JP3853571B2 - Tracking processing device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a tracking processing device that searches and tracks a target while performing time delay integration.
[0002]
[Prior art]
A conventional tracking processing apparatus will be described with reference to the drawings. FIG. 6 is a diagram illustrating a configuration of a conventional tracking processing device.
[0003]
In FIG. 6, 1 is a search sensor, 2 is a target extraction circuit, 3 is a new target buffer, 4 is a tracking target database, 5 is a gate setting circuit, 6 is an in-gate determination circuit, 7 is a data control switch A, and 8 is new. A target registration circuit 9 is an existing target update circuit.
[0004]
Next, the operation of the conventional tracking processing device will be described with reference to the drawings.
[0005]
The search sensor 1 performs a known time-delay integration while scanning the search range in the left-right direction, and converts the external image into image data. This image data is subjected to target extraction processing in the target extraction circuit 2, and target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target It is converted in the scanning direction at the time of acquisition. These are hereinafter referred to as signal A. This signal A is input to the new target buffer 3 and temporarily stored.
[0006]
In addition, the tracking target database 4 includes the tracking target acquisition time of the existing target data already registered as targets, the in-screen tracking target position in the horizontal direction, the in-screen tracking target position in the vertical direction, the in-screen tracking target width, and the in-screen tracking. The target height and the tracking direction at the time of tracking target acquisition are stored, and these data are output. These are hereinafter referred to as signal B.
[0007]
The signal B output from the tracking target database 4 is converted by the gate setting circuit 5 into the target appearance predicted position and its range in the next scanning. These are hereinafter referred to as gate information.
[0008]
The signal A from the new target buffer 3 and the gate information from the gate setting circuit 5 are input to the in-gate determination circuit 6. The in-gate determination circuit 6 determines whether or not the signal A is in the gate, and outputs the determination result to the data control switch A7.
[0009]
The data control switch A7 receives the determination result and sends the signal A from the new target buffer 3 to the new target registration circuit 8 when the determination result is out of the gate, and to the existing target when the determination result is in the gate. Output to the update circuit 9.
[0010]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4. Further, the existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0011]
[Problems to be solved by the invention]
In the conventional tracking processing apparatus as described above, since the gate setting circuit 5 cannot predict the target angular velocity for the target newly obtained in the previous scan among the target information from the tracking target database 4, Set the gate around the detected position of the target. Therefore, in the case where the object to be measured moves at a high speed, if the size of the gate is not sufficiently large, the new target from the new target buffer 3 is a signal from the existing target, although the new target from the new target buffer 3 is a signal. In this case, the observation results that correctly reflect the actual situation cannot be obtained, and the tracking target is unnecessarily increased, resulting in an unnecessary increase in processing load. .
[0012]
In addition, if the tracking target does not enter the gate and there is an incorrect target due to noise in the gate, the wrong new target is mistaken as an update partner of the existing target, and the actual situation is correctly There was a problem that the reflected observation results could not be obtained.
[0013]
Furthermore, if the size of the gate set by the gate setting circuit 5 is set large in order to avoid the above phenomenon, there is a problem that the probability of corresponding erroneous data such as noise to an existing target increases.
[0014]
The present invention has been made to solve the above-described problems, and an object of the present invention is to provide a tracking processing apparatus that can correctly process an object that moves at high speed.
[0015]
[Means for Solving the Problems]
The tracking processing device according to claim 1 of the present invention is based on a search sensor that scans an optical signal from the outside world and converts it into image data while performing time delay integration, image data from the search sensor, and search direction. The , Target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target acquisition scanning direction Target extraction circuit for calculating the first signal and existing tracking target data Tracking target acquisition time, in-screen tracking target position horizontal direction, in-screen tracking target position vertical direction, in-screen tracking target width, in-screen tracking target height, and scanning target acquisition scanning direction A tracking target database for storing a second signal, and a second signal from the tracking target database; , Composed of the predicted appearance position of the target in the next scan and its range A gate setting circuit that generates gate information; an in-gate determination circuit that determines whether the first signal is in the gate based on the gate information; and the determination based on the determination in the in-gate determination circuit Based on the first data control switch that controls the output destination of the target extraction circuit, the second signal from the tracking target database, and the first signal from the first data control switch, When the tracking target width in the screen of the second signal is L1, the target width in the screen of the first signal is L2, and the scanning speed is Vs, the moving speed VH in the direction parallel to the target scanning direction is VH = (L1−L2) × Vs / (L1 + L2), the tracking target position in the horizontal direction of the second signal in the horizontal direction is H1, tracking target acquisition time is T1, and the first signal Assuming that the horizontal direction of the target position in the screen is H2 and the target acquisition time is T2, the deviation Dh between the prediction and the observation position is calculated based on the following formula: Dh = | H2− (H1 + VH × (T2−T1)) | When the deviation Dh is within a predetermined reference value, a combination correctness determination is output, otherwise a combination rejection determination is output. A combination reliability determination circuit; a second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit; and the first or second data control. A new target registration circuit for creating new target information in the tracking target database based on the first signal from the switch; and an existing target based on the first and second signals from the second data control switch. And an existing target update circuit for creating update target information to the tracking target database The first data control switch sends the first signal from the target extraction circuit to the new target registration circuit when the determination result of the in-gate determination circuit is out of the gate, and the in-gate determination circuit Is output to the combination reliability determination circuit and the second data control switch, and the second data control switch is combined by the combination reliability determination circuit. When a positive determination is received, the first and second signals are output to the existing target update circuit, and when a combination rejection determination is received from the combination reliability determination circuit, Discard the determination result of the determination circuit, and output the first signal to the new target registration circuit Is.
[0016]
The tracking processing device according to claim 2 of the present invention is based on a search sensor that scans an optical signal from the outside and converts it into image data while performing time-delay integration, image data from the search sensor, and search direction. Based on the target extraction circuit for calculating the first signal, the tracking target database for storing the second signal which is the existing tracking target data, and the second signal from the tracking target database, the gate information is generated. A gate setting circuit; an in-gate determination circuit for determining whether the first signal is in the gate based on the gate information; and an output of the target extraction circuit based on the determination in the in-gate determination circuit Based on a first data control switch for controlling the destination, a second signal from the tracking target database and a first signal from the first data control switch, A combination reliability determination circuit for determining whether the two are combined according to the horizontal width of the screen of the user, and a first control circuit for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit. Two data control switches, a first signal from the first or second data control switch, and a second signal from the tracking target database, and a new target and tracking from a change in lateral length A lateral afterimage analysis circuit that determines the reliability of the target combination, a third data control switch that controls the flow of the first and second signals based on the determination of the lateral afterimage analysis circuit, and A new target registration circuit for creating new target information in the tracking target database based on a first signal from a third data control switch; and the second or third data control switch It is obtained by a conventional target updating circuit for generating an update target information for update to the tracking target database existing target based on the first and second signals al.
[0017]
According to a third aspect of the present invention, there is provided a tracking processing device that scans an optical signal from the outside and converts it into image data while performing time-delay integration, and sets the scanning speed of the search sensor in each of the left and right scanning directions. Based on the scanning speed changing circuit to change the image, the image data from the search sensor and the search direction , Target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target acquisition scanning direction Target extraction circuit for calculating first signal and existing tracking target Tracking target acquisition time, in-screen tracking target position horizontal direction, in-screen tracking target position vertical direction, in-screen tracking target width, in-screen tracking target height, and scanning target acquisition scanning direction A tracking target database for storing a second signal, and a second signal from the tracking target database; , Composed of the predicted appearance position of the target in the next scan and its range A gate setting circuit that generates gate information; an in-gate determination circuit that determines whether the first signal is in the gate based on the gate information; and the determination based on the determination in the in-gate determination circuit Based on a first data control switch that controls the output destination of the target extraction circuit, a second signal from the tracking target database, and a first signal from the first data control switch, In-screen tracking target height of the second signal is h1, the in-screen target height of the first signal is h2, the right scanning speed is VR, the left scanning speed is VL, and the horizontal length of the delay time integration is The moving speed VV in the direction perpendicular to the target scanning direction is calculated based on the following equation, and VV = (h1−h2) × VR × VL / {R × (VL−VR)} The second signal's in-screen tracking target position vertical direction is V1, the tracking target acquisition time is T1, the in-screen target position vertical direction of the first signal is V2, and the target acquisition time is T2. Is calculated based on the following equation: Dv = | V2− (V1 + VV × (T2−T1)) |, and when the difference Dv is within a predetermined reference value, the combination correct determination is performed. In case of, the combination rejection judgment is output. A combination reliability determination circuit; a second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit; and the first or second data control. A new target registration circuit for creating new target information in the tracking target database based on the first signal from the switch; and an existing target based on the first and second signals from the second data control switch. And an existing target update circuit for creating update target information to the tracking target database The first data control switch sends the first signal from the target extraction circuit to the new target registration circuit when the determination result of the in-gate determination circuit is out of the gate. When the determination result is in the gate, the result is output to the combination reliability determination circuit and the second data control switch, and the second data control switch receives the combination correct from the combination reliability determination circuit. When the determination is received, the first and second signals are output to the existing target update circuit, and when the combination rejection determination is received from the combination reliability determination circuit, the in-gate determination Discard the circuit determination result and output the first signal to the new target registration circuit Is.
