JP4290666B2 - Tracking device and sensor allocation method to target - Google Patents

Description

  The present invention relates to a tracking device that tracks a ballistic trajectory target using a plurality of sensors and a method for assigning a sensor to a target.

  Currently, tracking a target using a plurality of sensors has already been taken up in many papers, patents, and other known documents, and various proposals have been made regarding the tracking device and a method for assigning a sensor to a target. ing. As an example of such a device, when a radar is used as a sensor, a conventional technique is known that performs tracking by a tracking filter using observation values from a plurality of radars and reduces the tracking error.

  For example, a sensor group management device disclosed in Patent Document 1 includes an input device that selects observation information from a sensor group for each target, a tracking filter group that tracks a target according to the output of the input device, an input device, and a tracking filter The bias error evaluator that evaluates the bias component of the prediction error from the output of the group, the random error evaluator that evaluates the random component of the prediction error from the output of the tracking filter group, the output of the bias error evaluator and the random error evaluator Based on the observation necessity evaluator that evaluates the observation necessity for each target, a virtual allocator that virtually determines the allocation from each sensor to the target, and a sensor that receives the output of the tracking filter group and the virtual allocator Observation effect decision unit that determines the evaluation value for each combination of target and target, tracking information from the tracking filter group, observation necessity evaluator and observation effect decision An allocator that determines the assignment of each sensor and each target based on the evaluation value from the device, detects the target that is about to fall off, and assigns the sensor with priority to that target ing.

JP 2000-75023 A (paragraph numbers 0032, 0033)

  In Patent Document 1 as a conventional tracking device, when tracking a plurality of targets (for example, an aircraft target, and a state vector in control science to be estimated is position and speed estimation) with a plurality of sensors, each target of each sensor is detected. The target tracking performance is improved by assigning to the target more preferentially to the target during the turn. However, since ballistic trajectory targets such as TBM (Theater Ballistic Missiles) generally have a larger acceleration than aircraft targets, tracking performance degradation can be achieved only by estimating the position and speed as in the above-mentioned prior art document 1. There was a problem that was assumed.

  In addition, since the ballistic trajectory target is separated into a plurality of targets while having acceleration, there is a problem that deterioration of the tracking performance with respect to the separated target is assumed.

  The present invention has been made in order to solve the above-described problems. An observation specification and a wake specification from a plurality of sensors, and an RCS (RCS (Radar Cross Section) in radar technology) calculated from the specification are provided. When calculation is possible, the target is extracted using RCS information, and tracking resources are tracked by allocating observation resources intensively for ballistic trajectory targets such as TBM (Theater Ballistic Missiles). It is an object of the present invention to obtain a tracking device and a method for assigning a sensor to a target that can improve performance.

  In addition, by classifying the separation target according to the range of the target wake specifications and the magnitude of the velocity vector, and the separation angle of the velocity vector, the tracking performance with respect to the ballistic trajectory target to be separated and the classification performance of the target to be separated can be improved. It is an object to obtain a tracking device and a method for assigning a sensor to a target.

  The tracking device according to the present invention inputs observation parameters and track parameters calculated by each sensor of the sensor group, sorts the track parameters by the target number and the sensor number, and tracks the track parameters for each sorted sensor. The input processing unit that outputs the data, the wake parameters for each sensor and the corresponding observation parameters, and the integrated wake parameters for each sensor using the wake parameters or observation parameters for each sensor. The track for each sensor is calculated using the tracking processing unit to be calculated, the integrated track specifications for each sensor, the track specifications for each sensor, and the parameters of the radar equation of each sensor held in the sensor specification database. Using the RCS calculation processing unit for calculating the RCS of the specifications and the RCS of the integrated wake specification for each sensor, and the arrangement information of each sensor output by the sensor group, the integrated wake specification for each sensor or each Range direction from track specifications for each sensor A range / cross range / sensor allocation processing unit for calculating sensor arrangement information in the cross range direction, a track specification with RCS calculated by the RCS calculation processing unit, and an integrated track specification with RCS. Extracting wake parameters and integrated wake parameters that have an RCS greater than the preset RCS threshold, and the range direction and cross-range direction related to the extracted wake parameters and integrated wake parameters The sensor control signal for intensively assigning the observation beam of the sensor whose target traveling direction corresponds to the range direction is output to the sensor group using the sensor arrangement information of the target, and the target speed possessed by the wake specification having a large RCS is also output. Classify warheads and boosters by vector, and output sensor control signals to the above sensor group to assign observation beams to the warheads more intensively than boosters. It is obtained by a target classification sensor control processing unit that.

