JP3625409B2

JP3625409B2 - Flight target monitoring system

Info

Publication number: JP3625409B2
Application number: JP2000069229A
Authority: JP
Inventors: 浩徳永田
Original assignee: Toshiba Corp
Current assignee: Toshiba Corp
Priority date: 2000-03-13
Filing date: 2000-03-13
Publication date: 2005-03-02
Anticipated expiration: 2020-03-13
Also published as: JP2001253398A

Description

【０００１】
【発明の属する技術分野】
この発明は、例えば空港や防衛関連施設に適用され、特に監視領域内に進入した飛行体の監視を行なう飛行目標監視システムに関する。
【０００２】
【従来の技術】
一般に、空港や防衛関連施設においては、航空機の飛行状況を監視するために、レーダを用いることが必要不可欠となっている。
【０００３】
ところで、空港などにおいては、監視すべき領域の広さが数十ｋｍ四方にも及ぶ場合があり、大送信電力のレーダが要求される。また、航空機側にトランスポンダなどの応答装置が無い機体にも十分に対応するために、レーダの送信出力を常に大きくしておく必要がある。さらに、航空機の位置情報精度を向上させるためには、レーダアンテナ自体も大型化が避けられない状況にある。このため、レーダの価格やその運用経費の増大が問題となってきている。
【０００４】
【発明が解決しようとする課題】
以上述べたように、レーダを用いた監視システムでは、監視を行なうべき領域の広さや航空機の種類に応じて柔軟に対応できるようにするために、レーダの送信出力を常に大きくしておく必要があり、その結果運用経費の増大を招き、さらに、航空機の位置情報精度を向上させるために、レーダアンテナの大型化が避けられないものとなり、価格の増大を招いてしまうものとなる。
【０００５】
そこで、この発明の目的は、監視を行なうべき領域の広さや監視対象となる飛行体の種類によらず、この領域内に進入した飛行体の監視を低コストでかつ精度良く行なうことを可能とし、しかも維持経費の削減も大幅に図り得る飛行目標監視システムを提供することにある。
【０００６】
【課題を解決するための手段】
この発明に係る飛行目標監視システムは、所定の監視領域内に進入する目標となる飛行体の監視を行なう飛行目標監視システムにおいて、監視領域を互いに分担し、かつ当該監視領域の内、少なくとも一部の領域を共有するように各分担領域に配置され、それぞれ方位方向及び高低方向に回動自在でかつ分担領域及び共有領域を視野とし、飛行体が視野内に入った際に、飛行体から発生される熱を捕捉及び追尾することで目標方向情報を得る第１及び第２の赤外線カメラ装置と、これら第１及び第２の赤外線カメラ装置でそれぞれ得られる目標方向情報、及び飛行体捕捉もしくは追尾処理時に得られる第１及び第２の赤外線カメラ装置の方位及び高低方向への角度情報に基づいて飛行体の位置情報を算出する位置算出装置とを具備し、第１及び第２の赤外線カメラ装置は、視野内で少なくとも飛行体の左右側面もしくは熱の発生元となる後部を捕捉及び追尾することを特徴とする。
【０００７】
すなわちこの発明では、２台の赤外線カメラ装置が、監視を行なうべき領域中で少なくとも一部の領域を共有するように分担された領域にそれぞれ配置されるので、飛行体が監視領域に進入すれば、必ず１台の赤外線カメラ装置は飛行体の側面乃至後方を撮影できる。さらに、飛行体が共有領域に進入すれば、２台の赤外線カメラ装置で探知可能となり、各自赤外線カメラ装置で得られた検出情報を位置算出装置で演算して飛行体の現在位置を求めることができる。
【０００８】
従ってこの発明によれば、飛行体が分担領域に進入すると、その領域に該当する赤外線カメラ装置により飛行体の熱源を探知可能となることにより比較的低感度の探知素子を赤外線カメラ装置に使用しても十分な探知距離を実現でき、しかも２台の赤外線カメラ装置で得られる２つの検出情報を統合演算することで、３画測量による３次元情報を得ることができるので、レーダを用いたシステムと比べると、高精度で比較的小型でかつ安価なシステムを提供することができる。また、赤外線カメラ装置を用いて飛行体を、熱源を可視可能な側面または後方から撮影するようにすれば、飛行体を正面から探知する場合に比して、同一の装置で数倍の探知距離が確保可能であり、従来の如く目標検出位置精度を向上させるためにレーダ及びレーザを用いることなく、監視対象の飛行体の正確な位置情報を得ることが可能となる。
【０００９】
