JP3736112B2 - Target search and tracking device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention is an active target search and tracking device (hereinafter referred to as “ATST (Active Target Searching and Tracking)”) that searches for and tracks a target using a reflected wave of electromagnetic waves emitted by the device itself, such as a radar device. And a passive target search and tracking device (hereinafter referred to as “PTST (Passive Target Searching and Tracking)”) that searches and tracks a target without emitting electromagnetic waves, thereby effectively detecting and tracking the target. The present invention relates to a target search and tracking device that can be used.
[0002]
[Prior art]
Conventionally, a radar device and a search and tracking device using light waves are known as devices for detecting and tracking a target at a distance. This radar device is a device that measures the direction, distance, and speed of a target by radiating radio waves by itself and receiving radio waves that are reflected back from the target. There are mainly two types of search and tracking devices using light waves: passive methods and active methods. The passive methods are infrared light emitted spontaneously by the target, or the sun that is scattered and reflected by the target. Is a method of detecting the light from the target and measuring the direction of the target, and the active method radiates a light wave such as a laser wave and receives the light wave reflected back to the target and receives the target direction, This is a method for measuring target information such as distance and speed.
[0003]
Such target search and tracking devices are installed and operated in airplanes, vehicles, ships, etc., but especially for fighters, combat vehicles, ships, etc., I want to make it difficult to find myself from the target to be searched and tracked, that is, the enemy side There is a request. In this regard, the ATST represented by the radar device has a problem that the electromagnetic waves emitted by itself are detected by the enemy side.
[0004]
For this reason, an apparatus capable of searching and tracking a target without emitting electromagnetic waves is desired, and the target is detected by detecting infrared rays spontaneously emitted by the target or infrared rays reflected by the target, etc. -PTST such as Red Search and Track (infrared search and tracking device) is being developed. However, in the case of PTST, a weak signal cannot be selected by a method in which a received signal is previously modulated, and it is difficult to obtain sufficient detection limit distance performance. For this reason, the detection limit distance is increased by exposing a narrow area for a long time, but if searching is performed in this way, it takes a very long time to search for a certain area. Is virtually impossible. Therefore, in such a case, the search by the radar device is still necessary.
[0005]
FIG. 5 shows the configuration of a conventional apparatus. Hereinafter, a radar apparatus will be described as an example of ATST, and a search and tracking apparatus using light waves will be described as an example of PTST.
1 is a lightwave search and tracking device (Hereafter, it is also called a light wave target search and tracking device) 2 is a radar device, 3 is a fire control instruction device, 4 is a firearm and launching device, and 5 is an operator. The operator 5 selects whether to use the radar device 2, the lightwave search and tracking device 1, or both depending on the situation. Although not shown in the figure, the operator 5 operates the operation panel to control firearms. A command is given to the pointing device 3. The firearm control instruction device 3 gives an instruction for searching, tracking, etc. to the light wave search and tracking device 1 or the radar device 2 according to an instruction of the operator 5, and receives information such as the direction and distance of the target when the target is detected and tracked. The information is transmitted to the operator 5 through a display device such as a display although not shown in the figure. In addition, the fire control instruction device 3 receives information on the firearms mounted from the firearms and the launching device 4 and transmits this information to the operator 5 as well. The operator 5 determines the information on the mounted firearm and the target. For example, if the operator 5 decides to use the missile as the mounted firearm, the operator 5 gives a fire control instruction device 3 a command to fire it. In response, the fire control instruction device 3 inputs target information to the firearm and launch device 4, and then a launch command is sent to launch the missile. Note that some conventional radar devices 2 and light wave search and tracking devices 1 have individual operation panels, but here the operation by the operator is performed via the fire control instruction device 3.
[0006]
Furthermore, the detailed configuration of the optical wave search and tracking device 1 and the radar device 2 is shown in FIG.