[0018]
According to a fourth aspect of the present invention, there is provided a tracking processing device that scans an optical signal from the outside and converts it into image data while performing time-delay integration, and sets the scanning speed of the search sensor in each of the left and right scanning directions. A scanning speed changing circuit for changing to a target, a target extracting circuit for calculating a first signal based on image data from the search sensor and a search direction, and a tracking target for storing a second signal which is existing tracking target data A database, a gate setting circuit for generating gate information based on the second signal from the tracking target database, and a gate for determining whether the first signal is in the gate based on the gate information An internal determination circuit, a first data control switch for controlling the output destination of the target extraction circuit based on the determination of the internal determination circuit, and the tracking target database A combination reliability determination circuit for determining whether the two are combined according to the vertical height in the screen based on the second signal and the first signal from the first data control switch; A second data control switch for controlling a flow of the first and second signals based on a determination of a combination reliability determination circuit; a first signal from the first or second data control switch; and For determining the reliability of a combination of a new target and a tracking target based on a change in length in the vertical direction based on the second signal from the tracking target database, and for determining the vertical afterimage analysis circuit A third data control switch for controlling the flow of the first and second signals based on the first data and a new data to the tracking target database based on the first signal from the third data control switch. Based on the first and second signals from the new target registration circuit for creating the target information and the second or third data control switch, the update of the existing target and the update target information to the tracking target database are created. And an existing target update circuit.
[0019]
According to a fifth aspect of the present invention, there is provided a tracking processing device that scans an optical signal from the outside and converts it into image data while performing time delay integration, and sets the scanning speed of the search sensor in each of the left and right scanning directions. A scanning speed changing circuit for changing to a target, a target extracting circuit for calculating a first signal based on image data from the search sensor and a search direction, and a tracking target for storing a second signal which is existing tracking target data A database, a gate setting circuit for generating gate information based on the second signal from the tracking target database, and a gate for determining whether the first signal is in the gate based on the gate information An internal determination circuit, a first data control switch for controlling the output destination of the target extraction circuit based on the determination of the internal determination circuit, and the tracking target database A combination reliability determination circuit for determining whether the two are combined according to the horizontal width and the vertical height in the screen based on the second signal and the first signal from the first data control switch; , A second data control switch that controls the flow of the first and second signals based on the determination of the combination reliability determination circuit, and a first signal from the first or second data control switch And a longitudinal / horizontal afterimage analysis circuit for determining the reliability of a combination of a new target and a tracking target from a change in length in the longitudinal and lateral directions based on a second signal from the tracking target database, and the longitudinal / horizontal afterimage analysis A third data control switch for controlling the flow of the first and second signals based on the determination of the circuit; and the tracking target data based on the first signal from the third data control switch. A new target registration circuit for creating new target information in the database, and update of the existing target and update target to the tracking target database based on the first and second signals from the second or third data control switch And an existing target update circuit for creating information.
[0020]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
A tracking processing apparatus according to Embodiment 1 of the present invention will be described with reference to the drawings. FIG. 1 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 1 of the present invention. In addition, in each figure, the same code | symbol shows the same or equivalent part.
[0021]
In FIG. 1, 1 is a search sensor, 2 is a target extraction circuit, 3 is a new target buffer, 4 is a tracking target database, 5 is a gate setting circuit, 6 is an in-gate determination circuit, 7 is a data control switch A, 8 is new A target registration circuit, 9 is an existing target update circuit, 10 is a combination reliability determination circuit (horizontal), and 11 is a data control switch B.
[0022]
Next, the operation of the tracking processing device according to the first embodiment will be described with reference to the drawings.
[0023]
The search sensor 1 performs a known time-delay integration while scanning the search range in the left-right direction, and converts the external image into image data.
[0024]
This image data is subjected to target extraction processing in the target extraction circuit 2, and target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target It is converted in the scanning direction at the time of acquisition. These are hereinafter referred to as signal A.
[0025]
This signal A is input to the new target buffer 3 and temporarily stored.
[0026]
In addition, the tracking target database 4 includes the tracking target acquisition time of the existing target data already registered as targets, the in-screen tracking target position in the horizontal direction, the in-screen tracking target position in the vertical direction, the in-screen tracking target width, and the in-screen tracking. The target height and the tracking direction at the time of tracking target acquisition are stored, and these data are output. These are hereinafter referred to as signal B.
[0027]
The signal B output from the tracking target database 4 is converted by the gate setting circuit 5 into the target appearance predicted position and its range in the next scanning. These are hereinafter referred to as gate information.
[0028]
The signal A from the new target buffer 3 and the gate information from the gate setting circuit 5 are input to the in-gate determination circuit 6. This in-gate determination circuit 6 determines whether or not the signal A is in the gate, and outputs the determination result to the data control switch A7.
[0029]
The data control switch A7 receives the determination result and combines the signal A from the new target buffer 3 to the new target registration circuit 8 when the determination result is out of the gate, and when the determination result is in the gate. The data is output to the reliability determination circuit (horizontal) 10 and the data control switch B11.
[0030]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0031]
In the combination reliability judgment circuit (horizontal) 10, the signal B is moved in the direction parallel to the target scanning direction, with the target tracking width in the screen being L1, the target width in the screen of the signal A being L2, and the scanning speed being Vs. The speed VH is calculated based on Equation 1 below.
[0032]
VH = (L1−L2) × Vs / (L1 + L2) Equation 1
[0033]
Next, the horizontal direction tracking target position of the signal B is H1, the tracking target acquisition time is T1, the horizontal direction target position of the signal A is H2, and the target acquisition time is T2. , Based on the following formula 2.
[0034]
Dh = | H2− (H1 + VH × (T2−T1)) |
[0035]
This combination reliability determination circuit (horizontal) 10 outputs a combination correct determination to the data control switch B11 if the deviation Dh is within a reference value, and a combination rejection determination otherwise.
[0036]
The data control switch B 11 that has received the combination correct determination from the combination reliability determination circuit (horizontal) 10 outputs the signal A and the signal B to the existing target update circuit 9.
[0037]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0038]
Further, the data control switch B 11 that has received the combination rejection determination from the combination reliability determination circuit (horizontal) 10 discards the determination result of the in-gate determination circuit 6 and outputs the signal A to the new target registration circuit 8.
[0039]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0040]
That is, the tracking processing apparatus according to the first embodiment includes a search sensor 1 that scans an optical signal from the outside world and converts it into image data while performing time delay integration, and image data and search direction from the search sensor 1. A target extraction circuit 2 for calculating a target acquisition time, a horizontal direction of the target position within the screen, a vertical direction of the target position within the screen, a target width within the screen, a target height within the screen, and a scanning direction (signal A) upon target acquisition; A new target buffer 3 that temporarily stores the output of the extraction circuit 2, a tracking target database 4 that stores existing tracking target data, a tracking target acquisition time from the tracking target database 4, and the in-screen tracking target position A gate setting circuit 5 for generating gate information from the direction, the tracking target position vertical direction in the screen, the tracking target width in the screen, the tracking target height in the screen, and the scanning direction (signal B) at the time of tracking target acquisition; Based on the output of the gate setting circuit 5, it is determined whether or not the output data of the new target buffer 3 is in the gate, and the new target based on the determination of the in-gate determination circuit 6 and the in-gate determination circuit 6. Based on the width of the data control switch A7 for controlling the output destination of the buffer 3, the signal B from the tracking target database 4 and the signal A from the data control switch A7, based on the horizontal width in the screen of both. A combination reliability determination circuit (horizontal) 10 for determining whether the signal is correct or not, and a data control switch B11 for controlling the flow of signals A and B based on signals from the combination reliability determination circuit (horizontal) 10; A new target registration circuit 8 for creating new target registration information in the tracking target database 4 based on the signal A of the data control switch A7 or the data control switch B11; Based on the signals A and B from the control switch B11, an existing target is updated and an existing target update circuit 9 that creates updated target information in the tracking target database 4 is used. In this case, the reliability of the combination of both targets can be calculated from the change in the size of the target due to the difference in the scanning direction and the difference between the observation position of the new target and the tracking target, and erroneous combinations can be suppressed. .
