform the monitoring process every time the bin setting processing device 5 sets a bin for one scan in order to pursue real-time processing.
[0055]
As shown in the flowchart of FIG. 11, if the intrusion alarm is set by the monitoring processing device 6, the intrusion alarm is output (steps 301 and 302), and the alarm processing performed by the alarm processing device 7 is set. When the intrusion alarm is released, the output of the intrusion alarm is stopped (steps 303 and 304). If a collision warning has been set by the monitoring processor 6, a collision warning is output (steps 305 and 306), and if the set collision warning is released, the output of the collision warning is stopped (step 307). , 308).
[0056]
According to the present embodiment, the error based on the flight condition of the aircraft is evaluated, and the shape and size of the bin are determined based on the evaluation result. The bin can be set. That is, the bin size predicted in the future can be minimized. In the present embodiment, bins in the second scan destination, the third scan destination, and the long time destination are set based on the bins set for the one scan destination, but the bins in the short time (one scan) destination can be made as small as possible. With this configuration, it is possible to prevent the bin size from becoming unnecessarily large in a long time (n scans) ahead obtained by stacking predictions in a short time ahead. As a result, the rate at which the set bins unduly overlap with the no-fly zone is suppressed, so that the number of false alarms can be reduced.
[0057]
As described above, if it is possible to accurately set the bin ahead of a long time, the following effects can be obtained. Normally, as a flow of processing for avoiding a collision, a flight position is predicted, bin overlap is checked, and if there is a possibility of a collision, the aircraft is contacted. The pilot of the aircraft changes the route according to the notification to avoid collision. For example, if this series of processing takes 12 seconds, and if the interval (one scan) at which prediction is made is 4 seconds, this collision cannot be avoided even if only one scan destination is accurately predicted. In other words, it is necessary to accurately set the bins for three scans. According to the present embodiment, the bin ahead of a long time can be set with high accuracy with an appropriate shape and size, so that the number of false alarms can be reduced as described above.
[0058]
Note that the present embodiment is characterized in that a wake is predicted at each future scan and a bin is set, and no reference is made to tracking. However, if attention is paid to the one-scanning-destination bin setting process in the present embodiment, the characteristic bin setting process in the present embodiment can be applied to the tracking process. An effect that an appropriate shape and size can be set can be obtained.
[0059]
Further, in the present embodiment, an aircraft monitoring system assuming an aircraft as a moving object has been described as an example. However, the bin setting processing device 5 in the present embodiment is not limited to moving other objects such as birds and ships. The present invention can also be applied to a system for estimating a position.
[0060]
【The invention's effect】
According to the present invention, an error is evaluated based on information such as acceleration / deceleration of an aircraft, a traveling state such as going straight, turning, and a traveling position, and a bin having an appropriate shape and size is obtained by analyzing the result of the evaluation. Can be set.
[0061]
In addition, the bins are set so as to increase the area on the side where the possibility that the course deviates from the predicted movement position with respect to the predicted traveling direction is increased. That is, since the moving direction of the moving body and the error thereof are evaluated and the bin is set at an appropriate position with respect to the predicted moving position, the moving body can be reliably captured even when a small bin is set. .
[0062]
Further, since bins having an optimal shape and size can be set, the number of false alarm occurrences can be reduced.
[Brief description of the drawings]
FIG. 1 is an overall configuration diagram showing an embodiment of an aircraft monitoring system according to the present invention.
FIG. 2 is a diagram showing an arrowhead-shaped bin set in the present embodiment and a method of calculating the size of the bin.
FIG. 3 is a diagram illustrating a two-range two-azimuth bin set in the present embodiment and a method of calculating the size of the bin.
FIG. 4 is a diagram showing a circular bin set in the present embodiment and a method of calculating the size of the bin.
FIG. 5 is a diagram illustrating a rectangular bin set in the present embodiment and a method for calculating the size of the bin.
FIG. 6 is a flowchart showing a bin setting process according to the embodiment.
FIG. 7 is a conceptual diagram showing a positional relationship between a predicted flight position and a detected flight position in the present embodiment.
FIG. 8 is a diagram for explaining a method of adjusting the number of samplings in the present embodiment.
FIG. 9 is a diagram showing an example of bins set up to three scan destinations in the present embodiment.
FIG. 10 is a flowchart illustrating a monitoring process according to the present embodiment.
FIG. 11 is a flowchart showing an alarm process according to the present embodiment.
[Explanation of symbols]
Reference Signs List 1 radar sensor, 2 target detection device, 3 tracking processing device, 4 display device, 5 bin setting processing device, 6 monitoring processing device, 7 alarm processing device, 8 tracking processing unit, 9 correlation processing unit, 10 display processing unit, 11 Flight position prediction processing unit, 12 bin determination processing unit, 13 bin setting information database.