  According to the present invention, it is possible to improve the tracking performance with respect to the ballistic trajectory target, and to improve the tracking performance with respect to the ballistic trajectory target to be separated and the classification performance of the separation target.

Embodiment 1 FIG.
1 is a block diagram showing a configuration of a tracking device according to Embodiment 1 of the present invention. This tracking device includes a sensor group 20, an input processing unit 30, a tracking processing unit 40, a sensor specification database 50, an RCS (Radar Cross Section) calculation processing unit 60, a range / cross range / sensor allocation processing unit. 70, a target category / sensor control processing unit 80, a target category / sensor control parameter setting processing unit 90, and a display unit 100. The target group 10 is a ballistic trajectory target observed by the sensor group 20. Here, n targets are assumed, and n is an integer of 1 or more.

  The sensor group 20 includes a plurality of sensors (m, m is an integer equal to or greater than 1). The sensor group 20 observes the target group 10 and calculates observation parameters and wake parameters of the target group 10. Here, the observation specifications are the target observation position, observation accuracy, S / N, and detection probability observed for each sensor. The wake specification is a target estimation vector and an error covariance matrix of the estimation vector, which are the results of tracking calculation based on the observation specification. The target estimation vector is a vector including a target estimation position, velocity, acceleration, and target attribute information.

  The sensor group 20 receives from the target category / sensor control processing unit 80 wake specifications with a target identifier and RCS, integrated wake specifications, target category information, and sensor control information. Then, the sensor group 20 instructs each sensor to perform tracking calculation using the input track specification and the integrated track specification, and uses the input target category information to detect the track accuracy and the target category accuracy. The sensor which improves is selected, and each sensor is controlled using the input sensor control information. Each sensor irradiates the target beam 10 with the observation beam to obtain information for calculating the target observation parameters, and calculates the observation parameters and the wake parameters. The sensor group 20 outputs observation parameters and track parameters calculated by each sensor to the input processing unit 30, and outputs arrangement information of each sensor to the range / cross range / sensor allocation processing unit 70.

  The input processing unit 30 inputs observation specifications and wake specifications calculated by each sensor of the sensor group 20, sorts the wake specifications by the target number and the sensor number, and each sensor with the target number and the sensor number. The wake specifications for each sensor and the observing parameters corresponding to the wake specifications for each sensor are output to the tracking processing unit 40.

  The tracking processing unit 40 inputs the track specifications for each sensor with the target number and the sensor number from the input processing unit 30, and the observation parameters that correspond to the track specifications for each sensor. Calculate the integrated wake specifications for each sensor using the detection data integration method using the observation specifications that correspond to the wake specifications for each sensor.The calculated integrated wake specifications for each sensor, the target number and The track specifications for each sensor with the sensor number are output to the RCS calculation processing unit 60 and the range / cross range / sensor allocation processing unit 70.

FIG. 2 is a conceptual diagram of the detection data integration method used when the tracking processing unit 40 calculates integrated track specifications. In the detection data integration method, integrated track specifications for each sensor after detection data integration are calculated by tracking processing by integration of detection data in one tracking filter using observation data obtained from a plurality of sensors. In the detection data integration method in the tracking filter, for example, a method as shown in the following document is used.
Yoshio Obata, Shingo Shindo, Yasuo Tachibana, “Multi-Target Tracking Using Wake-type Multiple Hypothesis Correlation”, IEICE Transactions B-II, no. 10, p677-685, Oct. 1996.