[0041]
In the tracking processing device according to the first embodiment, when a search object 1 scans a moving object having a high speed component in a direction parallel to the scanning direction, the tracking direction is opposite to the case where the scanning direction is the same as the moving direction of the object. The moving speed in the direction parallel to the scanning direction of the target is predicted by using the property that the horizontal width of the observed target is different, and the next appearance position of the target is calculated. Next, the tracking update processing is performed by calculating a deviation between the update target candidate and the predicted position, determining whether or not it is within an allowable range, and determining that the combination is not allowable and determining that the combination is incorrect and interrupting the operation. Is to suppress the error.
[0042]
That is, according to the first embodiment, in the tracking process by the tracking processing device, it is possible to suppress an erroneous combination with an existing target with respect to a target that moves at high speed in a direction parallel to the scanning direction, thereby suppressing an error in the tracking update process. can do.
[0043]
Embodiment 2. FIG.
A tracking processing apparatus according to Embodiment 2 of the present invention will be described with reference to the drawings. FIG. 2 is a diagram showing the configuration of the tracking processing apparatus according to Embodiment 2 of the present invention.
[0044]
In FIG. 2, 12 is a horizontal afterimage analysis circuit, and 13 is a data control switch C. Other configurations are the same as those in the first embodiment.
[0045]
Next, the operation of the tracking processing apparatus according to the second embodiment will be described with reference to the drawings.
[0046]
The search sensor 1 performs a known time-delay integration while scanning the search range in the left-right direction, and converts the external image into image data.
[0047]
This image data is subjected to target extraction processing in the target extraction circuit 2, and the target acquisition time, the in-screen target position lateral direction, the in-screen target position longitudinal direction, the in-screen target width, the in-screen target height, and the target It is converted in the scanning direction during acquisition. These are hereinafter referred to as signal A.
[0048]
The signal A is input to the new target buffer 3 and temporarily stored.
[0049]
In addition, the tracking target database 4 includes the tracking target acquisition time of the existing target data already registered as targets, the in-screen tracking target position in the horizontal direction, the in-screen tracking target position in the vertical direction, the in-screen tracking target width, and the in-screen tracking. The target height and the tracking direction at the time of tracking target acquisition are stored, and these data are output. These are hereinafter referred to as signal B.
[0050]
The signal B output from the tracking target database 4 is converted by the gate setting circuit 5 into the target appearance predicted position and its range in the next scanning. These are hereinafter referred to as gate information.
[0051]
The signal A from the new target buffer 3 and the gate information from the gate setting circuit 5 are input to the in-gate determination circuit 6. This in-gate determination circuit 6 determines whether or not the signal A is in the gate, and outputs the determination result to the data control switch A7.
[0052]
The data control switch A7 receives the determination result and sends the signal A from the new target buffer 3 to the lateral afterimage analysis circuit 12 and the data control switch 13 when the determination result is out of the gate. Is output to the combination reliability judgment circuit (horizontal) 10 and the data control switch B11.
[0053]
The data control switch B 11 that has received the combination correct determination from the combination reliability determination circuit (horizontal) 10 outputs the signal A and the signal B to the existing target update circuit 9.
[0054]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0055]
Further, the data control switch B11 that has received the combination rejection determination from the combination reliability determination circuit (horizontal) 10 discards the determination result of the in-gate determination circuit 6, and uses the signal A as the horizontal afterimage analysis circuit 12 and the data. Output to the control switch 13.
[0056]
The afterimage analysis circuit 12 in the horizontal direction receives the tracking target information in which the combination target is not found from the tracking target database 4 in the form of a signal B.
[0057]
In this lateral afterimage analysis circuit 12, the moving speed VH in the direction parallel to the target scanning direction is set with the target tracking width of the signal B in the screen L1, the target width of the signal A in the screen L2, and the scanning speed Vs. , Based on Equation 1 above.
[0058]
Next, the horizontal direction tracking target position of the signal B is H1, the tracking target acquisition time is T1, the horizontal direction target position of the signal A is H2, and the target acquisition time is T2. , Based on Equation 2 above.
[0059]
The horizontal afterimage analysis circuit 12 outputs a combination correct determination to the data control switch C13 when the deviation Dh is within a certain reference value, and a combination rejection determination otherwise.
[0060]
The data control switch C13 outputs a signal A to the new target registration circuit 8 when receiving the combination rejection determination from the lateral direction afterimage analysis circuit 12.
[0061]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0062]
Further, the data control switch C13 outputs the signal A and the signal B to the existing target update circuit 9 when the combination correctness determination is received from the lateral direction afterimage analysis circuit 12.
[0063]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0064]
That is, the tracking processing device according to the second embodiment includes a search sensor 1 that scans an optical signal from the outside world and converts it into image data while performing time delay integration, image data from the search sensor 1, and a search direction. A target extraction circuit 2 for calculating a target acquisition time, a horizontal direction of the target position within the screen, a vertical direction of the target position within the screen, a target width within the screen, a target height within the screen, and a scanning direction (signal A) at the time of target acquisition; A new target buffer 3 for temporarily storing the output of the circuit 2, a tracking target database 4 for storing existing tracking target data, a tracking target acquisition time from the tracking target database 4, and a tracking target position in the horizontal direction in the screen A gate setting circuit 5 for generating gate information from the vertical direction of the tracking target position in the screen, the tracking target width in the screen, the tracking target height in the screen, and the scanning direction (signal B) at the time of tracking target acquisition; Based on the output of the target setting circuit 5 and determining whether or not the output data of the new target buffer 3 is in the gate, the new target based on the determination of the in-gate determination circuit 6 and the in-gate determination circuit 6 Based on the width of the data control switch A7 for controlling the output destination of the buffer 3, the signal B from the tracking target database 4 and the signal A from the data control switch A7, based on the horizontal width in the screen of both. A combination reliability determination circuit (horizontal) 10 for determining whether the signal is correct or not, and a data control switch B11 for controlling the flow of signals A and B based on signals from the combination reliability determination circuit (horizontal) 10; The reliability of the combination of the new target and the tracking target is determined from the change in the length in the horizontal direction based on the signals A and B of the data control switch A7 or the data control switch B11. Creates new target registration information in the tracking target database 4 and the data control switch C13 that controls the signal flow of the signals A and B based on the determination of the direction afterimage analysis circuit 12 and the horizontal direction afterimage analysis circuit 12. A new target registration circuit 8; an existing target update circuit 9 that creates an update of existing target and update target information to the tracking target database 4 based on the signals A and B from the data control switch B11 or the data control switch C13; When combining a new target and a tracking target, the reliability of the combination of both targets is determined by the change in the size of the target due to the difference in the scanning direction and the difference between the observation position of the new target and the tracking target. To suppress the wrong combination and to move the gate at a high speed in the horizontal direction among the targets not determined to be in the gate by the in-gate determination circuit 6 If the object does not fall within the range, change the size of the target due to the difference in the scanning direction, and re-combine using the gate that was reset based on the difference between the observation position of the new target and the tracking target. Can be done.
[0065]
In the tracking processing device according to the second embodiment, when a moving object having a high velocity component in a direction parallel to the scanning direction is scanned by the search sensor 1, the scanning direction is opposite to the case where the scanning direction is the same as the moving direction of the object. The moving speed in the direction parallel to the scanning direction of the target is predicted by using the property that the horizontal width of the observed target is different, and the next appearance position of the target is calculated. Next, the deviation between the update target candidate and the predicted position is calculated, and it is determined whether or not it is within an allowable range. If it is not allowable, it is determined as an incorrect combination and the combination operation is interrupted. Furthermore, after performing the above-mentioned operation between all new targets and existing targets, combining the new target and the existing target for which no update partner was found, with the brute force, The moving speed in the direction parallel to the target scanning direction in each combination is predicted. Next, the next appearance position of the target is calculated based on the obtained speed, and the deviation from the combined new target position is calculated. Further, when the deviation amount is in an allowable range, the existing target is updated by the combination, thereby updating the target moving at a high speed that cannot be combined by the conventional method.
[0066]
That is, according to the second embodiment, in the tracking process by the tracking processing device, an erroneous combination of an existing target with a target moving at high speed in a direction parallel to the scanning direction can be suppressed, and the target moving at high speed Also, the tracking update process can be performed for and the reliability of the tracking update process can be improved.
[0067]
Embodiment 3 FIG.
A tracking processing apparatus according to Embodiment 3 of the present invention will be described with reference to the drawings. FIG. 3 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 3 of the present invention.
[0068]
In FIG. 3, 14 is a scanning speed changing circuit, and 15 is a combination reliability determining circuit (vertical). The other configuration is the same as that of the first embodiment except that a reliability determination circuit (vertical) 15 is provided instead of the combination reliability determination circuit (horizontal) 10.
[0069]
Next, the operation of the tracking processing device according to the third embodiment will be described with reference to the drawings.
[0070]
The scanning speed changing circuit 14 outputs speed commands having different scanning speeds on the left and right sides to the search sensor 1. The search sensor 1 performs a known time delay integration while scanning the search range in the left-right direction according to the scanning speed of the scanning speed changing circuit 14, and converts the external image into image data.