First, as a detailed configuration of the radar apparatus 2, 12 is a radar search and tracking processor, 13 is an antenna direction indicator, 14 is an antenna drive unit, 15 is an antenna, 16 is a transmitter, 17 is a receiver, and 18 is a radar target detection process. It is a vessel. First, the radar search and tracking processor 12 instructs the antenna direction indicator 13 to direct the antenna 15 in the direction of orientation, and the antenna direction indicator 13 drives the antenna driving device 14 so that the direction of orientation of the antenna 15 follows the search pattern. Oriented. In this way, while moving the antenna 15, a high-power signal generated by the transmitter 16 is emitted from the antenna 15 as a radio wave, and the received radio wave is analyzed by the receiver 17, and the correlation between the received radio wave and the transmitted radio wave is analyzed. By taking, the distance to the object reflecting the radio wave, the speed, etc. are calculated. The radar target detection processor 18 processes the distance and speed information and the antenna direction information obtained from the antenna direction indicator 13 to select a target from various objects such as clouds and the ground. Then, the target information is passed to the fire control instruction device 3 and the radar search and tracking processor 12, and when tracking the target, the radar search and tracking processor 12 keeps the antenna 15 pointing in the direction of the antenna so that the antenna direction is maintained. A command is given to the indicator 13.
[0007]
Note that the radar device 2 may have another configuration. This is shown in FIG. Reference numeral 28 denotes a beam forming processor, and 29 denotes an antenna array. The radar apparatus 2 shown in FIG. 6 has an antenna having a fixed single directivity, whereas the radar apparatus shown in FIG. 7 has a plurality of antenna elements. Arrangement (hereinafter referred to as “antenna array”), the so-called “active faced array radar device (hereinafter referred to as“ APAR ”) that controls the phase of radio waves radiated from the respective antenna elements and imparts directivity to the entire radiated radio waves. Called). Since APAR can electronically control antenna directivity, the high gain direction (hereinafter referred to as “antenna beam”) of the antenna can be moved at high speed or a plurality of antenna beams can be formed simultaneously.
[0008]
Next, as a detailed configuration of the light wave search and tracking device 1, in FIG. 6, 19 is a light wave search and tracking processor, 20 is a camera direction indicator, 21 is a camera driving device, 22 is a camera, 23 is an image processing device, and 24 is a light wave target. It is a detection processor. First, the lightwave search and tracking processor 19 instructs the camera direction indicator 20 to point the direction of the camera 22, and the camera direction indicator 20 drives the camera driving device 21 so that the direction of the camera 22 follows the search pattern. Oriented. The image signal captured by the camera 22 is analyzed by the image processing device 23. When a target is detected, information such as the position of the target on the screen and image characteristics is passed to the light wave target detection processor 24. And the target direction is calculated precisely from the camera direction. Then, the target information is passed to the fire control instruction device 3 and the light wave search and tracking processor 19, and when tracking the target, the light wave search and tracking processor 19 keeps the camera 22 pointing toward the target direction. A command is given to the device 20.
[0009]
[Problems to be solved by the invention]
By providing both ATST and PTST in this way, search and tracking can be performed using PTST as much as possible, and fire control can be operated using ATST, and the detectability can be suppressed to some extent, but still below There was a problem like this.
[0010]
One is the case of fire control by PTST.
Some firearms such as missiles cannot be fired unless the current position and speed of the target are known at the time of launch, but in principle, PTST takes time to accurately determine the distance and speed to the target. It takes time for firearms to be fired even if they are caught. In addition, since certain types of conventional missiles require guidance by a radar device and cannot be controlled by PTST alone, it is necessary to search and track the target again using a radar device during fire control. It took time to use firearms. Furthermore, even if target tracking by PTST is possible, it is not known whether or not the target can be detected and tracked by the radar device, so that there is a problem that the operator cannot determine whether the radar device can be used.
[0011]
In addition, when the target detection means of PTST is light, there is a problem that, particularly in the case of infrared rays or the like, atmospheric attenuation is relatively low in the sky with low air density, but atmospheric attenuation is significant in the low sky. In addition, in the low sky, the humidity over the sea is higher than that over the land, and the humidity becomes higher as the equator is approached on the same sea, resulting in greater atmospheric attenuation. Due to such environmental factors, the detection limit distance may be unexpectedly lowered in PTST. In such a case, if the search for the target is continued only by PTST, the target will be noticed until the target approaches the shortest distance. There was a problem that it was dangerous.
[0012]
The other is the case of fire control by ATST with a radar device as a representative example.
Missile fire control requires accurate distance and speed measurement by radar equipment and sometimes guidance by radar equipment, but if the target is a fighter aircraft, it has a radar warning device and a deception device. It is normal and they can detect and interfere with radar radio waves. However, it takes a certain amount of time for the radar warning device to detect the radar radio wave, and since it is necessary to analyze the radar radio wave for the deception device to effectively deceive, a certain amount of time is required for the analysis. For this reason, if the radar apparatus constantly emits radar radio waves, the radar radio waves are detected and analyzed, and the possibility of effective deception increases. Therefore, if tracking with the PTST is possible for the already discovered target, the radar apparatus may be stopped and tracking with the PTST may be performed. However, when the radar apparatus is stopped and the search is interrupted, the approach of another target is noticed. If the search by the radar device is continued because of the danger, the radar radio wave is detected from the target tracked by PTST.