  The sensor specification database 50 prepared in advance includes parameters of radar equations of each sensor for the RCS calculation processing unit 60 to calculate the RCS of the wake specification for each sensor and the RCS of the integrated wake specification for each sensor. Is held.

  The RCS calculation processing unit 60 includes the integrated wake parameters for each sensor output by the tracking processing unit 40, the wake parameters for each sensor, the parameters of the radar equation of each sensor held in the sensor specification database 50, and Is used to calculate the RCS of the wake specification for each sensor and the RCS of the integrated wake specification for each sensor, the calculated RCS of the wake specification for each sensor, and the calculated integrated wake parameters for each sensor. The original RCS, the track specifications for each sensor with the RCS, and the integrated track specifications with the RCS are output to the target classification / sensor control processing unit 80.

  The range / cross-range / sensor allocation processing unit 70 uses the arrangement information of each sensor output from the sensor group 20 and the integrated track specifications for each sensor output by the tracking processing unit 40 or the tracks for each sensor. The sensor arrangement information in the range direction and the cross range direction is calculated from the specifications and is output to the target classification / sensor control processing unit 80.

  The target category / sensor control processing unit 80 outputs the RCS of the track specifications for each sensor output by the RCS calculation processing unit 60, the RCS of the integrated track specification for each sensor, and the RCS of each sensor with the RCS. The wake specification and the integrated wake specification with RCS are input, the sensor arrangement information in the range direction and the cross range direction calculated by the range / cross range / sensor allocation processing unit 70 is input, and the target classification / sensor The sensor control method selection parameter output by the control parameter setting processing unit 90 is input.

  In addition, the target classification / sensor control processing unit 80 includes the RCS for each track output by the RCS calculation processing unit 60, the RCS for the integrated track specification for each sensor, and each sensor with an RCS. Using each wake specification and the integrated wake specification with RCS, a wake specification and an integrated wake specification having an RCS larger than a preset RCS threshold are extracted.

  FIG. 3 is a diagram for explaining the magnitude relationship between the target velocity vector and the RCS of the track specifications for each sensor. As shown in FIG. 3, the magnitude of RCS depends on the velocity vector of the wake specifications. The RCS of the sensor A in the direction orthogonal to the target velocity vector tends to be larger than the RCS of the sensor B in the velocity vector direction of the wake specification substantially equivalent to the target traveling direction. Therefore, the target category / sensor control processing unit 80 uses the tendency to preliminarily read from the wake specification with RCS and the integrated wake specification with RCS input from the RCS calculation processing unit 60 in advance. A track specification having an RCS larger than the set RCS threshold and an integrated track specification are extracted.

  Further, the target classification / sensor control processing unit 80 uses the sensor arrangement information in the range direction and the cross range direction related to the extracted track data having a large RCS and the integrated track data, and the track including the target position, speed, and the like. In order to improve the estimation accuracy of the specifications, a sensor control signal that intensively assigns the observation beams of the sensors whose target traveling direction is the range direction with respect to the sensors is output to the sensor group 20.

  In this way, the observation beam is intensively assigned to the sensor in the range direction because the error in the cross range direction is larger than the error in the range direction, so the target flies in the cross range direction as viewed from the sensor. If the target is flying in the range direction as viewed from the sensor, the target motion error is more than the range direction error. This is because it is considered to be large, and as a sensor, if the target is observed from the range direction as much as possible, the movement of the target is more accurately observed than from the cross range direction. That is, when there are multiple targets, it is assumed that the multiple targets viewed from the sensors in the cross range direction are observed to be less than the actual number of targets, but the multiple targets viewed from the range direction are Compared to the cross range direction, it is expected to be observed in almost the same number as the actual number of targets.

  Furthermore, the target category / sensor control processing unit 80 has a plurality of wake parameters, which are separated from each other in the range direction, depending on the magnitude of the velocity vector of the wake parameters and the angle of the velocity vector. It is judged whether or not it is a warhead (main body) or a booster in a ballistic trajectory target, and a sensor control signal that assigns an observation beam to the warhead (main body) more intensively than the booster is output to the sensor group 20 for discrimination. The target classification information as a result is output to the sensor group 20.

