JP4096539B2 - Compound tracking sensor device - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a technique for improving target capture performance of a shooting control system for a small flying target launched from a mother aircraft, with respect to a shooting control system that exerts fire power against an air target.
[0002]
[Prior art]
FIG. 7 is a diagram for explaining a known shooting control system using a radar as a main sensor. The tracking radar device 1 receives the reflected radio wave 4 that is reflected when the transmitted transmission radio wave 2 is incident on the air target 3 and is reflected by the tracking radar device 1, whereby the relative distance and the turning angle between the tracking radar device 1 and the air target 3. , The target tracking data 5 including the three specifications of the elevation angle is output. The shooting calculation device 6 outputs the foresight angle command data 7 to the thermal power system 8 by performing shooting calculation using the target tracking data 5 as an input. As a result, the thermal power system 8 can point the firearm at the air target 3 and can cope with it.
[0003]
Next, a conventional target capturing method for a small flying target launched from the mother machine will be described with reference to FIGS.
FIG. 8 illustrates a method for capturing a small flying target 9 emitted from the mother machine target 8 when the tracking radar apparatus 1 is tracking the mother machine target 8. The tracking radar device 1 is the same as the tracking radar device 1 shown in FIG.
[0004]
That is, the tracking radar device 1 can acquire the mother machine target signal 11 corresponding to the mother machine target 8 when the mother machine target 8 is in the tracking beam 10. In this case, in order to obtain target tracking data 5 that is more accurate than the distance and angular resolution of the tracking radar device 1 as a capturing / tracking processing method for the mother machine target 8, a mother machine target tracking gate 12 is provided for the mother machine target signal 11. The tracking gate process of providing is generally used. Similarly, the flying target tracking gate 14 is provided for the flying target signal 13 of the flying target 9 acquired by the tracking radar device 1 in the method of capturing and tracking the flying target 9.
[0005]
Further, in order to capture the flying target 9 emitted from the mother machine target 8, the tracking radar apparatus 1 includes a mother machine target tracking gate 12 and a tracking radar apparatus 1 for the mother machine target 8 that the tracking radar apparatus tracks. If the flying target tracking gate 14 is provided between the flying target tracking gate 14 and the flying target signal 13 of the flying target 9 launched toward the tracking radar device 1 enters the flying target tracking gate 14, the flight Target capture to the target 9 is possible.
[0006]
Here, the operation of the target acquisition / tracking process will be described.
9, the tracking radar device 1, the transmission radio wave 2, the reflected radio wave 4, the target tracking data 5, and the shooting calculation device 6 are the same as those in FIG. 7, and the mother machine target 8 and the flying target 9 are the same as those in FIG. 8. The tracking radar device 1 is configured to capture the flying target 9.
[0007]
The tracking radar device 1 includes a radar device 15 and a capture / tracking processing unit 17.
First, the radar device 15 outputs a radar reception signal 16 including the base unit target signal 11 and the flying target signal 13 obtained based on the received reflected radio wave 4 to the capture / tracking processing unit 17. Subsequently, the acquisition / tracking processing unit 17 generates a mother machine target tracking gate 12 and a flying target tracking gate 14 for the mother machine target signal 11 and the flying target signal 13 of the received radar reception signal 16 to perform tracking gate processing. The radar reception signal 16 subjected to the tracking gate processing is filtered and output to the shooting calculation device 6 as target tracking data 5. Further, the acquisition / tracking processing unit 17 outputs a tracking beam / steering command signal 18 to the radar device 15 based on the received radar reception signal 16, and performs control so that the flying target 9 exists in the tracking beam 10. . The radar device 15 steers the tracking beam 10 based on the input tracking beam / steering command signal 18, thereby making it possible to capture the target on the flying target 9.
[0008]
[Problems to be solved by the invention]
By the way, since the problem of target capture processing occurs when the flying target 9 flies in the low sky, this problem will be described with reference to FIG. In FIG. 8, a clutter reflection signal 19 in the main machine target tracking gate 12 and the flying target tracking gate 14 is a signal obtained by the tracking radar apparatus 1 receiving a reflected radio wave reflected from the ground 20.