また、この発明では、さらに、全監視領域を覆うように第１及び第２の赤外線カメラ装置とは別の分担領域に配置される第３の赤外線カメラ装置を備え、位置算出装置は、第１、第２及び第３の赤外線カメラ装置の各々で得られる目標方向情報、及び飛行体捕捉もしくは追尾処理時に得られる第１、第２及び第３の赤外線カメラ装置各々の方位及び高低方向への角度情報に基づいて飛行体の位置情報を算出することを特徴とするので、飛行体の監視を行なう上で、信頼性の高い監視システムを構築できる。
【００１０】
また、この発明では、第１、第２及び第３の赤外線カメラ装置の各々で得られる検出情報は、飛行体の検出位置を自装置の方位及び高低方向への傾き角度に対する角度情報に変換されて角度情報とともに位置算出装置に転送されることを特徴とするので、赤外線カメラ装置と位置算出装置との間を数十ｋｍ離隔しても、角度情報に変換して転送することで伝送ラインのコストアップを極力抑えることが可能となる。
【００１１】
また、この発明では、位置算出装置は、表示器と、第１、第２及び第３の赤外線カメラ装置のうち飛行体が進入した領域に該当する赤外線カメラ装置の方位及び高低方向への傾き角度と、この傾き角度に対する飛行体の存在角度とを表示器に表示する表示制御手段とをさらに備え、表示制御手段は、表示器に、赤外線カメラ装置の方位方向への傾き角度に対応する縦の基準線と赤外線カメラ装置の高低方向への傾き角度に対応する横の基準線とを表示させるとともに、これら縦及び横の基準線から飛行体の存在角度に対応する位置に飛行体を示すシンボルを表示することを特徴とするので、飛行体が分担領域に進入した際に、その領域に該当する赤外線カメラ装置から飛行体を見た正確な方向（方位、高低）情報を位置算出装置の監視者に提示することができる。
【００１２】
さらに、この発明では、表示制御手段は、飛行体が第１、第２及び第３の赤外線カメラ装置のうち少なくとも２つが共有する領域に進入したとき、表示器に対し、表示画面上で縦及び横の基準線、及び飛行体を示すシンボルを赤外線カメラ装置毎に互いに異なる表示形態で表示させることを特徴とするので、位置算出装置の監視者は、表示形態を見ることで、１台の表示器で２台以上の赤外線カメラ装置それぞれから見た飛行体を視認できるようになり、これにより監視者は１人で済み、システム全体としてコスト削減及び運用費用削減に有利となる。
【００１３】
【発明の実施の形態】
以下、この発明の実施形態について図面を参照して詳細に説明する。
図１は、この発明に係わる飛行目標監視システムの一実施形態における航空機捕捉時の様子を示す概略構成図であり、図２は一実施形態の信号処理系統を示すブロック図である。
【００１４】
図１に示すシステムでは、４台の赤外線カメラ１−１〜１−４（図１中では１−１，１−２のみを図示）を監視領域ＡＲＥＡの４隅近傍にそれぞれ配置している。これら４台の赤外線カメラ１−１〜１−４は、監視領域ＡＲＥＡを互いに分担し、しかも監視領域ＡＲＥＡの略中央部を共有するようにしており、その内部にある探知素子がそれぞれ方位方向（図１中では矢印ＥＬ方向）及び高低方向（図１中では矢印ＡＺ方向）に回動自在であり、各分担領域内に進入した航空機ＡＰの熱源となるジェット噴射装置を探知素子で検出するものである。なお、赤外線カメラ１−１〜１−４は、それぞれ航空機ＡＰの正面を見た場合には最大探知距離が約８ｋｍ四方の性能とすれば、航空機ＡＰの側面もしくは後方を見た場合には最大探知距離が数十ｋｍ四方にも及ぶ。従って、図１において、赤外線カメラ１−１、１−２は、各分担領域に進入した航空機ＡＰの左右側面を捕捉し、以後航空機ＡＰの後方を追尾するように回動することになる。
【００１５】
これら赤外線カメラ１−１〜１−４には、図２に示す如く、画像処理装置２−１〜２−４が設置されている。そして、これら画像処理装置２−１〜２−４には、それぞれ共通の統合演算装置３が接続される。なお、画像処理装置２−１〜２−４と統合演算装置３との間は、数十ｋｍ離隔されている。
【００１６】
画像処理装置２−１〜２−４は、検出した目標の画像処理を行なうものであり、対応する赤外線カメラ１−１〜１−４の目標とする航空機ＡＰ捕捉もしくは追尾時の傾き角度情報と画像処理による視野内の目標方向情報とを統合演算装置３に転送する。統合演算装置３は、４台の赤外線カメラ１−１〜１−４で得られる情報を処理することで監視領域ＡＲＥＡ内に進入した航空機ＡＰの３次元位置を算出し、後述する表示器に表示する。
【００１７】
次に、上記構成における処理動作について図３を参照して説明する。
すなわち、目標となる航空機ＡＰが位置Ａ１、つまり赤外線カメラ１−１の分担領域に来た場合、赤外線カメラ１−１が航空機ＡＰの熱源を探知する。この時、画像処理装置２−１では、赤外線カメラ１−１の高低及び方位方向への傾き角度情報と画像処理による視野内の目標方向情報（高低方向及び方位方向）を得ることができる。さらに、航空機ＡＰが前進して位置Ａ２に来た場合、赤外線カメラ１−２も航空機ＡＰの熱源を探知する。このため、同様にして赤外線カメラ１−２から見た目標方向情報が得られる。