[0013]
In tracking, Japanese Patent Application Laid-Open No. 08-2111146 discloses a method of reducing the detectability by adjusting the irradiation of radar radio waves using a passive sensor.
However, the decrease in the detectability in the present invention is limited to tracking, and the detectability at the time of searching cannot be reduced.
[0014]
The present invention aims to reduce the risk of detecting radiated electromagnetic waves during search, which is a problem of ATST, by using PTST effectively, and has the following two purposes.
[0015]
The first is to reduce electromagnetic radiation as much as possible by using PTST effectively in search and tracking when it is necessary to control a conventional firearm that requires ATST.
[0016]
Second, when searching by ATST is necessary, after AST finds one target (hereinafter referred to as “Class A”), it detects electromagnetic waves radiated in order to search for another target. When it is used and exposed to danger such as an anti-radar missile attack from the former, or when radiated electromagnetic waves are analyzed by the former, and an effective deception attack from the former requires ATST at the time of fire control etc. It is intended to continue to search for other targets while preventing this from becoming unusable.
[0018]
[Means for Solving the Problems]
Of this invention The target search and tracking device has an altitude / latitude / longitude sensor, a clock for obtaining the season, and a database for calculating the atmospheric transmittance, and the basic search / tracking is performed by PTST. By constantly calculating the estimated value of the detection limit distance and switching the search and tracking to ATST when the estimated value is small, and by continuing the search and tracking only by PTST when the detection limit distance is short, To avoid the danger that occurs.
[0019]
Also, This invention In the target search and tracking device, the ATST and PTST search and tracking devices detect whether the difference between the target direction tracked by the PTST and the antenna pointing direction of the ATST is within a certain value, With the antenna direction comparator that controls ON / OFF, PTST takes over the tracking of the target detected by ATST, prevents ATST radio waves from being emitted in the tracking direction of PTST, and continues searching for ATST. The detection ability from the target can be reduced.
[0020]
Also, This invention In the target search and tracking device of Above In order to obtain the same effect even when the ATST of the invention is an APAR, a beam direction comparator for detecting whether the radio wave radiation direction is the same as the target direction tracked by the PTST in the previous stage of actually forming the radio wave radiation direction of the APAR And have Above Similar to the invention, the detectability from the target can be reduced.
[0021]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 explains Embodiment 1 of the present invention. In the following, a target search and tracking device mounted on a fighter aircraft will be taken as an example, a light wave search and tracking device will be described as an example of PTST, and a radar device will be described as an example of ATST.
1 to 5 are the same as the conventional apparatus shown in FIG. 6 is a radar availability determination device, 7 is a radar device performance database that gives radar performance specifications to the radar availability determination device 6, and 8 is a sensor selection device.
[0022]
First, the operator 5 sets an assumed target type for the sensor selection device 8. The assumed target type is one of the target types classified as “fighter”, “transport aircraft”, “large civil aircraft”, etc. If not set, “fighter” is set as the normal value. Is done.
[0023]
The search is started when the operator 5 instructs the firearm control instruction device 3 to search, and the firearm control instruction device 3 issues a search start instruction to the sensor selection device 8 together with the search range instruction. A search range command and a search start instruction are issued to the target search and tracking device 1.
[0024]
When the target is detected by the search of the light wave target search and tracking device 1 and the direction and distance are calculated, the information is sent to the target radar availability determination device 6. At this time, since the distance to the target may not be obtained, only target direction information is sent in that case. The radar availability determination device 6 sends information on the target direction to the radar device 2, and the radar device 2 stands by with the antenna directed toward the target direction. Next, the radar availability determination device 6 reads the tracking limit distance of the radar device for the assumed target type from the radar device performance database 7. The radar device performance database 7 includes a set of assumed target types and typical limit distances that can be tracked, and is created according to the actually measured performance of the radar device 2. Usually, since the tracking limit distance of the radar apparatus is related to the size of the target aircraft, the tracking limit distance increases in the order of “fighter aircraft” <“transport aircraft” <“large civil aircraft”. The tracking limit distance for this assumed target type is compared with the distance to the target calculated by the light wave target search and tracking device 1, and if the tracking limit distance is larger than the distance to the target, the radar device can be used for the operator 5. At the same time, a signal indicating that the radar can be used is sent to the sensor selection device 8.