[0009]
In other words, the tracking radar device 1 executes the capturing process when the radar reception signal 16 is input into the flying target tracking gate 14 while tracking the mother machine target 8. Therefore, if the clutter reflection signal 19 exists in the flying target tracking gate 14 before the flying target signal 13 enters, the tracking radar device 1 executes a capturing process on the clutter reflection signal 19. End up.
[0010]
For this reason, as a countermeasure against the clutter reflection signal 19, a means for suppressing the clutter reflection signal 19 by various existing clutter suppression processing before the tracking gate processing can be considered. However, the signal intensity of the clutter reflection signal 19 becomes lower as the sky becomes lower. Since it becomes large, it becomes difficult to separate the flying target 9 from the flying target 9 having a low signal intensity, and there is a problem that the target acquisition process is performed for a signal different from the flying target 9.
[0011]
Further, when the flying target 9 is launched toward a target other than the tracking radar device 1, a problem occurs in the target capturing process. This problem will be described with reference to FIG. In FIG. 10, the ground target 21 is a target for which the mother machine target 8 is about to be dealt with by the flying target 9.
[0012]
That is, depending on the positional relationship between the tracking radar device 1 and the ground target 21, the flying target 9 tracks the flying target 9 emitted from the mother machine target 8 to the ground target 21 other than the tracking radar device 1. In some cases, the beam does not enter the flying target tracking gate 14 because it is off the beam 10. In this case, the tracking radar device 1 cannot capture the flying target 9.
[0013]
As a countermeasure, if the flight target tracking gate 14 is brought closer to the mother machine tracking gate 12, the flying target tracking gate 14 is likely to enter the mother machine tracking gate 12, but the flight target tracking gate 14 is used as the mother machine target tracking. If it is too close to the gate 12, the mother machine target signal 11 is input to the flying target tracking gate 14, so there is a limit to approaching it. Therefore, when flying such that the flying target 9 does not enter the flying target tracking gate 14, there may be no signal in the flying target tracking gate 14. There was a problem that it was impossible to capture the target.
[0014]
[Means for Solving the Problems]
The present invention relates to a radar apparatus that irradiates a tracking beam toward a first tracking target and a second tracking target attached to the first tracking target, and a second that is emitted from the first tracking target. An EO sensor that detects a plume emitted by the tracking target, a capture processing unit that outputs a detection signal of the tracking target from the radar device based on a detection result from the EO sensor, and a detection signal from the capture processing unit The radar apparatus is controlled to include a tracking unit for capturing and tracking the tracking target.
[0015]
Further, according to the present invention, the acquisition processing unit sets the signal level of the detection signal from the radar device when the EO sensor is not detecting the plume as a reference value, and the detection signal from the radar device is lower than the reference value. When it is high, the detection signal is output to the capture processing unit.
[0016]
Further, the present invention is launched from a radar device that emits a tracking beam toward a first tracking target and a second tracking target attached to the first tracking target, and the first tracking target. An EO sensor that detects a plume radiated by the second tracking target, outputs target tracking data by continuously measuring the detected plume, and a radar apparatus based on the target tracking data from the EO sensor. And a capture and tracking processing unit that captures and tracks the tracking target.
[0017]
In addition, according to the present invention, a tracking beam from a radar apparatus is overlapped with a detection region by an EO sensor.
[0018]
DETAILED DESCRIPTION OF THE INVENTION
Embodiment 1 FIG.
FIG. 1 is a configuration diagram of Embodiment 1 of a composite tracking sensor device according to the present invention.
In FIG. 1, the composite tracking sensor device 22 includes a tracking radar device 1 including a radar device 15 and a capturing / tracking processing unit 17, an EO (Electro Optical) sensor 23 that is a light wave sensor, and a capturing processing unit 24. Has been. Specifically, as the EO sensor 23 of the present embodiment, an IR (Infrared) camera that detects infrared rays is used. Incidentally, as the EO sensor 23, a UV (Ultra Violet) camera or the like that detects ultraviolet rays may be used.