【００１８】
統合演算装置３では、上記２つの情報から演算処理により、正確な３次元位置情報が得られる。これを表示器に表示することで、従来のレーダにより得られる位置情報と同等の情報を得ることが可能となる。
【００１９】
また、この実施形態では、統合演算装置３に、赤外線カメラ装置１−１〜１−４のうち航空機ＡＰが進入した領域に該当する赤外線カメラ装置１−１の方位及び高低方向への傾き角度と、この傾き角度に対する航空機ＡＰの存在角度とを表示器に表示する表示制御手段を設けるようにしている。
【００２０】
ここで、上記制御過程における統合演算装置３内の表示器での表示例を図４に示す。図４において、符号４０は表示器であり、その表示画面に該当する赤外線カメラ１−１の方位方向への傾き角度に対応する縦の基準線４１と赤外線カメラ１−１の高低方向への傾き角度に対応する横の基準線４２とを表示させている。また、表示器４０は、その表示画面上にこれら縦及び横の基準線４１，４２からの航空機ＡＰの存在角度に対応する位置に航空機ＡＰを示すシンボル４３を表示している。このようにすることで、航空機ＡＰが例えば赤外線カメラ１−１の分担領域に進入した際に、赤外線カメラ１−１から航空機ＡＰを見た正確な方向（方位、高低）情報を統合演算装置３の監視者に提示することができる。
【００２１】
また、航空機ＡＰがさらに進んで赤外線カメラ１−１〜１−４が共有する領域に進入したとき、統合演算装置３内の表示制御手段は、表示器４０に対し、表示画面上で縦及び横の基準線４１，４２、及び航空機ＡＰを示すシンボル４３を赤外線カメラ１−１〜１−４毎に互いに異なる表示形態で表示させるようにもしている。この場合、表示画面を４分割して各分割画面に対応する赤外線カメラ１−１〜１−４から見た航空機ＡＰを示すシンボルを表示したり、また、各赤外線カメラ１−１〜１−４毎に、色、点滅、コンシール、下線、囲み線、フォントのうちの少なくともいずれかにより属性を変更したりすることが考えられる。
【００２２】
このようにすれば、統合演算装置３の監視者は、表示器４０の表示形態を見ることで、１台の表示器４０で４台の赤外線カメラ１−１〜１−４から見た航空機ＡＰを視認できるようになり、これにより監視者は１人で済み、システム全体としてコスト削減及び運用費用削減に有利となる。
【００２３】
以上述べたように上記実施形態では、４台の赤外線カメラ１−１〜１−４が、監視領域ＡＲＥＡ中で少なくとも一部の領域を共有するように分担された領域にそれぞれ配置されるので、航空機ＡＰが監視領域ＡＲＥＡに進入すれば、必ず１台の赤外線カメラ１−１は航空機ＡＰの側面乃至後方を撮影できる。さらに、航空機ＡＰが共有領域、つまり中央領域に進入すれば、２台乃至４台の赤外線カメラ１−１〜１−４で探知可能となり、各自赤外線カメラ１−１〜１−４で得られた検出情報を統合演算装置３で演算して航空機ＡＰの現在位置を求められる。
【００２４】
従って、航空機ＡＰが分担領域に進入すると、その領域に該当する赤外線カメラ１−１により航空機ＡＰの熱源つまりジェット噴射装置が探知可能となることにより比較的低感度の探知素子を赤外線カメラ１−１〜１−４に使用しても十分な探知距離を実現でき、しかも赤外線カメラ１−１〜１−４で得られる各検出情報を統合演算装置３で統合演算することで、３画測量による３次元情報を得ることができるので、レーダを用いたシステムと比べると、高精度で比較的小型でかつ安価なシステムを提供することができる。
【００２５】
また、赤外線カメラ１−１〜１−４を用いて航空機ＡＰを、熱源を可視可能な側面または後方から撮影するようにすれば、航空機ＡＰを正面から探知する場合に比して、同一の装置で数倍の探知距離が確保可能となる。なお、従来では、目標検出位置精度を向上させるためにレーダ及びレーザを用いて行なっていたが、この場合、設計段階で装置の大型化が避けられないばかりでなく、曇りや雨、霧等の気象条件に影響されやすく、航空機ＡＰを正確に識別することが困難となることが多かった。そこで、この発明では、雲や雨、霧の温度と航空機ＡＰのジェット噴射装置の温度との差が大幅に違うことに着目して、熱の許容範囲を航空機ＡＰに合わせて設定することにより、安価な赤外線カメラを用いて、監視対象の航空機ＡＰのみを正確に識別することが可能となる。
【００２６】
なお、赤外線カメラ１−１〜１−４は、方位及び高低方向に駆動するための駆動機構のみを設けた構成であるので、小型であり、電波の送信などの大電力を必要としないため、メンテナンスなどの維持も容易である。
【００２７】