[0025]
As a result, the sensor selection device 8 gives necessary instructions to the radar device 2 when an instruction for fire control that requires the radar device is issued from the fire control device 3 such as tracking or illumination by the radar device. As in the conventional device, the fire control control device 3 and the radar device 2 perform fire control operations such as target tracking and illumination, and a fire command is issued to the firearm and the fire device 4. Firearms will be used. In FIG. 1, in order to show the operation of the sensor selection device 8 slightly different from the actual configuration in an easy-to-understand manner, a signal passed from the firearm control instruction device 3 to the sensor selection device 8 is switched by the light wave target search and tracking device 1 and radar. It is depicted as an image that can be connected to device 2 or both.
[0026]
In addition, when the distance information to a target is not given from the light wave target search and tracking apparatus 1 to the radar availability determination apparatus 6, the radar availability determination apparatus 6 holds the determination until the distance information comes. An instruction for fire control that requires the radar device 2 is issued from the fire control instruction device 3 to the sensor selection device 8 in a state where the determination is reserved and no signal indicating that the radar can be used is given to the sensor selection device 8. In this case, that is, when the operator 5 has instructed the firearm control instruction device 3 to use the firearm, an inquiry is made from the sensor selection device 8 to the radar availability determination device 6 about the availability of the radar, and the radar availability determination device 6 The radar apparatus 2 is instructed to radiate radio waves in the target direction. At this time, the target direction information given to the radar device 2 is output after correcting the target direction information given from the light wave target search and tracking device 1 to the radar availability determination device 6 by the elapsed time.
[0027]
As a result, the radar apparatus 2 emits radio waves for a short time, determines whether the target can be tracked, and returns a tracking availability determination to the radar availability determination apparatus 6. At this time, the distance measurement value may be returned to the radar availability determination device 6 instead of the tracking availability determination, and the tracking availability determination device 6 may perform the tracking availability determination with this value. Of course, when the target cannot be detected, distance measurement information indicating that detection is impossible is returned. The subsequent steps are the same as when the distance is obtained by the light wave target search and tracking device 1.
[0028]
By adopting the configuration as described above, it is possible to prevent electromagnetic waves from being radiated in the search for the target, or to use it for a very short time even if it is used. A conventional firearm that requires a radar device can be used without delay by quickly starting the slave radar device during control. At the same time, since most of the power consumption of ATST that radiates electromagnetic waves is used for the target search, the power consumption can be greatly reduced by letting PTST that does not need to radiate electromagnetic waves to perform the search. It is possible to make a power margin for mounting equipment. In addition, in this embodiment, there is no need to make substantial changes to both devices for the cooperative operation of PTST and ATST, and both devices can be used as a single unit, making minor modifications to conventional devices. Can be used as a component of this configuration.
[0029]
The radar device performance database 7 in this embodiment may be incorporated in the radar device 2, or the radar availability determination device 6 and the sensor selection device 8 are incorporated in the fire control instruction device 3, and a part of them is software. It can also be realized in the form.
[0030]
Embodiment 2. FIG.
FIG. 2 explains Embodiment 2 of the present invention. FIG. 2 is basically the same as FIG. 1, and the components indicated by the same numbers function in the same way. 2 are an altitude / latitude / longitude sensor 9, a clock 10, and an atmospheric transmittance database 11 connected to the sensor selection device 8.
[0031]
First, light atmospheric transmittance will be briefly described. Light is scattered and attenuated by hitting various particles in the atmosphere. The atmospheric attenuation rate can be calculated by clarifying the calculation model of the amount and attenuation of particles in the atmosphere. The particles in the atmosphere include molecules such as oxygen and nitrogen, water vapor, fine sand grains such as yellow sand, and fine crystals of seawater salt. These are not uniform throughout the atmosphere, and are either high or low, It changes depending on whether it is the sky above the land, the tropics or the cold regions, and whether the season is summer or winter. The altitude, latitude / longitude, and season have the most significant impacts. By measuring the particle density at various altitudes, latitude / longitude, and season, measuring the standard values in advance and creating a database, the altitude, Air permeability can be calculated from latitude, longitude and season. Such databases are also commercially available.