[0019]
First, the EO sensor 23 looks at the mother machine target 8 that is the first tracking target and the flying target 9 that is the second tracking target, and when the flying target 9 attached to the mother machine target 8 fires. In addition, by detecting the plume 25 emitted from the flying target 9, a firing detection signal 27 indicating that the flying target 9 has been fired is output to the capture processing unit 24. In practice, the EO sensor 23 detects the plume 25 by detecting the reflected infrared wave 26 emitted from the plume 25. Incidentally, the plume is a high-temperature gas emitted into the air when the propellant of the flying object burns.
[0020]
Further, the capture processing unit 24 inputs the emission detection signal 27 from the EO sensor 23 and the radar reception signal 16 from the radar device 15, and the flight target tracking of the radar signal 16 is based on the emission detection signal 27. A radar signal with the gate 14 masked (hereinafter referred to as a desired radar received signal 28) is output to the capture / tracking processing unit 17. That is, the capture processing unit 24 passes only the flight target signal 13 of the flight target 9 through the target tracking gate 14 (FIG. 2). Other configurations are not different from the conventional technology.
[0021]
Next, the operation of the composite tracking sensor device shown in the first embodiment will be described with reference to FIG.
In FIG. 2, 29 is the imaging range of the EO sensor 23, and 9 'is the flying target 9 immediately after being fired from the mother machine. When the mother machine target tracking gate 12 provided in the tracking radar apparatus 1 is tracking the mother machine target 8, an EO sensor 23 that is angle slaved to the tracking beam 10 is prepared, so that the imaging range of the EO sensor 23 in the direction of the mother machine target 8 is prepared. 29 can be directed. By detecting the plume 25 emitted by the flying target 9 ′ emitted by the mother machine target 8 by the EO sensor 23 and acquiring the emission detection signal 27, it is possible to determine whether the flying target 9 is emitted from the mother machine.
[0022]
Here, as a method for detecting the plume 25, the EO sensor 23 uses a general image processing in which a plurality of images are compared and a target is detected based on the difference. That is, the EO sensor 23 has already tracked the mother machine target 8, prepares a plurality of pieces of acquired image information, and compares the pixels occupied by the mother machine target 8. Since the plume signal has a higher signal level than the mother machine target, the amount of change in the signal level of the pixel is large. Therefore, the EO sensor 23 can detect the plume signal as the target signal based on the comparison result. it can.
[0023]
Incidentally, an example of the captured image 35 when the EO sensor 23 captures the plume is as shown in FIG. That is, when the plume 25 radiated from a small flying object located far away is imaged by the EO sensor 23, the radiating target is small and far away, so the number of occupied pixels is small and the temperature is high. Therefore, there is a feature that the signal intensity level is high. In this case, in order to detect the target signal from the captured image information including the target signal and the unnecessary signal acquired by the EO sensor 23, it is necessary to classify the target signal and the unnecessary signal.
As a countermeasure against the noise 36, the noise 36 is not correlated temporally and spatially, whereas the target signal always outputs a signal with the same pixel. Therefore, a plurality of pieces of image information acquired by the EO sensor 23 are used. Image processing is performed in which a signal having a high luminance is always classified as a target signal.
As a countermeasure against the clutter 37, the clutter 37 generally has a large number of occupied pixels in the image, whereas the target signal has a small number of occupied pixels. Image processing is performed.
[0024]
Then, the capture / tracking processing unit 17 uses the launch determination result using the EO sensor 23, so that the launch determination result can be obtained even if a signal generated by clutter exists in the flight target tracking gate 14. If it is “before launch”, that is, if the launch detection signal 27 is not output, the process does not proceed to the capture process. If “after launch”, that is, if the launch detection signal 27 is output, a new flight target tracking gate 14 is set. The process proceeds to the capturing process for the signal generated inside.
Accordingly, the acquisition / tracking processing unit 17 outputs the tracking beam / steering command signal 18 to the radar device 15 based on the received radar reception signal 16, and the radar is set so that the flying target 9 exists in the tracking beam 10. The device 15 is controlled.