また、上記実施形態では、赤外線カメラ１−１〜１−４にそれぞれ設置された画像処理装置２−１〜２−４は、航空機ＡＰの検出位置を自装置の方位及び高低方向への傾き角度に対する角度情報に変換して角度情報とともに統合演算装置３に転送するようにしているので、赤外線カメラ１−１〜１−４と統合演算装置３との間を数十ｋｍ離隔しても、角度情報に変換して転送することで伝送ラインのコストアップを極力抑えることが可能となる。
【００２８】
一方、上記実施形態において、統合演算装置３は、表示器４０と、航空機ＡＰが進入した領域に該当する赤外線カメラ１−１の方位及び高低方向への傾き角度と、この傾き角度に対する航空機ＡＰの存在角度とを表示器４０に表示する表示制御手段とをさらに備え、表示制御手段は、表示器４０に、赤外線カメラ１−１の方位方向への傾き角度に対応する縦の基準線４１と赤外線カメラ１−１の高低方向への傾き角度に対応する横の基準線４２とを表示させるとともに、これら縦及び横の基準線４１，４２から航空機ＡＰの存在角度に対応する位置に航空機ＡＰを示すシンボル４３を表示するようにしているので、航空機ＡＰが分担領域に進入した際に、その領域に該当する赤外線カメラ１−１から航空機ＡＰを見た正確な方向（方位、高低）情報を統合演算装置３の監視者に提示することができる。
【００２９】
さらに、上記実施形態において、表示制御手段は、航空機ＡＰが赤外線カメラ１−１〜１−４のうち少なくとも２つが共有する領域に進入したとき、表示器４０に対し、表示画面上で縦及び横の基準線４１，４２、及びシンボル４３を赤外線カメラ１−１〜１−４毎に互いに異なる表示形態で表示させるようにしているので、統合演算装置３の監視者は、表示形態を見ることで、１台の表示器４０で赤外線カメラ１−１〜１−４それぞれから見た航空機ＡＰを視認できるようになり、これにより監視者は１人で済み、システム全体としてコスト削減及び運用費用削減に有利となる。
【００３０】
なお、上記実施形態では、監視領域ＡＲＥＡに４台の赤外線カメラ１−１〜１−４を配置する例について説明したが、少なくとも２台の赤外線カメラ１−１，１−２を監視領域ＡＲＥＡ内の少なくとも一部の領域を共有する分担領域にそれぞれ配置するようにすれば、航空機ＡＰが監視領域ＡＲＥＡに進入した際に、必ず１台の赤外線カメラ１−１は航空機ＡＰの側面乃至後方を撮影でき、さらに共有領域に進入すれば、２台の赤外線カメラ１−１、１−２で探知可能となり、各自赤外線カメラ１−１，１−２で得られた検出情報を統合演算装置３で演算して航空機ＡＰの３次元位置を求めることができる。
【００３１】
また、全監視領域ＡＲＥＡを覆うように赤外線カメラ１−１，１−２とは別の分担領域に赤外線カメラ１−３を配置すれば、航空機ＡＰの監視を行なう上で、信頼性の高い監視システムを構築できる。つまり、この発明では、３台の赤外線カメラ１−１〜１−３を用いれば、監視システムとしては、十分に好適したものとなる。
【００３２】
その他、監視領域の形、航空機ＡＰの種類、赤外線カメラの配置方法や表示器への表示方法等についても、この発明の要旨を逸脱しない範囲で種々変形して実施できる。
【００３３】
【発明の効果】
以上詳述したようにこの発明によれば、監視を行なうべき領域の広さや監視対象となる飛行体の種類によらず、また、位置精度向上のためにレーダ及びレーザを用いることもなく、この領域内に進入した飛行体の監視を低コストでかつ精度良く行なうことを可能とし、しかも維持経費の削減も大幅に図り得る飛行目標監視システムを提供することができる。
【図面の簡単な説明】
【図１】この発明に係わる飛行目標監視システムの一実施形態における航空機捕捉時の様子を示す概略構成図。
【図２】同実施形態の信号処理系統を示すブロック図。
【図３】同実施形態のシステム構成における航空機捕捉及び追尾の動作を説明するために示す図。
【図４】同実施形態の表示器における表示例を示す図。
【符号の説明】
１−１〜１−４…赤外線カメラ、
２−１〜２−４…画像処理装置、
３…統合演算装置、
４０…表示器、
４１…縦の基準線、
４２…横の基準線、
４３…シンボル、
ＡＰ…航空機、
ＡＲＥＡ…監視領域。[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a flight target monitoring system that is applied to, for example, an airport or a defense-related facility, and that particularly monitors a flying object that has entered a monitoring area.
[0002]
[Prior art]
Generally, in airports and defense-related facilities, it is indispensable to use radar in order to monitor the flight status of aircraft.