[0032]
The sensor selection device 8 is the altitude / latitude / longitude information measured by the altitude / latitude / longitude sensor 9, the date sent from the clock 10, that is, the season, and the search direction range information sent from the firearm control instruction device 3. For each direction in the range, the relationship between the atmospheric transmittance and distance of the light wave target search and tracking device 1 is calculated using the data of the atmospheric transmittance database 11. The standard amount of infrared rays emitted by the assumed target is recorded corresponding to each assumed target type in the radar device performance database 7, and the sensor selection device 8 attenuates the infrared ray emitted from the target by the atmospheric transmittance. Then, the limit distance at which the light wave target search and tracking device 1 cannot detect the target, that is, the estimated value of the detection limit distance is calculated. Next, the sensor selection device 8 gives priority to the light wave target search and tracking device 1 for searching in the direction as described in the first embodiment with respect to the region where the estimated detection limit distance is equal to or greater than the necessary detection limit distance described later. The radar apparatus 2 is used for searching in other areas. Necessary detection limit distance is the distance to the surface or sea surface in the search direction if it is there, otherwise it is the distance until the straight line extending in the search direction intersects the set altitude, both distances are constant values If it exceeds, the distance is a constant value. This constant value is the minimum detection limit distance necessary for searching, and the set altitude is the maximum altitude at which a normal aircraft can fly, and these are preset values. This is because when the PTST is mounted on an aircraft, if the search direction is downward, there will be no detection distance beyond the surface of the earth, and even if the search direction is upward, the aircraft's ascent limit altitude is usually set. This is because, if the search direction is upward or downward, there is no problem in searching for the target in that direction even if the environmental condition is that the detection limit distance is reduced for PTST.
[0033]
By adopting the above configuration, when the detection limit distance of the PTST used preferentially in the search cannot exhibit the desired performance due to surrounding environmental factors, the ATST which is a conventional target search and tracking device is automatically used. Therefore, the search limit distance can be maintained at a certain value or more, and the danger of continuing operation without noticing that the detection limit distance is extremely short can be avoided. In addition, when the search range can be divided by PTST and ATST, the search time is shortened and the scanning repetition cycle for the search range is shortened, so the target that can be detected immediately after the scan is not found until the next scan. The so-called target omission time that is in a state is shortened, or the search range can be widened with the same scanning period.
[0034]
Embodiment 3 FIG.
FIG. 3 explains Embodiment 3 of the present invention. 1, 2 and 12 to 24 are the same as the conventional apparatus shown in FIG. Reference numeral 25 denotes an information transmission device, and 26 denotes an antenna direction comparator. These two are characteristic devices in this embodiment. The process from target search to tracking is the same as that of the conventional radar device. When tracking is started, target information such as the target direction, distance, and speed is output from the radar search and tracking processor 12 to the information transmission device 25. The information transmission device 25 uses the target information periodically given from the radar device 2, interpolates the target information until the next target information is given by calculation, and outputs this to the light wave search and tracking processor 19. The light wave search and tracking processor 19 directs the camera 22 in the target direction according to the given target information, keeps staring at the target direction until the target can be detected, and tracks the target if it is detected. When entering the target tracking state, the lightwave search and tracking processor 19 outputs the direction and distance of the tracking target to the antenna direction comparator 26. Similarly, the antenna direction comparator 26 receives the direction of the antenna from the antenna direction indicator 13 of the radar apparatus 2 and compares it with the tracking target direction of the light wave search and tracking processor 19 so that the radar target is irradiated with radar radio waves. If the directional relationship is proper, a radar wave stop signal is sent to the transmitter 16. A spatial region where the radar radio wave is not transmitted is called a blind region. As a result, the receiver 17 cannot receive the reflected radio wave from the target, and the radar device 2 automatically loses sight of the target, and the search is resumed (the target tracking by the radar device 2 is performed simultaneously with tracking. If it is in the “search mode”, the tracking is stopped and the search is simply continued), but the direction of the target being tracked by the lightwave target search and tracking device 1 is a blind area, so The tracking state is never entered. Thereafter, the tracking of the target is continued by the light wave target search and tracking device 1. However, if the light wave target search and tracking device 1 loses sight of the target, the blind area disappears from the search range of the radar device 2, so that the target is detected by the radar device 2. If it is in a possible place, it is automatically detected again by the radar device 2 again. In addition, when the light wave target search and tracking device 1 searches for a target by itself, and enters the tracking, a blind area is automatically formed to prevent unnecessary radar radio waves from being emitted. If the use of the radar device 2 is necessary for the use of the firearm, a cancel signal for comparison operation is output from the firearm control instruction device 3 to the antenna direction comparator 26, and the radar radio wave can be radiated. Target tracking, illumination, and the like by the device 2 are possible.