[0025]
Next, the operation of the capture processing unit 24 will be described with reference to FIG.
First, the capture processing unit 24 detects the radar reception signal 16 in the flight target tracking gate 14 with respect to the radar reception signal 16 input from the radar device 15 (step SP1).
[0026]
Subsequently, the capture processing unit 24 determines whether the launch detection signal 27 input from the EO sensor 23 is ON (a state where the launch detection signal is output) or OFF (a state where no launch detection signal is output) (step SP2). , When the flying target 9 is not fired from the mother machine target 8, the radar reception signal 16 in the flying target tracking gate 14 is considered to be the clutter reflection signal 19. The signal level of the radar reception signal 16 is detected, and the signal level is set as a detection determination level (reference value) that enables the flying target signal 13 and the clutter reflection signal 19 to be distinguished (step SP3).
Further, the capture processing unit 24 masks the signal in the flight target tracking gate with respect to the radar reception signal 16 (step SP4), and outputs the desired radar reception signal 28 subjected to the mask processing to the capture / tracking processing unit 17. By doing so, the capture process is not executed.
[0027]
On the other hand, when the capture processing unit 24 determines that the launch detection signal 27 input from the EO sensor 23 is ON, that is, when the flying target 9 is fired from the mother machine target 8, the radar reception signal 16 continues. Is determined to exceed the detection determination level (step SP5). Here, when the radar reception signal 16 does not exceed the detection determination level, it is considered that the flying target 9 has been fired but the flying target has not been flying to the flying target tracking gate 14. The unit 24 outputs the desired radar reception signal 28 obtained by masking the signal in the flight target tracking gate with respect to the radar reception signal 16 to the acquisition / tracking processing unit 17 so that the acquisition process is not executed. When the radar reception signal 16 exceeds the detection determination level, it is considered that the flying target 9 has entered the flying target tracking gate 14, and therefore the capture processing unit 24 receives the radar reception signal 16 as it is as desired radar reception. By outputting the signal 28 to the capture / tracking processing unit 17, the capture process can be executed.
[0028]
Reference example. FIG. 5 is a configuration diagram of Embodiment 1 of the composite tracking sensor device according to the present invention. In FIG. 5, the composite tracking sensor device 22 includes the tracking radar device 1 shown in FIG. 7 and an EO sensor 23 provided in the capture / tracking processing unit 17 of the tracking radar device 1. The EO sensor 23 detects the plume 25 by inputting the reflected infrared wave 26 radiated from the plume 25 generated when the flying target 9 is emitted from the mother machine target 8, the flying target 9, and the flying machine target 8. Target angle tracking data 30 obtained by measuring the plume 25 based on the result is output to the capture / tracking processing unit 17. In practice, when the EO sensor 23 sideways the plume 25, the angle with respect to the plume 25 is determined based on the direction in which the EO sensor 23 itself faces and the position of the plume 25 on the screen imaged by the EO sensor 23. Measure the angle. Then, the EO sensor 23 outputs the angle measured continuously as the target angle tracking data 30 to the capture / tracking processing unit 17. Further, the acquisition / tracking processing unit 17 outputs a tracking beam / steering command signal 18 to the radar device 15 in accordance with the target angle tracking data 30, and the radar device 15 so that the flying target 9 exists in the tracking beam 10. To control.
[0029]
Next, the operation of the composite tracking sensor device shown in this reference example will be described with reference to FIG. In FIG. 6, when the mother machine target tracking gate 12 provided in the tracking radar apparatus 1 is tracking the mother machine target 8, the EO sensor 23 is angle-slave to the tracking beam 10, so that the EO sensor 23 is moved in the direction of the mother machine target 8. The imaging range 29 is directed.