[0003]
By the way, in an airport or the like, the area to be monitored may reach several tens of km square, and a radar with large transmission power is required. Further, in order to sufficiently cope with an aircraft that does not have a response device such as a transponder on the aircraft side, it is necessary to constantly increase the transmission output of the radar. Furthermore, in order to improve the position information accuracy of the aircraft, the radar antenna itself is inevitable to increase in size. For this reason, an increase in the price of the radar and its operating cost has become a problem.
[0004]
[Problems to be solved by the invention]
As described above, in a monitoring system using a radar, it is necessary to constantly increase the radar transmission output in order to be able to flexibly respond to the size of the area to be monitored and the type of aircraft. As a result, the operating cost is increased, and in order to improve the position information accuracy of the aircraft, the radar antenna is inevitably increased in size and the price is increased.
[0005]
Accordingly, an object of the present invention is to enable monitoring of a flying object that has entered this area at low cost and high accuracy regardless of the size of the area to be monitored and the type of flying object to be monitored. In addition, it is an object of the present invention to provide a flight target monitoring system that can greatly reduce maintenance costs.
[0006]
[Means for Solving the Problems]
The flight target monitoring system according to the present invention is a flight target monitoring system for monitoring a target flying object entering a predetermined monitoring area, and shares the monitoring area with each other, and at least a part of the monitoring area. It is arranged in each sharing area so as to share the same area, can rotate in the azimuth direction and the elevation direction respectively, and the sharing area and the common area are the field of view, and is generated from the flying object when the flying object enters the field of view first and second infrared camera device for obtaining a target direction information by capturing and tracking the heat, the first and second target direction information respectively obtained by the infrared camera device, and aircraft acquisition or tracking comprising a position calculating device which calculates position information of the aircraft based on the first and orientation and angle information in the height direction of the second infrared camera device obtained during processing, first及Second infrared camera device, characterized by capturing and tracking the left and right sides or rear of the heat generation source of at least aircraft in the field of view.
[0007]
In other words, in the present invention, the two infrared camera devices are respectively arranged in the shared area so as to share at least a part of the area to be monitored. Therefore, if the flying object enters the monitoring area. One infrared camera device can always photograph the side or rear of the flying object. Furthermore, if the flying object enters the common area, it can be detected by the two infrared camera devices, and the detection information obtained by the respective infrared camera devices can be calculated by the position calculating device to obtain the current position of the flying object. it can.
[0008]
Therefore, according to the present invention, when the flying object enters the assigned area, the infrared camera device corresponding to the area can detect the heat source of the flying object, so that a relatively low sensitivity detection element is used for the infrared camera device. However, a sufficient detection distance can be realized, and three-dimensional information can be obtained by three-stroke surveying by integrating two detection information obtained by two infrared camera devices. Compared to the above, it is possible to provide a highly accurate, relatively small and inexpensive system. In addition, if the flying object is photographed from the side where the heat source is visible or behind it using an infrared camera device, the detection distance is several times larger than when the flying object is detected from the front. Therefore, accurate position information of the flying object to be monitored can be obtained without using a radar and a laser in order to improve the target detection position accuracy as in the prior art.
[0009]
The present invention further includes a third infrared camera device arranged in a shared area different from the first and second infrared camera devices so as to cover the entire monitoring area, and the position calculating device includes the first infrared camera device. , Target direction information obtained by each of the second and third infrared camera devices, and the azimuth and elevation angle of each of the first, second and third infrared camera devices obtained at the time of capturing or tracking the flying object Since the position information of the flying object is calculated based on the information, it is possible to construct a highly reliable monitoring system for monitoring the flying object.
[0010]
In the present invention, the detection information obtained by each of the first, second, and third infrared camera devices is converted into angle information with respect to the orientation of the aircraft and the tilt angle in the elevation direction of the aircraft. Therefore, even if the infrared camera device and the position calculation device are separated from each other by several tens of kilometers, they are converted into angle information and transferred to the position of the transmission line. It is possible to suppress the cost increase as much as possible.
[0011]
In the present invention, the position calculation device includes a display and an orientation of the infrared camera device corresponding to the area where the flying object enters among the first, second, and third infrared camera devices, and an inclination angle in the height direction. And a display control means for displaying on the display the presence angle of the flying object with respect to the tilt angle, and the display control means has a vertical control corresponding to the tilt angle in the azimuth direction of the infrared camera device. A reference line and a horizontal reference line corresponding to the inclination angle of the infrared camera device in the height direction are displayed, and a symbol indicating the flying object is displayed at a position corresponding to the existence angle of the flying object from the vertical and horizontal reference lines. Since it is displayed, when the flying object enters the assigned area, the observer of the position calculation device provides accurate direction (azimuth, elevation) information as seen from the infrared camera device corresponding to that area. Proposed to It can be.