[0071]
This image data is subjected to target extraction processing in the target extraction circuit 2, and the target acquisition time, the in-screen target position lateral direction, the in-screen target position longitudinal direction, the in-screen target width, the in-screen target height, and the target It is converted in the scanning direction during acquisition. These are hereinafter referred to as signal A.
[0072]
The signal A is input to the new target buffer 3 and temporarily stored.
[0073]
In addition, the tracking target database 4 includes the tracking target acquisition time of the existing target data already registered as targets, the in-screen tracking target position in the horizontal direction, the in-screen tracking target position in the vertical direction, the in-screen tracking target width, and the in-screen tracking. The target height and the tracking direction at the time of tracking target acquisition are stored, and these data are output. These are hereinafter referred to as signal B.
[0074]
The signal B output from the tracking target database 4 is converted by the gate setting circuit 5 into the target appearance predicted position and its range in the next scanning. These are hereinafter referred to as gate information.
[0075]
The signal A from the new target buffer 3 and the gate information from the gate setting circuit 5 are input to the in-gate determination circuit 6. This in-gate determination circuit 6 determines whether or not the signal A is in the gate, and outputs the determination result to the data control switch A7.
[0076]
The data control switch A7 receives the determination result and combines the signal A from the new target buffer 3 to the new target registration circuit 8 when the determination result is out of the gate, and when the determination result is in the gate. The data is output to the reliability determination circuit (vertical) 15 and the data control switch B11.
[0077]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0078]
In this combination reliability judgment circuit (vertical) 15, the target tracking height of signal B in the screen is h1, the target height of signal A in the screen is h2, the right scanning speed is VR, the left scanning speed is VL, and the delay is The lateral length of the time integration is R, and the moving speed VV in the direction perpendicular to the target scanning direction is calculated based on the following Equation 3.
[0079]
VV = (h1−h2) × VR × VL / {R × (VL−VR)} Equation 3
[0080]
Next, the vertical direction tracking target position of signal B is V1, the tracking target acquisition time is T1, the vertical direction target position of signal A is V2, and the target acquisition time is T2. , Based on the following formula 4.
[0081]
Dv = | V2- (V1 + VV × (T2-T1)) |
[0082]
The combination reliability determination circuit (vertical) 15 outputs a combination correct determination to the data control switch B11 when the deviation Dv is within a reference value, and a combination rejection determination otherwise.
[0083]
The data control switch B 11 that has received the combination correct determination from the combination reliability determination circuit (vertical) 15 outputs the signal A and the signal B to the existing target update circuit 9.
[0084]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0085]
Further, the data control switch B 11 that has received the combination rejection determination from the combination reliability determination circuit (vertical) 15 discards the determination result of the in-gate determination circuit 6 and outputs the signal A to the new target registration circuit 8.
[0086]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0087]
That is, the tracking processing apparatus according to the third embodiment includes a search sensor 1 that scans an optical signal from the outside world and converts it into image data while performing time delay integration, and changes the scanning speed of the search sensor 1 in the left and right scanning directions. The scanning speed changing circuit 14 to be changed every time, the image data from the search sensor and the search direction, the target acquisition time, the in-screen target position lateral direction, the in-screen target position longitudinal direction, the in-screen target width, the in-screen target height, And a target extraction circuit 2 for calculating the scanning direction (signal A) at the time of target acquisition, a new target buffer 3 for temporarily storing the output of the target extraction circuit 2, and a tracking target database for storing existing tracking target data 4, tracking target acquisition time from the tracking target database 4, tracking target position horizontal direction in the screen, tracking target position vertical direction in the screen, tracking target width in the screen, tracking target height in the screen, and tracking Based on the output of the gate setting circuit 5 that generates gate information from the scanning direction (signal B) at the time of target acquisition and the output of the gate setting circuit 5, it is determined whether or not the output data of the new target buffer 3 is in the gate. The in-gate determination circuit 6, the data control switch A7 that controls the output destination of the new target buffer 3 based on the determination in the in-gate determination circuit 6, the signal B from the tracking target database 4 and the data control switch A7 Based on the signal A, a combination reliability determination circuit (vertical) 15 that performs a correct / incorrect determination on the combination of both based on the vertical height in the screen of both, and a combination reliability determination circuit (vertical) 15 The data control switch B11 that controls the flow of the signals A and B based on the signal A and the tracking point based on the signal A of the data control switch 7A or the data control switch B11 Based on the new target registration circuit 8 for creating new target registration information in the database 4 and the signals A and B from the data control switch B11, the update of the existing target and the update target information in the tracking target database 4 are created. It consists of an existing target update circuit 9, and when combining a new target and a tracking target, both targets are obtained from the change in the target size due to the difference in scanning speed and the difference between the observation position of the new target and the tracking target. It is possible to calculate the reliability for the combination of and to suppress erroneous combinations.
[0088]
In the tracking processing device according to the third embodiment, when a search object 1 scans a moving object having a high speed component in a direction perpendicular to the scanning direction, the scanning speed varies depending on the scanning direction. Calculate the next appearance position of the target by predicting the moving speed in the direction perpendicular to the scanning direction of the target using the property that the vertical height of the observed target is different between left and right from left to right To do. Next, the deviation between the update target candidate and the predicted position is calculated, it is determined whether or not it is within an allowable range, and if it is not allowable, it is determined as an incorrect combination, and the tracking operation is interrupted. This suppresses processing errors.
[0089]
That is, according to the third embodiment, in the tracking processing by the tracking processing device, an erroneous combination of the target that moves at high speed in the direction perpendicular to the scanning direction with the existing target can be suppressed, and errors in the tracking update processing are suppressed. can do.
[0090]
Embodiment 4 FIG.
A tracking processing apparatus according to Embodiment 4 of the present invention will be described with reference to the drawings. FIG. 4 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 4 of the present invention.
[0091]
In FIG. 4, 13 is a data control switch C, 14 is a scanning speed changing circuit, 15 is a combination reliability determination circuit (vertical), and 16 is a longitudinal afterimage analysis circuit. The other configuration is the same as that of the first embodiment except that a reliability determination circuit (vertical) 15 is provided instead of the combination reliability determination circuit (horizontal) 10.
[0092]
Next, the operation of the tracking processing device according to the fourth embodiment will be described with reference to the drawings.
[0093]
The scanning speed changing circuit 14 outputs speed commands having different scanning speeds on the left and right sides to the search sensor 1. The search sensor 1 performs a known time delay integration while scanning the search range in the left-right direction according to the scanning speed of the scanning speed changing circuit 14, and converts the external image into image data.
[0094]
This image data is subjected to target extraction processing in the target extraction circuit 2, and the target acquisition time, the in-screen target position lateral direction, the in-screen target position longitudinal direction, the in-screen target width, the in-screen target height, and the target It is converted in the scanning direction during acquisition. These are hereinafter referred to as signal A.
[0095]
The signal A is input to the new target buffer 3 and temporarily stored.
[0096]
In addition, the tracking target database 4 includes the tracking target acquisition time of the existing target data already registered as targets, the in-screen tracking target position in the horizontal direction, the in-screen tracking target position in the vertical direction, the in-screen tracking target width, and the in-screen tracking. The target height and the tracking direction at the time of tracking target acquisition are stored, and these data are output. These are hereinafter referred to as signal B.
[0097]
The signal B output from the tracking target database 4 is converted by the gate setting circuit 5 into the target appearance predicted position and its range in the next scanning. These are hereinafter referred to as gate information.
[0098]
The signal A from the new target buffer 3 and the gate information from the gate setting circuit 5 are input to the in-gate determination circuit 6. This in-gate determination circuit 6 determines whether or not the signal A is in the gate, and outputs the determination result to the data control switch A7.
[0099]
The data control switch A7 receives the determination result and sends the signal A from the new target buffer 3 to the longitudinal afterimage analysis circuit 16 and the data control switch 13 when the determination result is out of the gate. Is output to the combination reliability judgment circuit (vertical) 15 and the data control switch B11.
[0100]
The data control switch B 11 that has received the combination correct determination from the combination reliability determination circuit (vertical) 15 outputs the signal A and the signal B to the existing target update circuit 9.
[0101]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0102]
Further, the data control switch B11 that has received the combination rejection determination from the combination reliability determination circuit (vertical) 15 discards the determination result of the in-gate determination circuit 6, and converts the signal A into the vertical afterimage analysis circuit 16 and the data. Output to the control switch 13.
[0103]
Further, the longitudinal afterimage analysis circuit 16 receives tracking target information in the form of a signal B from the tracking target database 4 for which no combination target has been found.
[0104]
In this vertical direction afterimage analysis circuit 16, the target tracking height of signal B in the screen is h1, the target height of signal A in the screen is h2, the right scanning speed is VR, the left scanning speed is VL, and the delay time integration is horizontal. The length of the direction is R, and the moving speed VV in the direction perpendicular to the target scanning direction is calculated based on Equation 3 above.