[0035]
By adopting the above configuration, when searching for other targets after the discovery of the target, the target is discovered by the target by not emitting electromagnetic waves as much as possible to the already discovered target. Even if the target discovers itself, the possibility of effective deception is reduced by not giving time to examine the characteristics of the radiated electromagnetic wave. The danger of being attacked by threats such as anti-radar missiles that attack the radiation source as a target can be avoided. Further, since the antenna direction comparator 26 in FIG. 3 can be placed outside the radar apparatus, it is necessary to make substantial changes to both apparatuses in order to perform the cooperative operation of PTST and ATST, as in the first invention. In addition, both devices can be used as a single unit, and can be used as a component of this configuration with minor modifications of conventional devices.
[0036]
In this configuration, the information transmission device 25 can also be realized by an information transmission path connecting the radar device 2 and the light wave target search and tracking device 1 and software incorporated in the radar device 2 or the light wave target search and tracking device 1. The antenna direction comparator 26 can also be incorporated in the transmitter 16 in the form of software, or can be configured as an independent device outside the radar device 2.
[0037]
Embodiment 4 FIG.
FIG. 4 explains Embodiment 4 of the present invention. This embodiment basically aims at the same effect as that of Embodiment 2, and the same numbered components as in FIG. 3 perform the same operation. As a difference from FIG. 3, 27 is a beam direction comparator, 28 is a beam forming processor, and 29 is an antenna array. The difference between the present embodiment and the second embodiment is that the radar apparatus is not an antenna having a fixed single directivity, but a plurality of antenna elements arranged (hereinafter referred to as “antenna array”). This is a so-called “active faced array radar device (hereinafter referred to as“ APAR ”)” that controls the phase and imparts directivity to the entire radiation wave. Therefore, in FIG. 4, the antenna driving device 14 shown in FIG. 3 is not necessary. Since APAR can electronically control antenna directivity, the high gain direction (hereinafter referred to as “antenna beam”) of the antenna can be moved at high speed or a plurality of antenna beams can be formed simultaneously. For this reason, if the configuration is such that the radio wave is stopped when the antenna beam is directed in the target direction, there is a problem that the antenna beam in the other direction formed at the same time is also stopped. In addition, even if there is only one antenna beam, there is an advantage that a loss of scanning time can be eliminated if the antenna beam is skipped without intentionally stopping the radio wave when the antenna beam is directed in the target direction. is there. In this embodiment, when the difference between the antenna beam direction command output from the radar search and tracking processor 12 and the target direction from the light wave search and tracking processor 19 is less than half of the antenna beam divergence angle by the beam direction comparator 27, Cancel the antenna beam direction command for the direction. If there are commanded antenna beam directions other than the canceled antenna beam direction, they are output to the beam forming processor 28 as they are, and the beam forming processor 28 forms the antenna beam in those directions so that the antenna beam is formed. Control the phase and form an antenna beam. For the canceled antenna beam, the radar search and tracking processor 12 informs the radar search and tracking processor 12 that the beam is cancelled. The radar search and tracking processor 12 advances the antenna beam direction by an amount corresponding to the antenna beam width and instructs the antenna beam formation again. To do. For this reason, the transmitter that gives the seed signal to the antenna array does not basically stop during the radar operation.
[0038]
By adopting the configuration as described above, the same effect as that of the third invention can be obtained for the APAR.
[0039]
【The invention's effect】
In the first invention, electromagnetic waves are not radiated in the search for the target, or even if it is used, it is used only for a very short time. Therefore, the risk of being unilaterally discovered is reduced, and the slave is made slave during fire control. By quickly starting the radar apparatus, a conventional firearm that requires the radar apparatus can be used without delay.
[0040]
In the second invention, when the detection limit distance of the PTST used preferentially in the search cannot exhibit a desired performance due to surrounding environmental factors, a search by the conventional target search and tracking device ATST is performed. The detection limit distance can be kept above a certain value.
[0041]
In the third invention, when searching for another target after the discovery of the target, the possibility of being detected by the target is reduced by not emitting electromagnetic waves as much as possible to the already discovered target. Will be able to.