[0012]
Further, in the present invention, when the flying object enters an area shared by at least two of the first, second, and third infrared camera devices, the display control means is arranged vertically and vertically on the display screen with respect to the display. Since the horizontal reference line and the symbol indicating the flying object are displayed in different display forms for each infrared camera device, the monitor of the position calculation device can display one display by looking at the display form. This makes it possible to view the flying object viewed from each of the two or more infrared camera devices, and this makes it possible to use only one observer, which is advantageous for reducing costs and operating costs as a whole system.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a schematic configuration diagram showing a state when an aircraft is captured in an embodiment of a flight target monitoring system according to the present invention, and FIG. 2 is a block diagram showing a signal processing system of the embodiment.
[0014]
In the system shown in FIG. 1, four infrared cameras 1-1 to 1-4 (only 1-1 and 1-2 are shown in FIG. 1) are arranged near the four corners of the monitoring area AREA. These four infrared cameras 1-1 to 1-4 share the monitoring area AREA with each other, and share a substantially central portion of the monitoring area AREA, and the detection elements inside the four infrared cameras 1-1 to 1-4 each have an azimuth direction ( 1 which is rotatable in the direction of arrow EL in FIG. 1 and in the height direction (in the direction of arrow AZ in FIG. 1), and which detects a jet injection device serving as a heat source of the aircraft AP that has entered each sharing area with a detector element It is. The infrared cameras 1-1 to 1-4 have a maximum detection distance of about 8 km square when viewed from the front of the aircraft AP, respectively, and maximum when viewed from the side or the rear of the aircraft AP. The detection distance is as long as several tens of kilometers. Accordingly, in FIG. 1, the infrared cameras 1-1, 1-2 capture the left and right side surfaces of the aircraft AP that has entered each sharing area, and then rotate to track the rear of the aircraft AP.
[0015]
In these infrared cameras 1-1 to 1-4, as shown in FIG. 2, image processing apparatuses 2-1 to 2-4 are installed. A common integrated arithmetic device 3 is connected to each of these image processing devices 2-1 to 2-4. The image processing devices 2-1 to 2-4 and the integrated arithmetic device 3 are separated by several tens of kilometers.
[0016]
The image processing devices 2-1 to 2-4 perform image processing of the detected target, and information on the tilt angle at the time of capturing or tracking the target aircraft AP of the corresponding infrared cameras 1-1 to 1-4. The target direction information in the field of view by image processing is transferred to the integrated arithmetic unit 3. The integrated arithmetic unit 3 calculates the three-dimensional position of the aircraft AP that has entered the monitoring area AREA by processing the information obtained by the four infrared cameras 1-1 to 1-4, and displays it on the display unit described later. To do.
[0017]
Next, the processing operation in the above configuration will be described with reference to FIG.
That is, when the target aircraft AP has arrived at the position A1, that is, the shared area of the infrared camera 1-1, the infrared camera 1-1 detects the heat source of the aircraft AP. At this time, the image processing device 2-1 can obtain the angle information of the infrared camera 1-1 and the tilt angle in the azimuth direction and target direction information (the height direction and the azimuth direction) in the field of view by image processing. Further, when the aircraft AP moves forward and reaches the position A2, the infrared camera 1-2 also detects the heat source of the aircraft AP. For this reason, the target direction information viewed from the infrared camera 1-2 is obtained in the same manner.
[0018]
In the integrated arithmetic device 3, accurate three-dimensional position information can be obtained from the two pieces of information by arithmetic processing. By displaying this on the display device, it is possible to obtain information equivalent to the position information obtained by the conventional radar.
[0019]
Moreover, in this embodiment, the direction of the infrared camera device 1-1 corresponding to the area where the aircraft AP has entered among the infrared camera devices 1-1 to 1-4, and the inclination angle in the height direction are combined with the integrated arithmetic device 3. In addition, display control means is provided for displaying the presence angle of the aircraft AP with respect to the tilt angle on the display.
[0020]
Here, the example of a display with the indicator in the integrated arithmetic unit 3 in the said control process is shown in FIG. In FIG. 4, reference numeral 40 denotes a display. The vertical reference line 41 corresponding to the tilt angle of the infrared camera 1-1 corresponding to the display screen and the tilt angle of the infrared camera 1-1 in the vertical direction. A horizontal reference line 42 corresponding to the angle is displayed. Further, the display 40 displays a symbol 43 indicating the aircraft AP at a position corresponding to the existing angle of the aircraft AP from the vertical and horizontal reference lines 41 and 42 on the display screen. By doing in this way, when the aircraft AP enters, for example, a shared area of the infrared camera 1-1, accurate information (azimuth and elevation) information on the aircraft AP viewed from the infrared camera 1-1 is integrated. Can be presented to the monitor.