[0105]
Next, the vertical direction tracking target position of signal B is V1, the tracking target acquisition time is T1, the vertical direction target position of signal A is V2, and the target acquisition time is T2. , Based on Equation 4 above.
[0106]
The vertical direction afterimage analysis circuit 16 outputs a combination correct determination to the data control switch C13 if the deviation Dv is within a reference value, and a combination rejection determination otherwise.
[0107]
The data control switch C13 outputs a signal A to the new target registration circuit 8 when it receives a combination rejection determination from the longitudinal afterimage analysis circuit 16.
[0108]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0109]
Further, the data control switch C13 outputs the signal A and the signal B to the existing target update circuit 9 when the combination correctness determination is received from the vertical direction afterimage analysis circuit 16.
[0110]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0111]
That is, the tracking processing device according to the fourth embodiment includes a search sensor 1 that scans an optical signal from the outside and converts it into image data while performing time delay integration, and changes the scanning speed of the search sensor 1 in the left and right scanning directions. The target acquisition time, the in-screen target position in the horizontal direction, the in-screen target position in the vertical direction, the in-screen target width, and the in-screen target height based on the scanning speed changing circuit 14 that changes every time and the image data from the search sensor 1 and the search direction. , And a target extraction circuit 2 that calculates the scanning direction (signal A) at the time of target acquisition, a new target buffer 3 that temporarily stores the output of the target extraction circuit 2, and a tracking target that stores existing tracking target data Database 4 and tracking target acquisition time from tracking target database 4, in-screen tracking target position horizontal direction, in-screen tracking target position vertical direction, in-screen tracking target width, in-screen tracking target height, and tracking Based on the output of the gate setting circuit 5 that generates gate information from the scanning direction (signal B) at the time of target acquisition and the output of the gate setting circuit 5, it is determined whether or not the output data of the new target buffer 3 is in the gate. The in-gate determination circuit 6, the data control switch A7 that controls the output destination of the new target buffer 3 based on the determination in the in-gate determination circuit 6, the signal B from the tracking target database 4 and the data control switch A7 Based on the signal A, a combination reliability determination circuit (vertical) 15 that performs a correct / incorrect determination on the combination of both based on the vertical height in the screen of both, and a combination reliability determination circuit (vertical) 15 The data control switch B11 for controlling the flow of the signals A and B based on the signal of the signal A, and the signals A and B of the data control switch A7 or the data control switch B11 Based on the determination of the afterimage analysis circuit 16 and the afterimage analysis circuit 16 for determining the reliability of the combination of the new target and the tracking target based on the change in the length in the vertical direction, the signal A and the signal A A data control switch C13 for controlling the signal flow of B, a new target registration circuit 8 for creating new target registration information in the tracking target database 4, and signals A and B from the data control switch B11 or the data control switch C13. Based on the existing target and the existing target update circuit 9 that creates updated target information for the tracking target database 4. When combining a new target and a tracking target, From the change in size and the difference between the observation position of the new target and the tracking target, the reliability for the combination of both targets is calculated to suppress erroneous combinations and Among the targets that were not determined to be in the gate on path 6, those that did not enter the gate because they moved at high speed in the vertical direction, the change in the size of the target due to the difference in the scanning direction, the new target and the tracking target Using the gate reset from the difference from the observation position, the combination processing is performed again to associate the tracking target.
[0112]
In the tracking processing device according to the fourth embodiment, when a search object 1 scans a moving object having a high speed component in a direction perpendicular to the scanning direction, the scanning speed varies depending on the scanning direction. Calculate the next appearance position of the target by predicting the moving speed in the direction perpendicular to the scanning direction of the target using the property that the vertical height of the observed target is different between left and right from left to right To do. Next, the deviation between the update target candidate and the predicted position is calculated, and it is determined whether or not it is within an allowable range. If it is not allowable, it is determined as an incorrect combination and the combination operation is interrupted. Furthermore, after performing the above-described operation between all new targets and existing targets, the new target and the existing target for which no update partner was found were combined in a brute force manner, and the vertical height The moving speed in the direction perpendicular to the target scanning direction in each combination is predicted from the difference. Next, the next appearance position of the target is calculated based on the obtained speed, and the deviation from the combined new target position is calculated. Further, when the deviation amount is in an allowable range, the existing target is updated by the combination, thereby updating the target moving at a high speed that cannot be combined by the conventional method.
[0113]
That is, according to the fourth embodiment, in the tracking process by the tracking processing device, an erroneous combination of the target that moves at high speed in the direction perpendicular to the scanning direction with the existing target can be suppressed, and the target that moves at high speed. Also, the tracking update process can be performed for and the reliability of the tracking update process can be improved.
[0114]
Embodiment 5 FIG.
A tracking processing apparatus according to Embodiment 5 of the present invention will be described with reference to the drawings. FIG. 5 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 5 of the present invention.
[0115]
In FIG. 5, 13 is a data control switch C, 14 is a scanning speed changing circuit, 17 is a combination reliability determination circuit (vertical and horizontal), and 18 is a vertical and horizontal afterimage analysis circuit. The other configuration is the same as that of the first embodiment except that the vertical / horizontal direction detection reliability determination circuit 17 is provided instead of the combination reliability determination circuit (horizontal) 10.
[0116]
Next, the operation of the tracking processing apparatus according to the fifth embodiment will be described with reference to the drawings.
[0117]
The scanning speed changing circuit 14 outputs speed commands having different scanning speeds on the left and right sides to the search sensor 1. The search sensor 1 performs a known time delay integration while scanning the search range in the left-right direction according to the scanning speed of the scanning speed changing circuit 14, and converts the external image into image data.
[0118]
This image data is subjected to target extraction processing in the target extraction circuit 2, and the target acquisition time, the in-screen target position lateral direction, the in-screen target position longitudinal direction, the in-screen target width, the in-screen target height, and the target It is converted in the scanning direction during acquisition. These are hereinafter referred to as signal A.
[0119]
The signal A is input to the new target buffer 3 and temporarily stored.
[0120]
In addition, the tracking target database 4 includes the tracking target acquisition time of the existing target data already registered as targets, the in-screen tracking target position in the horizontal direction, the in-screen tracking target position in the vertical direction, the in-screen tracking target width, and the in-screen tracking. The target height and the tracking direction at the time of tracking target acquisition are stored, and these data are output. These are hereinafter referred to as signal B.
[0121]
The signal B output from the tracking target database 4 is converted by the gate setting circuit 5 into the target appearance predicted position and its range in the next scanning. These are hereinafter referred to as gate information.
[0122]
The signal A from the new target buffer 3 and the gate information from the gate setting circuit 5 are input to the in-gate determination circuit 6. This in-gate determination circuit 6 determines whether or not the signal A is in the gate, and outputs the determination result to the data control switch A7.
[0123]
The data control switch A7 receives the determination result and sends the signal A from the new target buffer 3 to the longitudinal and horizontal afterimage analysis circuit 18 and the data control switch 13 when the determination result is out of the gate. Is output to the combination reliability judgment circuit (vertical and horizontal) 17 and the data control switch B11.
[0124]
In this combination reliability judgment circuit (vertical and horizontal) 17, the tracking target height of the signal B in the screen is h1, the target height of the signal A in the screen is h2, the right scanning speed is VR, the left scanning speed is VL, and the delay. The lateral length of the time integration is R, and the moving speed VV in the direction perpendicular to the target scanning direction is calculated based on the above equation 3.
[0125]
Next, the vertical direction tracking target position of signal B is V1, the tracking target acquisition time is T1, the vertical direction target position of signal A is V2, and the target acquisition time is T2. , Based on Equation 4 above.
[0126]
In addition, assuming that the tracking target width of the signal B in the screen is L1, the target width of the signal A in the screen is L2, the right scanning speed is VR, and the left scanning speed is VL, the moving speed VHH in the direction parallel to the target scanning direction Is calculated based on Equation 5 below.
[0127]
VHH = VR × VL × (L1 + L2) / (VR × L2−VL × L1) Equation 5
[0128]
Next, the horizontal direction tracking target position of the signal B is H1, the tracking target acquisition time is T1, the horizontal direction target position of the signal A is H2, and the target acquisition time is T2. , Based on Equation 2 above.
[0129]
Further, the total prediction and the observation position deviation D are calculated based on the following Equation 6.
[0130]
D = Dh × Dh + Dv × Dv Equation 6
[0131]
The combination reliability determination circuit (vertical and horizontal) 17 outputs a combination correct determination to the data control switch B11 when the deviation D is within a certain reference value, and a combination rejection determination otherwise.
[0132]
The data control switch B 11 that has received the combination correct determination from the combination reliability determination circuit (vertical / horizontal) 17 outputs the signal A and the signal B to the existing target update circuit 9.