  FIG. 4 is a diagram for explaining target separation determination based on a target velocity vector in the target classification / sensor control processing unit 80. In FIG. 4, the warhead (main body, target T1 in FIG. 4) tends to have a larger velocity vector than the booster (target T2 in FIG. 4). In addition, if the velocity vector of the target T1 and the velocity vector of the target T2 in FIG. 4 are known, the separation angle between the velocity vector of the warhead (main body) and the booster velocity vector is obtained by taking the inner product of the velocity vectors. Can be requested.

  Therefore, the target category / sensor control processing unit 80 has a warp (main body) and booster separation angle estimated from wake parameters larger than a predetermined warhead (main body) and booster separation angle threshold. If the absolute value (magnitude) of the target velocity vector is large and one of the separation targets is above the other velocity vector, the target is the warhead (main body). And if one velocity vector in the separation target is below the other velocity vector, that target is classified as a booster.

  Furthermore, the target category / sensor control processing unit 80 determines whether the target is a warhead (main body) identifier, a booster identifier and a track specification with an RCS, a warhead (main body) identifier, a booster identifier, and an RCS. The connected integrated wake specifications are output to the sensor group 20.

  FIG. 5 is a diagram illustrating a range direction separation method in the target category / sensor control processing unit 80. In FIG. 5, the error ellipse represents the error covariance matrix of the Kalman filter in the control theory. In FIG. 5, when the target separation determination is performed using the sensor A or the sensor B, tracking is performed when the target separation determination is performed with the sensor A in the range direction with a small error compared to the cross range direction with a large error. It shows that performance improves.

  The target category / sensor control parameter setting processing unit 90 instructs the target category / sensor control processing unit 80 to use range / cross-range information when performing target separation determination as shown in FIG. Outputs control method selection parameters. In addition, the target category / sensor control parameter setting processing unit 90 uses the target category / sensor control processing unit 80 to determine whether the target is a warhead (main body) or a booster as shown in FIG. A sensor control method selection parameter for instructing to use the velocity vector information of the specifications is output.

  The display unit 100 is a target that can be easily viewed by the operator among the track specifications of each sensor, the observation parameters that correspond to the track parameters of each sensor, and the integrated track parameters that are input from the tracking processing unit 40. Select and output information and observation information. The display unit 100 also outputs to the operator a predicted track range, a landing range assumed from the predicted track, and a launch range using a ballistic trajectory model prepared in advance.

Next, the operation will be described.
FIG. 6 is a flowchart showing a process flow of the tracking device according to the first embodiment of the present invention.
In step ST1, first, when the process is started, each sensor in the sensor group 20 irradiates the observation beam to the target group 10 to calculate the observation specifications of the target group 10, and based on the observation specifications, The track specifications are calculated by the tracking filter of each sensor.

  In step ST <b> 2, the input processing unit 30 uses the track specifications and the observation specifications obtained from the plurality of sensors of the sensor group 20, the track specifications of each sensor with the target number and the sensor number, and the tracks of each sensor. It arranges so that it may become an observation specification corresponding to a specification, and outputs it to the tracking process part 40. FIG.

  In step ST3, the tracking processing unit 40 performs tracking calculation by the detection data integration method using the observation parameters corresponding to the track parameters of each sensor, and calculates the integrated track parameters for each sensor.

  In step ST4, the RCS calculation processing unit 60 outputs the track specifications for each sensor output from the tracking processing unit 40, the integrated track specifications for each sensor, and the sensors from the sensor specification database 50 prepared in advance. Using the parameters of the radar equation, the RCS of the wake specification for each sensor and the RCS of the integrated wake specification for each sensor are calculated, the calculated RCS of the wake specification for each sensor, and each calculated sensor The RCS of each integrated wake specification, the wake specification of each sensor with RCS, and the integrated wake specification with RCS are output to the target classification / sensor control processing unit 80.