[0021]
Further, when the aircraft AP further advances and enters the area shared by the infrared cameras 1-1 to 1-4, the display control means in the integrated arithmetic device 3 displays the display 40 vertically and horizontally on the display screen. The reference lines 41 and 42 and the symbol 43 indicating the aircraft AP are displayed in different display forms for each of the infrared cameras 1-1 to 1-4. In this case, the display screen is divided into four to display symbols indicating the aircraft AP viewed from the infrared cameras 1-1 to 1-4 corresponding to the respective divided screens, and each infrared camera 1-1 to 1-4. Each time, the attribute may be changed by at least one of color, blinking, concealment, underline, enclosing line, and font.
[0022]
In this way, the supervisor of the integrated arithmetic device 3 looks at the display form of the display unit 40, so that the aircraft AP viewed from the four infrared cameras 1-1 to 1-4 with one display unit 40. As a result, it is possible to visually check the system, and only one supervisor is required, which is advantageous in terms of cost reduction and operation cost reduction as a whole system.
[0023]
As described above, in the above-described embodiment, the four infrared cameras 1-1 to 1-4 are respectively arranged in the shared area so as to share at least a part of the area in the monitoring area AREA. When the aircraft AP enters the monitoring area AREA, the single infrared camera 1-1 can always photograph the side surface or the rear of the aircraft AP. Furthermore, if the aircraft AP enters the common area, that is, the central area, it can be detected by the two to four infrared cameras 1-1 to 1-4, and obtained by the respective infrared cameras 1-1 to 1-4. The current position of the aircraft AP can be obtained by calculating the detection information by the integrated calculation device 3.
[0024]
Therefore, when the aircraft AP enters the shared area, the infrared camera 1-1 corresponding to the area can detect the heat source of the aircraft AP, that is, the jet injection device, and thereby the detection element having a relatively low sensitivity is connected to the infrared camera 1-1. Even if it is used for .about.1-4, a sufficient detection distance can be realized, and furthermore, each detection information obtained by the infrared cameras 1-1. Since dimensional information can be obtained, a highly accurate, relatively small and inexpensive system can be provided as compared with a system using a radar.
[0025]
In addition, if the infrared camera 1-1 to 1-4 is used to photograph the aircraft AP from the side where the heat source can be seen or from behind, the same apparatus can be used as compared with the case where the aircraft AP is detected from the front. This makes it possible to secure a detection distance several times as large. Conventionally, in order to improve the accuracy of target detection position, radar and laser are used. In this case, however, not only an increase in size of the apparatus is unavoidable in the design stage, but also cloudy, rainy, fog, etc. It was often affected by weather conditions, and it was often difficult to accurately identify the aircraft AP. Therefore, in the present invention, paying attention to the fact that the difference between the temperature of the cloud, rain and fog and the temperature of the jet injection device of the aircraft AP is significantly different, by setting the allowable heat range according to the aircraft AP, Only an aircraft AP to be monitored can be accurately identified using an inexpensive infrared camera.
[0026]
In addition, since the infrared cameras 1-1 to 1-4 have a configuration in which only a driving mechanism for driving in the azimuth and elevation directions is provided, the infrared cameras 1-1 to 1-4 are small in size and do not require large power such as transmission of radio waves. Maintenance such as maintenance is also easy.
[0027]
Moreover, in the said embodiment, the image processing apparatuses 2-1 to 2-4 installed in the infrared cameras 1-1 to 1-4, respectively, set the detected position of the aircraft AP to the direction of the own apparatus and the inclination angle in the height direction. Since the angle information is converted and transferred to the integrated arithmetic device 3 together with the angle information, even if the infrared camera 1-1 to 1-4 and the integrated arithmetic device 3 are separated by several tens of kilometers, the angle By converting it into information and transferring it, it is possible to suppress the cost increase of the transmission line as much as possible.
[0028]
On the other hand, in the above embodiment, the integrated arithmetic device 3 includes the display 40, the orientation of the infrared camera 1-1 corresponding to the area where the aircraft AP has entered, the inclination angle in the elevation direction, and the aircraft AP with respect to this inclination angle. Display control means for displaying the presence angle on the display 40, and the display control means provides the display 40 with a vertical reference line 41 corresponding to the tilt angle in the azimuth direction of the infrared camera 1-1 and infrared rays. A horizontal reference line 42 corresponding to the tilt angle of the camera 1-1 in the height direction is displayed, and the aircraft AP is shown at a position corresponding to the existing angle of the aircraft AP from the vertical and horizontal reference lines 41, 42. Since the symbol 43 is displayed, when the aircraft AP enters the shared area, the accurate direction (azimuth, elevation) of the aircraft AP viewed from the infrared camera 1-1 corresponding to the area is displayed. It can present information to the watcher of the integrated arithmetic unit 3.
[0029]
Further, in the above-described embodiment, the display control means is configured to display the display 40 vertically and horizontally on the display screen when the aircraft AP enters an area shared by at least two of the infrared cameras 1-1 to 1-4. Since the reference lines 41 and 42 and the symbol 43 are displayed in different display forms for each of the infrared cameras 1-1 to 1-4, the supervisor of the integrated arithmetic device 3 looks at the display form. A single display 40 can be used to view the aircraft AP viewed from each of the infrared cameras 1-1 to 1-4, so that only one person is required to monitor the entire system and reduce operational costs. It will be advantageous.