[0133]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0134]
Further, the data control switch B11 that has received the combination rejection determination from the combination reliability determination circuit (vertical / horizontal) 17 discards the determination result of the in-gate determination circuit 6, and converts the signal A into the vertical / horizontal afterimage analysis circuit 18 and the data. Output to the control switch C13.
[0135]
The longitudinal / horizontal afterimage analysis circuit 18 receives tracking target information in the form of a signal B from the tracking target database 4 for which a combination target has not been found.
[0136]
In this vertical / horizontal afterimage analysis circuit 18, the target tracking height of signal B in the screen is h1, the target height of signal A in the screen is h2, the right scanning speed is VR, the left scanning speed is VL, and the delay time integration is horizontal. The length of the direction is R, and the moving speed VV in the direction perpendicular to the target scanning direction is calculated based on Equation 3 above.
[0137]
Next, the vertical direction tracking target position of the signal B is V1, the tracking target acquisition time is T1, the horizontal direction of the target position of the signal A is V2, and the target acquisition time is T2. , Based on Equation 4 above.
[0138]
In addition, assuming that the tracking target width of the signal B in the screen is L1, the target width of the signal A in the screen is L2, the right scanning speed is VR, and the left scanning speed is VL, the moving speed VHH in the direction parallel to the target scanning direction Is calculated based on Equation 5 above.
[0139]
Next, the horizontal direction tracking target position of the signal B is H1, the tracking target acquisition time is T1, the horizontal direction target position of the signal A is H2, and the target acquisition time is T2. , Based on Equation 2 above.
[0140]
Furthermore, the total prediction and the deviation D of the observation position are calculated based on the above equation 6.
[0141]
The vertical / horizontal afterimage analysis circuit 18 outputs a combination correct determination to the data control switch C13 when the deviation D is within a certain reference value, and a combination rejection determination otherwise.
[0142]
The data control switch C13 outputs a signal A to the new target registration circuit 8 when it receives the combination rejection determination from the longitudinal and lateral afterimage analysis circuit 18.
[0143]
The new target registration circuit 8 receives the signal A, creates new target information to be recorded in the tracking target database 4, and registers it in the tracking target database 4.
[0144]
Further, the data control switch C13 outputs the signal A and the signal B to the existing target update circuit 9 when the combination correctness determination is received from the vertical and horizontal afterimage analysis circuit 18.
[0145]
The existing target update circuit 9 adds and updates the content of the signal A to the content of the signal B, creates update target information for the tracking target database 4, and updates the information in the tracking target database 4.
[0146]
That is, the tracking processing device according to the fifth embodiment includes a search sensor 1 that scans an optical signal from the outside world and converts it into image data while performing time delay integration, and changes the scanning speed of the search sensor 1 in the left and right scanning directions. The target acquisition time, the in-screen target position in the horizontal direction, the in-screen target position in the vertical direction, the in-screen target width, and the in-screen target height based on the scanning speed changing circuit 14 that changes every time and the image data from the search sensor 1 and the search direction. , And a target extraction circuit 2 that calculates the scanning direction (signal A) at the time of target acquisition, a new target buffer 3 that temporarily stores the output of the target extraction circuit 2, and a tracking target that stores existing tracking target data Database 4 and tracking target acquisition time from tracking target database 4, in-screen tracking target position horizontal direction, in-screen tracking target position vertical direction, in-screen tracking target width, in-screen tracking target height, and tracking Based on the output of the gate setting circuit 5 that generates gate information from the scanning direction (signal B) at the time of target acquisition and the output of the gate setting circuit 5, it is determined whether or not the output data of the new target buffer 3 is in the gate. The in-gate determination circuit 6, the data control switch A7 that controls the output destination of the new target buffer 3 based on the determination in the in-gate determination circuit 6, the signal B from the tracking target database 4 and the data control switch A7 Based on the signal A, a combination reliability determination circuit (vertical / horizontal) 17 for determining whether the two are combined based on the horizontal width and vertical height in the screen, and a combination reliability determination circuit (vertical / horizontal) ) A data control switch B11 that controls the flow of the signals A and B based on the signal 17 and a signal A and a signal A of the data control switch A7 or the data control switch B11. And the afterimage analysis circuit 18 and the afterimage analysis circuit 18 for determining the reliability of the combination of the new target and the tracking target from the change in the length in the vertical and horizontal directions based on the signal B. From the data control switch C13 for controlling the flow of the signals A and B, the new target registration circuit 8 for creating new target registration information in the tracking target database 4, and the data control switch B11 or the data control switch C13 And the existing target update circuit 9 for creating the update target information to the tracking target database 4 based on the signals A and B, and scanning when combining the new target and the tracking target. The change in the vertical size of the target due to the difference in speed, the difference between the observation position of the new target and the tracking target, the change in the horizontal width of the target due to the difference in the scanning direction, the new target and the tracking target By calculating the reliability for the combination of both targets based on the difference from the observation position of the target, the wrong combination is suppressed, and the target that is not determined to be in the gate by the in-gate determination circuit 6 moves at high speed. As a result, the target that did not enter the gate was reset based on the change in the target size due to the difference in scanning speed, the change in the target width due to the difference in the scanning direction, and the difference between the observation position of the new target and the tracking target. The combination processing can be performed again using the gate to associate the tracking target.
[0147]
In the tracking processing device according to the fifth embodiment, when a search object 1 scans a moving object having a high speed component in an arbitrary direction with respect to the scanning direction, the scanning speed varies depending on the scanning direction. When the right-to-left and left-to-right cases have different vertical heights of the observed target or when the scanning direction is the same as the moving direction of the object, Using the property of different direction widths, the movement speed in the direction perpendicular to and parallel to the target scanning direction is predicted, and the next appearance position of the target is calculated. Next, the deviation between the update target candidate and the predicted position is calculated, and it is determined whether or not it is within an allowable range. If it is not allowable, it is determined as an incorrect combination and the combination operation is interrupted. Furthermore, after performing the above-described operation between all new targets and existing targets, the new target and the existing target for which no update partner was found were combined in a brute force manner, and the vertical height From the difference and the difference in the width in the lateral direction, the moving speed in the direction perpendicular to the target scanning direction and the horizontal direction in each combination is predicted. Next, the next appearance position of the target is calculated based on the obtained speed, and the deviation from the combined new target position is calculated. Further, when the deviation amount is in an allowable range, the existing target is updated by the combination, thereby updating the target moving at a high speed that cannot be combined by the conventional method.
[0148]
That is, according to the fifth embodiment, in the tracking process by the tracking processing device, it is possible to suppress an erroneous combination with an existing target with respect to a target moving at high speed in an arbitrary direction with respect to the scanning direction, and to move at high speed. The tracking update process can also be performed for the target, and the reliability of the tracking update process can be improved.
[0149]
【The invention's effect】
As described above, the tracking processing device according to claim 1 of the present invention scans an optical signal from the outside world and converts it into image data while performing time delay integration, and image data from the search sensor. And based on search direction , Target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target acquisition scanning direction Target extraction circuit for calculating the first signal and existing tracking target data Tracking target acquisition time, in-screen tracking target position horizontal direction, in-screen tracking target position vertical direction, in-screen tracking target width, in-screen tracking target height, and scanning target acquisition scanning direction A tracking target database for storing a second signal, and a second signal from the tracking target database; , Composed of the predicted appearance position of the target in the next scan and its range A gate setting circuit that generates gate information; an in-gate determination circuit that determines whether the first signal is in the gate based on the gate information; and the determination based on the determination in the in-gate determination circuit Based on the first data control switch that controls the output destination of the target extraction circuit, the second signal from the tracking target database, and the first signal from the first data control switch, When the tracking target width in the screen of the second signal is L1, the target width in the screen of the first signal is L2, and the scanning speed is Vs, the moving speed VH in the direction parallel to the target scanning direction is VH = (L1−L2) × Vs / (L1 + L2), the tracking target position in the horizontal direction of the second signal in the horizontal direction is H1, tracking target acquisition time is T1, and the first signal Assuming that the horizontal direction of the target position in the screen is H2 and the target acquisition time is T2, the deviation Dh between the prediction and the observation position is calculated based on the following formula: Dh = | H2− (H1 + VH × (T2−T1)) | When the deviation Dh is within a predetermined reference value, a combination correctness determination is output, otherwise a combination rejection determination is output. A combination reliability determination circuit; a second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit; and the first or second data control. A new target registration circuit for creating new target information in the tracking target database based on the first signal from the switch; and an existing target based on the first and second signals from the second data control switch. And an existing target update circuit for creating update target information to the tracking target database The first data control switch sends the first signal from the target extraction circuit to the new target registration circuit when the determination result of the in-gate determination circuit is out of the gate, and the in-gate determination circuit Is output to the combination reliability determination circuit and the second data control switch, and the second data control switch is combined by the combination reliability determination circuit. When a positive determination is received, the first and second signals are output to the existing target update circuit, and when a combination rejection determination is received from the combination reliability determination circuit, Discard the determination result of the determination circuit, and output the first signal to the new target registration circuit Therefore, it is possible to suppress an erroneous combination of the target that moves at high speed in the direction parallel to the scanning direction with the existing target, and to suppress an error in the tracking update process.