[0030]
Then, the EO sensor 23 continuously measures the plume 25 of the flying target 9 ′ that the mother machine target 8 launches and flies to the plume 25 ′ of the flying target 9 ″, thereby measuring the plume 25. The target angle tracking data 30 is output to the tracking radar device 1. Subsequently, the capture / tracking processing unit 17 of the tracking radar device 1 steers the tracking target 10 into the tracking beam 10 by steering the tracking beam 10 from 10 ′ → 10 according to the received target angle tracking data 30. It can be secured.
Thus, the tracking radar device 1 can acquire the flying target signal 13 when the flying target 9 enters the flying target tracking gate 14, and the ground existing outside the tracking range of the tracking radar device 1. Also for the target 21, it is possible to capture the flying target 9 fired from the mother machine target 25.
[0031]
【The invention's effect】
According to the present invention, it is possible to capture a target for a flying target that is launched from a mother machine target and that flies in the low sky.
[0032]
In addition, according to the present invention, it is possible to output only the detection signal including the tracking target among the detection signals from the radar apparatus to the capturing / tracking processing unit, thereby reducing the load on the capturing / tracking processing unit. Can do.
[0033]
Further, according to this reference example , it is possible to capture a target with respect to a flying target launched from a base machine target toward a target other than the tracking radar device.
[Brief description of the drawings]
FIG. 1 is a block diagram showing a composite tracking sensor device according to a first embodiment of the present invention.
FIG. 2 is a schematic diagram for explaining the operation of the composite tracking sensor device shown in the first embodiment;
FIG. 3 is a schematic diagram of image information captured by an EO sensor.
FIG. 4 is a flowchart showing the operation of Embodiment 1 of a capture processing unit 24 according to the present invention.
FIG. 5 is a block diagram showing a composite tracking sensor device of a reference example .
FIG. 6 is a schematic diagram illustrating the operation of a composite tracking sensor device of a reference example .
FIG. 7 is a block diagram illustrating a conventional shooting control system.
FIG. 8 is a schematic diagram illustrating a method of capturing a target with respect to a flying target launched from a tracking target, and a problem when the flying target flies low in the low sky in the conventional target capturing technique. is there.
FIG. 9 is a block diagram for explaining a target capturing operation for a flying target launched from a tracking target in a conventional target capturing technique.
FIG. 10 is a schematic diagram illustrating a problem when a flying target deviates from a tracking gate in a conventional target capturing technique.
[Explanation of symbols]
1 Tracking radar device, 2 Transmitted radio wave, 3 Aerial target, 4 Reflected radio wave, 5 Target tracking data, 6 Shooting calculation device, 7 Lookout angle data, 8 Mother machine target, 9 Flying target, 10 Tracking beam, 11 Mother machine target signal, 12 base machine target tracking gate, 13 flying target signal, 14 flying target tracking gate, 15 radar device, 16 radar received signal, 17 acquisition / tracking processing unit, 18 tracking beam / steering command signal, 19 clutter reflection signal, 20 ground , 21 Ground target, 22 Compound tracking sensor device, 23 EO sensor, 24 Capture processing unit, 25 Plume, 26 Reflected infrared wave, 27 Launch detection signal, 28 Desired radar received signal, 29 Imaging range, 30 Target angle tracking data, 35 Captured image, 36 noise, 37 clutter.

Claims (1)

A radio wave is transmitted toward the first tracking target and the second tracking target attached to the first tracking target, and the reflected radio wave is reflected by the first tracking target and the second tracking target. A radar device that outputs a radar reception signal acquired based on
An EO sensor that outputs a firing detection signal upon detecting a plume emitted from the second tracking target emitted from the first tracking target;
While the emission detection signal is not detected, the level of the radar reception signal existing in the target tracking gate provided for the second tracking target is detected, and the level is set as a determination reference value. When a signal is detected, the level of the radar reception signal from the radar device existing in the target tracking gate is compared with the determination reference value, and when it is determined that the level of the radar reception signal exceeds the determination reference value, A capture processing unit that outputs a radar reception signal to the capture and tracking processing unit;
A capture tracking processing unit that captures the second tracking target by signal processing the radar reception signal from the capture processing unit, which is present in the target tracking gate;
A composite tracking sensor device comprising:

Images