[0042]
In the fourth invention, the same effect as that of the third invention can be obtained for the APAR.
[Brief description of the drawings]
FIG. 1 is a schematic configuration diagram of a first embodiment of the present invention.
FIG. 2 is a schematic configuration diagram of a second embodiment of the present invention.
FIG. 3 is a schematic configuration diagram of a third embodiment of the present invention.
FIG. 4 is a schematic configuration diagram of a fourth embodiment of the present invention.
5 is a configuration diagram of a conventional apparatus corresponding to FIGS. 1 and 2. FIG.
6 is a configuration diagram of a conventional apparatus corresponding to FIG. 3;
FIG. 7 is a configuration diagram of a conventional device corresponding to FIG. 4;
[Explanation of symbols]
DESCRIPTION OF SYMBOLS 1 Light wave search and tracking device, 2 Radar device, 3 Fire control instruction device, 4 Firearm and launch device, 5 Operator, 6 Radar availability determination device, 7 Radar device performance database, 8 Sensor selection device, 9 Altitude / latitude longitude sensor, DESCRIPTION OF SYMBOLS 10 Clock, 11 Atmospheric transmittance database, 12 Radar search and tracking processor, 13 Antenna direction indicator, 14 Antenna drive device, 15 Antenna, 16 Transmitter, 17 Receiver, 18 Radar target detection processor, 19 Light wave search and tracking processing 20 camera direction indicator, 21 camera drive device, 22 camera, 23 image processing device, 24 light wave target detection processor, 25 information transmission device, 26 antenna direction comparator, 27 beam direction comparator, 28 beam forming processor 29 Antenna array.

Claims (3)

An active target search and tracking device that measures target information such as the direction, distance, and speed of the target by receiving the electromagnetic wave that is radiated to the target and reflected from the target; and
A passive target search and tracking device that measures the direction and distance of the target by capturing the electromagnetic wave that the target spontaneously emits without reflecting the electromagnetic wave or the electromagnetic wave reflected by the target; and
A sensor selection device that outputs a control command for performing search and tracking to either the active target search and tracking device or the passive target search and tracking device;
By comparing the tracking limit distance for a given target type with the distance detected by the passive target search and tracking device, the active target search and tracking device determines the possibility of detection and tracking of the target. A determination device that controls sensor selection of the sensor selection device;
An altitude / latitude / longitude sensor for measuring altitude and latitude / longitude of the active target search / tracking device or the passive target search / tracking device;
A clock to get date data or seasonal information,
It has a database for calculating atmospheric transmittance, and uses the atmospheric transmittance data selected according to altitude, latitude / longitude, and season to calculate an estimated value of the detection limit distance of the passive target search and tracking device. A target search and tracking device, wherein the active target search and tracking device is used for searching for a target when an estimated value of a limit distance is smaller than a predetermined threshold value set in advance.   An active target search and tracking device that measures target information such as the direction, distance, and speed of a target by radiating electromagnetic waves to the target and receiving electromagnetic waves reflected from the target, and the target spontaneously without emitting electromagnetic waves Passive target search and tracking device for measuring the direction of a target by capturing electromagnetic waves emitted or reflected by the target, the target direction tracked by the passive target search and tracking device, and the active target search and tracking device And an antenna direction comparator for detecting whether or not the difference between the antenna directivity directions is within a predetermined value and controlling ON / OFF of the electromagnetic wave radiation of the active target search and tracking device.   A plurality of antenna elements are arranged as an active target search and tracking device that measures target information such as the direction, distance, and speed of a target by radiating electromagnetic waves to the target and receiving electromagnetic waves reflected from the target. Active target search and tracking device with an antenna that can set the gain in each direction of the antenna by adjusting the phase of the element, and electromagnetic waves emitted spontaneously by the target without emitting electromagnetic waves or other electromagnetic wave sources radiate A passive target search and tracking device that measures the direction of the target by reflecting the electromagnetic wave reflected by the target and capturing the electromagnetic wave, and this high gain direction in the previous stage of actually forming the high gain direction of the antenna of the active target search and tracking device Is the same direction as the target direction tracked by the passive target search and tracking device within a certain error range. Electromagnetic wave emission by the active target search and tracking device in the target direction tracked by the passive target search and tracking device during the target search by the active target search and tracking device based on the detection result. And a beam direction comparator that is configured not to perform the target search and tracking device.

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