[0150]
As described above, the tracking processing device according to claim 2 of the present invention scans an optical signal from the outside world and converts it into image data while performing time delay integration, and image data from the search sensor. And a target extraction circuit that calculates a first signal based on the search direction, a tracking target database that stores a second signal that is existing tracking target data, and a second signal from the tracking target database A gate setting circuit that generates gate information; an in-gate determination circuit that determines whether the first signal is in the gate based on the gate information; and the determination based on the determination in the in-gate determination circuit A first data control switch for controlling the output destination of the target extraction circuit; a second signal from the tracking target database; and a first data control switch A combination reliability determination circuit that determines whether the two are combined according to the horizontal width in the screen based on the signal of 1, and the first and second signals based on the determination of the combination reliability determination circuit A second data control switch for controlling the flow of the first signal, a first signal from the first or second data control switch, and a second signal from the tracking target database; A lateral afterimage analysis circuit that determines the reliability of the combination of the new target and the tracking target from the change, and a third that controls the flow of the first and second signals based on the determination of the lateral afterimage analysis circuit. A data control switch; a new target registration circuit for creating new target information in the tracking target database based on a first signal from the third data control switch; and the second or third Since the existing target update circuit for creating the update target information to the tracking target database and the update of the existing target based on the first and second signals from the data control switch is provided, high speed in the direction parallel to the scanning direction It is possible to suppress an erroneous combination with an existing target with respect to a target that moves at the same time, and to perform tracking update processing for a target that moves at high speed, thereby improving the reliability of tracking update processing. Play.
[0151]
As described above, the tracking processing device according to claim 3 of the present invention scans an optical signal from the outside world and converts it into image data while performing time delay integration, and the scanning speed of the search sensor. Based on the scanning speed changing circuit that changes every left and right scanning direction, the image data from the search sensor and the search direction , Target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target acquisition scanning direction Target extraction circuit for calculating first signal and existing tracking target Tracking target acquisition time, in-screen tracking target position horizontal direction, in-screen tracking target position vertical direction, in-screen tracking target width, in-screen tracking target height, and scanning target acquisition scanning direction A tracking target database for storing a second signal, and a second signal from the tracking target database; , Composed of the predicted appearance position of the target in the next scan and its range A gate setting circuit that generates gate information; an in-gate determination circuit that determines whether the first signal is in the gate based on the gate information; and the determination based on the determination in the in-gate determination circuit Based on a first data control switch that controls the output destination of the target extraction circuit, a second signal from the tracking target database, and a first signal from the first data control switch, In-screen tracking target height of the second signal is h1, the in-screen target height of the first signal is h2, the right scanning speed is VR, the left scanning speed is VL, and the horizontal length of the delay time integration is The moving speed VV in the direction perpendicular to the target scanning direction is calculated based on the following equation, and VV = (h1−h2) × VR × VL / {R × (VL−VR)} The second signal's in-screen tracking target position vertical direction is V1, the tracking target acquisition time is T1, the in-screen target position vertical direction of the first signal is V2, and the target acquisition time is T2. Is calculated based on the following equation: Dv = | V2− (V1 + VV × (T2−T1)) |, and when the difference Dv is within a predetermined reference value, the combination correct determination is performed. In case of, the combination rejection judgment is output. A combination reliability determination circuit; a second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit; and the first or second data control. A new target registration circuit for creating new target information in the tracking target database based on the first signal from the switch; and an existing target based on the first and second signals from the second data control switch. And an existing target update circuit for creating update target information to the tracking target database The first data control switch sends the first signal from the target extraction circuit to the new target registration circuit when the determination result of the in-gate determination circuit is out of the gate. When the determination result is in the gate, the result is output to the combination reliability determination circuit and the second data control switch, and the second data control switch receives the combination correct from the combination reliability determination circuit. When the determination is received, the first and second signals are output to the existing target update circuit, and when the combination rejection determination is received from the combination reliability determination circuit, the in-gate determination Discard the circuit determination result and output the first signal to the new target registration circuit Therefore, it is possible to suppress an erroneous combination of the target that moves at high speed in the direction perpendicular to the scanning direction with the existing target, and to suppress an error in the tracking update process.
[0152]
As described above, the tracking processing device according to claim 4 of the present invention scans an optical signal from the outside world and converts it into image data while performing time delay integration, and the scanning speed of the search sensor. A scanning speed changing circuit that changes for each of the left and right scanning directions, a target extraction circuit that calculates a first signal based on the image data from the search sensor and the search direction, and a second signal that is existing tracking target data A tracking target database that stores information, a gate setting circuit that generates gate information based on a second signal from the tracking target database, and whether or not the first signal is in the gate based on the gate information An in-gate determination circuit that determines whether or not, a first data control switch that controls an output destination of the target extraction circuit based on the determination of the in-gate determination circuit, and Based on the second signal from the tail target database and the first signal from the first data control switch, a combination reliability determination circuit for determining whether the two are combined according to the vertical height in the screen. A second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit, and a first data control switch from the first or second data control switch A longitudinal afterimage analysis circuit for determining the reliability of a combination of a new target and a tracking target from a change in longitudinal length based on a signal and a second signal from the tracking target database; and the longitudinal afterimage analysis circuit A third data control switch for controlling the flow of the first and second signals based on the determination, and the tracking target based on the first signal from the third data control switch A new target registration circuit for creating new target information in the database, and an update of an existing target and an update target to the tracking target database based on the first and second signals from the second or third data control switch Since it has an existing target update circuit that creates information, it can suppress erroneous combinations of existing targets with targets that move at high speed in the direction perpendicular to the scanning direction, and it also tracks and updates targets that move at high speed. Processing can be performed, and the reliability of tracking update processing can be improved.
[0153]
As described above, the tracking processing device according to claim 5 of the present invention scans an optical signal from the outside world and converts it into image data while performing time delay integration, and the scanning speed of the search sensor. A scanning speed changing circuit that changes for each of the left and right scanning directions, a target extraction circuit that calculates a first signal based on the image data from the search sensor and the search direction, and a second signal that is existing tracking target data A tracking target database that stores information, a gate setting circuit that generates gate information based on a second signal from the tracking target database, and whether or not the first signal is in the gate based on the gate information An in-gate determination circuit that determines whether or not, a first data control switch that controls an output destination of the target extraction circuit based on the determination of the in-gate determination circuit, and Based on the second signal from the tail target database and the first signal from the first data control switch, the combination reliability for determining whether the two are combined according to the width and height in the screen A determination circuit, a second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit, and a second data control switch from the first or second data control switch A vertical and horizontal afterimage analysis circuit for determining the reliability of a combination of a new target and a tracking target from a change in length in the vertical and horizontal directions based on the first signal and the second signal from the tracking target database; A third data control switch that controls the flow of the first and second signals based on the determination of the direction afterimage analysis circuit, and a first signal from the third data control switch. A new target registration circuit for creating new target information in the tracking target database, updating of the existing target based on the first and second signals from the second or third data control switch, and the tracking target database Since it has an existing target update circuit that creates update target information, it is possible to suppress an erroneous combination of an existing target with a target moving at high speed in any direction with respect to the scanning direction, and to move at high speed The tracking update process can also be performed for the target, and the reliability of the tracking update process can be improved.
[Brief description of the drawings]
FIG. 1 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 1 of the present invention.
FIG. 2 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 2 of the present invention.
FIG. 3 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 3 of the present invention.
FIG. 4 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 4 of the present invention.
FIG. 5 is a diagram showing a configuration of a tracking processing apparatus according to Embodiment 5 of the present invention.
FIG. 6 is a diagram showing a configuration of a conventional tracking processing device.
[Explanation of symbols]
1 search sensor, 2 target extraction circuit, 3 new target buffer, 4 tracking target database, 5 gate setting circuit, 6 in-gate determination circuit, 7 data control switch A, 8 new target registration circuit, 9 existing target update circuit, 10 sets Matching reliability judgment circuit (horizontal), 11 Data control switch B, 12 Lateral afterimage analysis circuit, 13 Data control switch C, 14 Scanning speed changing circuit, 15 Combination reliability judgment circuit (vertical), 16 Longitudinal afterimage analysis Circuit, 17 combination reliability judgment circuit (vertical and horizontal), 18 vertical and horizontal afterimage analysis circuit.