[0030]
In the above embodiment, an example in which four infrared cameras 1-1 to 1-4 are arranged in the monitoring area AREA has been described. However, at least two infrared cameras 1-1 and 1-2 are disposed in the monitoring area AREA. If the aircraft AP enters the monitoring area AREA, each infrared camera 1-1 always takes a picture of the side or rear of the aircraft AP. If it further enters the shared area, it can be detected by the two infrared cameras 1-1 and 1-2, and the detection information obtained by the respective infrared cameras 1-1 and 1-2 is calculated by the integrated arithmetic device 3. Thus, the three-dimensional position of the aircraft AP can be obtained.
[0031]
In addition, if the infrared camera 1-3 is arranged in a shared area different from the infrared cameras 1-1 and 1-2 so as to cover the entire monitoring area AREA, the highly reliable monitoring is performed in the monitoring of the aircraft AP. You can build a system. That is, in this invention, if the three infrared cameras 1-1 to 1-3 are used, the monitoring system is sufficiently suitable.
[0032]
In addition, the shape of the monitoring area, the type of aircraft AP, the arrangement method of the infrared camera, the display method on the display, and the like can be variously modified without departing from the gist of the present invention.
[0033]
【The invention's effect】
As described above in detail, according to the present invention, the size of the area to be monitored and the type of flying object to be monitored, and without using radar and laser to improve the position accuracy, It is possible to provide a flight target monitoring system that can monitor a flying object that has entered a region with low cost and high accuracy and that can greatly reduce maintenance costs.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram showing a situation when an aircraft is captured in an embodiment of a flight target monitoring system according to the present invention.
FIG. 2 is an exemplary block diagram showing a signal processing system according to the embodiment;
FIG. 3 is a view for explaining aircraft acquisition and tracking operations in the system configuration of the embodiment;
FIG. 4 is a view showing a display example on the display device of the embodiment.
[Explanation of symbols]
1-1 to 1-4 ... Infrared camera,
2-1 to 2-4... Image processing device,
3 ... Integrated arithmetic unit,
40: Display,
41 ... vertical reference line,
42 ... Horizontal reference line,
43 ... symbol,
AP ... Aircraft,
AREA: Monitoring area.

Claims

In a flight target monitoring system for monitoring a target aircraft that enters a predetermined monitoring area,
The monitoring area is shared with each other, and is arranged in each sharing area so as to share at least a part of the monitoring area, and can be rotated in the azimuth direction and the elevation direction, respectively, and the sharing area and the sharing area First and second infrared camera devices that obtain target direction information by capturing and tracking heat generated from the flying object when the flying object enters the visual field ,
Based on the target direction information obtained by the first and second infrared camera devices, respectively, and the azimuth and elevation direction information of the first and second infrared camera devices obtained at the time of capturing or tracking the flying object. And a position calculation device for calculating position information of the flying object ,
The flight target monitoring system, wherein the first and second infrared camera devices capture and track at least left and right side surfaces of the flying object or a rear part that is a heat generation source in a field of view .

And a third infrared camera device arranged in a shared area different from the first and second infrared camera devices so as to cover the entire monitoring area,
The position calculation device includes target direction information obtained by each of the first, second and third infrared camera devices, and the first, second and third infrared rays obtained at the time of capturing or tracking the flying object. The flight target monitoring system according to claim 1, wherein the position information of the flying object is calculated based on azimuth and elevation information of each camera device.

The detection information of the flying object obtained by each of the first, second, and third infrared camera devices is converted into angle information with respect to the orientation of the own device and the inclination angle in the elevation direction of the flying object. The flight target monitoring system according to claim 1, wherein the flight information is transferred together with the angle information to the position calculation device.

The position calculating device includes a display,
Of the first, second and third infrared camera devices, the orientation and the inclination angle of the infrared camera device corresponding to the area where the flying object has entered, and the existence angle of the flying object with respect to this inclination angle, 3. The flight target monitoring system according to claim 1, further comprising display control means for displaying the information on the display as three-dimensional position information of the flying object.

The display control means includes a vertical reference line corresponding to a tilt angle in the azimuth direction of the infrared camera device and a horizontal reference line corresponding to a tilt angle in the height direction of the infrared camera device on the display. 5. The flight target monitoring system according to claim 4, wherein a symbol indicating the flying object is displayed at a position corresponding to the existence angle of the flying object from the vertical and horizontal reference lines.

The display control means is arranged such that when the flying object enters an area shared by at least two of the first, second, and third infrared camera devices, the display unit displays the vertical and horizontal on the display screen. 6. The flight target monitoring system according to claim 5, wherein the reference line and the symbol indicating the flying object are displayed in different display forms for each infrared camera device.