Claims (10)

In a system having a function of detecting a moving position of a moving object by scanning a radar at predetermined time intervals,
Moving position prediction processing means for calculating the moving position of the moving body at the time of scanning for performing prediction based on the detected moving position information,
An error is evaluated by comparing a predicted movement position of the moving body at the time of the scan before performing the prediction with a detected movement position of the moving body detected at the time of the scan, and a result of the evaluation and the movement position prediction are performed. Bin determination processing means for determining a bin which is an appearance range of a moving object at the time of scanning performing prediction based on a movement position predicted by the processing means,
Has,
The bin setting processing device, wherein the bin determination processing means determines the shape and size of a bin according to the type and size of an error between the predicted movement position and the detected movement position. The bin determination processing means uses, as an evaluation target, information on at least one of a measurement error of the radar, a detected moving position of the moving object, accuracy of a predicted moving position of the moving object, a course error, and a speed error. The bin setting processing device according to claim 1, wherein The bin determination processing means sets a bin such that an area on the side where the possibility of deviation of the course from the predicted movement position recognized based on the result of the evaluation is increased with respect to the predicted traveling direction is increased. The bin setting processing device according to claim 1, wherein The bin setting processing device according to claim 1, wherein the moving object is an aircraft. In a system having a function of detecting a moving position of a moving object by scanning a radar at predetermined time intervals,
A movement position prediction processing step of calculating a movement position of the moving body at the time of scanning for performing prediction based on the detected movement position information;
An error is evaluated by comparing a predicted movement position of the moving body at the time of the scan before performing the prediction with a detected movement position of the moving body detected at the time of the scan, and a result of the evaluation and the movement position prediction are performed. A bin determination processing step of determining a bin that is an appearance range of a moving object at the time of scanning performing prediction based on the movement position predicted in the processing step,
Has,
The bin setting processing method, wherein the bin determination processing step determines the shape and size of a bin according to the type and size of an error between the predicted movement position and the detected movement position. The bin determination processing step uses information of at least one of a measurement error of the radar, a detected moving position of the moving object, accuracy of a predicted moving position of the moving object, a course error, and a speed error as evaluation targets. 6. The bin setting processing method according to claim 5, wherein In the bin determination processing step, the bin is set such that the region on the side where the course is likely to deviate from the predicted movement position recognized based on the evaluation result with respect to the predicted traveling direction is increased. 6. The bin setting processing method according to claim 5, wherein The bin setting processing method according to claim 5, wherein the moving object is an aircraft. An aircraft monitoring system that detects a flight position of an aircraft by scanning a radar at predetermined time intervals and monitors the flight status of the aircraft by displaying the flight position on a screen,
Moving position prediction processing means for calculating the moving position of the moving body at the time of scanning for performing prediction based on the detected moving position information,
An error is evaluated by comparing a predicted movement position of the moving body at the time of the scan before performing the prediction with a detected movement position of the moving body detected at the time of the scan, and a result of the evaluation and the movement position prediction are performed. Bin determination processing means for determining a bin which is an appearance range of a moving object at the time of scanning performing prediction based on a movement position predicted by the processing means,
Monitoring processing means for comparing the bin set by the bin setting processing means with the no-fly zone in which the aircraft should not fly, and generating alarm information when the aircraft may enter the no-fly zone,
Alarm processing means for issuing an alarm based on the alarm information generated by the monitoring processing means,
Has,
The aircraft surveillance system, wherein the bin determination processing means determines the shape and size of a bin according to the type and size of an error between the predicted movement position and the detected movement position. The monitoring processing means,
If the bin set by the bin setting processing means overlaps the intrusion prohibited area, generates intrusion alarm information,
10. The collision warning information according to claim 9, wherein when the bin set by the bin setting processing unit overlaps with the bin set by the bin setting processing unit for another aircraft during the same scan, collision warning information is generated. Aircraft monitoring system.

Images