Claims (5)

A search sensor that scans optical signals from the outside world and converts them into image data while performing time delay integration, and
Based on the image data from the search sensor and the search direction, from the target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and target acquisition scanning direction A target extraction circuit for calculating a configured first signal;
It consists of the tracking target acquisition time of the existing tracking target data , the tracking target position in the screen in the horizontal direction, the tracking target position in the screen in the vertical direction, the tracking target width in the screen, the tracking target height in the screen, and the scanning direction at the time of tracking target acquisition. and tracking the target database for storing a second signal that,
Based on the second signal from the tracking target database, a gate setting circuit that generates gate information composed of a target appearance predicted position in the next scan and its range ;
An in-gate determination circuit that determines whether the first signal is in the gate based on the gate information;
A first data control switch for controlling the output destination of the target extraction circuit based on the determination of the in-gate determination circuit;
Based on the second signal from the tracking target database and the first signal from the first data control switch, the in-screen tracking target width of the second signal is L1, and the in-screen of the first signal The target width is L2, the scanning speed is Vs, and the moving speed VH in the direction parallel to the target scanning direction is calculated based on the following formula,
VH = (L1-L2) × Vs / (L1 + L2),
The horizontal direction tracking target position of the second signal is H1, the tracking target acquisition time is T1, the horizontal direction target position of the first signal is H2, and the target acquisition time is T2. The deviation Dh is calculated based on the following equation:
Dh = | H2− (H1 + VH × (T2−T1)) |,
A combination reliability determination circuit that outputs a combination correct determination when the deviation Dh is within a predetermined reference value; otherwise, a combination rejection determination;
A second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit;
A new target registration circuit for creating new target information in the tracking target database based on a first signal from the first or second data control switch;
An existing target update circuit for creating an update of existing target and update target information to the tracking target database based on the first and second signals from the second data control switch ;
The first data control switch sends the first signal from the target extraction circuit to the new target registration circuit when the determination result of the in-gate determination circuit is out of the gate, and the in-gate determination circuit When the determination result is in the gate, output to the combination reliability determination circuit and the second data control switch,
The second data control switch outputs the first and second signals to the existing target update circuit when the combination correctness determination is received from the combination reliability determination circuit, and the combination A tracking processing device characterized by discarding the determination result of the in-gate determination circuit and outputting the first signal to the new target registration circuit when a combination rejection determination is received from a reliability determination circuit . A search sensor that scans optical signals from the outside world and converts them into image data while performing time delay integration, and
A target extraction circuit for calculating a first signal based on image data from the search sensor and a search direction;
A tracking target database storing a second signal which is existing tracking target data;
A gate setting circuit for generating gate information based on the second signal from the tracking target database;
An in-gate determination circuit that determines whether the first signal is in the gate based on the gate information;
A first data control switch for controlling the output destination of the target extraction circuit based on the determination of the in-gate determination circuit;
A combination reliability determination circuit for determining whether the two are combined according to the horizontal width in the screen based on the second signal from the tracking target database and the first signal from the first data control switch; ,
A second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit;
Reliability of a combination of a new target and a tracking target from a change in lateral length based on a first signal from the first or second data control switch and a second signal from the tracking target database A lateral afterimage analysis circuit for determining
A third data control switch for controlling the flow of the first and second signals based on the determination of the lateral afterimage analysis circuit;
A new target registration circuit for creating new target information in the tracking target database based on a first signal from the third data control switch;
An existing target update circuit that creates an update of existing target and update target information to the tracking target database based on the first and second signals from the second or third data control switch is provided. A tracking processing device. A search sensor that scans optical signals from the outside world and converts them into image data while performing time delay integration, and
A scanning speed changing circuit for changing the scanning speed of the search sensor for each of the left and right scanning directions;
Based on the image data from the search sensor and the search direction, it consists of target acquisition time, in-screen target position horizontal direction, in-screen target position vertical direction, in-screen target width, in-screen target height, and scanning direction at the time of target acquisition A target extraction circuit for calculating a first signal to be transmitted;
It consists of the tracking target acquisition time of the existing tracking target , the tracking target position in the screen in the horizontal direction, the tracking target position in the screen in the vertical direction, the tracking target width in the screen, the tracking target height in the screen, and the scanning direction at the time of tracking target acquisition. A tracking target database for storing a second signal;
Based on the second signal from the tracking target database, a gate setting circuit that generates gate information composed of a target appearance predicted position in the next scan and its range ;
An in-gate determination circuit that determines whether the first signal is in the gate based on the gate information;
A first data control switch for controlling the output destination of the target extraction circuit based on the determination of the in-gate determination circuit;
Based on the second signal from the tracking target database and the first signal from the first data control switch , the tracking target height in the screen of the second signal is h1, and the screen of the first signal is in the screen. The target height is h2, the right scanning speed is VR, the left scanning speed is VL, the horizontal length of the delay time integration is R, and the moving speed VV in the direction perpendicular to the target scanning direction is expressed by the following equation: And calculate based on
VV = (h1−h2) × VR × VL / {R × (VL−VR)},
The vertical direction of the tracking target position of the second signal in the screen is V1, the tracking target acquisition time is T1, the vertical direction of the first signal in the screen is V2, and the target acquisition time is T2. The deviation Dv is calculated based on the following equation:
Dv = | V2- (V1 + VV × (T2-T1)) |,
A combination reliability determination circuit that outputs a combination correct determination when the deviation Dv is within a predetermined reference value; otherwise, a combination rejection determination;
A second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit;
A new target registration circuit for creating new target information in the tracking target database based on a first signal from the first or second data control switch;
An existing target update circuit for creating an update of existing target and update target information to the tracking target database based on the first and second signals from the second data control switch ;
The first data control switch sends the first signal from the target extraction circuit to the new target registration circuit when the determination result of the in-gate determination circuit is out of the gate, and the determination by the in-gate determination circuit If the result is in the gate, output to the combination reliability judgment circuit and the second data control switch,
The second data control switch outputs the first and second signals to the existing target update circuit when the combination correctness determination is received from the combination reliability determination circuit, and the combination A tracking processing device characterized by discarding the determination result of the in-gate determination circuit and outputting the first signal to the new target registration circuit when a combination rejection determination is received from a reliability determination circuit . A search sensor that scans optical signals from the outside world and converts them into image data while performing time delay integration, and
A scanning speed changing circuit for changing the scanning speed of the search sensor for each of the left and right scanning directions;
A target extraction circuit for calculating a first signal based on image data from the search sensor and a search direction;
A tracking target database storing a second signal which is existing tracking target data;
A gate setting circuit for generating gate information based on the second signal from the tracking target database;
An in-gate determination circuit that determines whether the first signal is in the gate based on the gate information;
A first data control switch for controlling the output destination of the target extraction circuit based on the determination of the in-gate determination circuit;
Based on the second signal from the tracking target database and the first signal from the first data control switch, combination reliability determination is performed to determine whether the two are combined according to the vertical height in the screen. Circuit,
A second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit;
Based on the first signal from the first or second data control switch and the second signal from the tracking target database, the reliability of the combination of the new target and the tracking target is determined from the change in length in the vertical direction. A longitudinal afterimage analysis circuit for determining;
A third data control switch for controlling the flow of the first and second signals based on the determination of the longitudinal afterimage analysis circuit;
A new target registration circuit for creating new target information in the tracking target database based on a first signal from the third data control switch;
An existing target update circuit that creates an update of existing target and update target information to the tracking target database based on the first and second signals from the second or third data control switch is provided. A tracking processing device. A search sensor that scans optical signals from the outside world and converts them into image data while performing time delay integration, and
A scanning speed changing circuit for changing the scanning speed of the search sensor for each of the left and right scanning directions;
A target extraction circuit for calculating a first signal based on image data from the search sensor and a search direction;
A tracking target database storing a second signal which is existing tracking target data;
A gate setting circuit for generating gate information based on the second signal from the tracking target database;
An in-gate determination circuit that determines whether the first signal is in the gate based on the gate information;
A first data control switch for controlling the output destination of the target extraction circuit based on the determination of the in-gate determination circuit;
Based on the second signal from the tracking target database and the first signal from the first data control switch, combination reliability for determining whether the two are combined according to the horizontal width and vertical height in the screen. A sex determination circuit;
A second data control switch for controlling the flow of the first and second signals based on the determination of the combination reliability determination circuit;
The reliability of the combination of the new target and the tracking target from the change in length in the vertical and horizontal directions based on the first signal from the first or second data control switch and the second signal from the tracking target database. Vertical and horizontal afterimage analysis circuit for determining the nature,
A third data control switch for controlling the flow of the first and second signals based on the determination of the vertical and horizontal afterimage analysis circuit;
A new target registration circuit for creating new target information in the tracking target database based on a first signal from the third data control switch;
An existing target update circuit that creates an update of existing target and update target information to the tracking target database based on the first and second signals from the second or third data control switch is provided. A tracking processing device.

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