  In step ST5, the range / cross-range / sensor allocation processing unit 70 uses the arrangement information of each sensor output from the sensor group 20 and uses the track information for each sensor or each sensor output by the tracking processing unit 40. The sensor arrangement information in the range direction and the cross range direction is calculated from each integrated track specification.

  In step ST6, the target category / sensor control processing unit 80 outputs the wake parameters for each sensor with RCS and the integrated wake parameters for each sensor with RCS output from the RCS calculation processing unit 60. For each sensor having an RCS greater than a preset RCS threshold, the RCS for each sensor output from the RCS calculation processing unit 60 and the RCS for the integrated track specifications for each sensor. And the integrated wake specifications for each sensor are extracted.

  In step ST7, the target classification / sensor control parameter setting unit 90 instructs the target classification / sensor control processing unit 80 to use range / cross-range information when performing target separation determination. When the selection parameter is output and the target is determined as to whether the target is a warhead (main body) or a booster, the sensor control method selection parameter for instructing to use the speed vector information of the wake specification is output.

  In step ST8, the target classification / sensor control processing unit 80 instructs to use the range / cross-range information from the target classification / sensor control parameter setting unit 90 when performing target separation determination. Based on the parameters, the track direction for each sensor with a large RCS extracted and the sensor location information in the range direction and cross range direction related to the integrated track parameters for each sensor are used to set the target travel direction to the range direction. A sensor control signal for intensively assigning the observation beams of the corresponding sensors is output to the sensor group 20.

  In step ST9, the target classification / sensor control processing unit 80 determines the speed of the wake specification from the target classification / sensor control parameter setting unit 90 when determining whether the target is a warhead (main body) or a booster. Based on a sensor control method selection parameter that instructs to use vector information, the warhead or main body and booster separation angle is greater than a predetermined threshold, and the target velocity vector is large, and If one velocity vector in a separation target is above another velocity vector, that target is classified as a warhead (body), and one velocity vector in the separation target is another velocity vector. If it is below the vector, the target is classified as a booster, and a sensor that assigns the observation beam to the warhead (main body) more intensively than the booster. And it outputs a control signal to the sensor group 20.

  In step ST10, the display unit 100 displays the track specifications of each sensor, the observation parameters corresponding to the track parameters of each sensor, and the integrated track parameters input from the tracking processor 40. Select and output target information and observation information that are easy to see. In addition, the predicted wake range, the firing range assumed from the predicted wake, and the landing range are output to the operator using a ballistic trajectory model prepared in advance.

  In step ST11, it is determined whether or not the value k of the sampling interval counter is the end value kend. If it is determined that the process is ended, the process is ended. If it is determined that the process is not ended, the counter is determined in step ST12. The value k is incremented by one, and the process returns to step ST1 to process the next sampling interval.

  As described above, according to the first embodiment, the target is extracted using the RCS information calculated from the observation specifications and the wake specifications from the plurality of sensors, and the trajectory like the TBM. By intensively assigning observation resources to the trajectory target, the tracking performance for the ballistic trajectory target can be improved. In addition, by classifying the separation target according to the range of the target wake specification, the magnitude of the velocity vector, and the separation angle of the velocity vector, the tracking performance for the ballistic trajectory target to be separated and the separation performance of the separation target can be improved. The effect that it can be obtained. That is, it is possible to control a plurality of sensors that improve the tracking performance and the classification performance for the ballistic trajectory targets to be separated.

Embodiment 2. FIG.
FIG. 7 is a block diagram showing the configuration of the tracking device according to Embodiment 2 of the present invention. This tracking device is obtained by replacing the input processing unit 30 shown in FIG. 1 of the first embodiment with an input processing unit 31. Other configurations are the same as those in FIG. 1, and in FIG. 7 and FIG. Represents the same or corresponding part.

  In FIG. 7, the input processing unit 31 inputs observation specifications and track specifications calculated by each sensor of the sensor group 20, sorts the track specifications based on the target number and sensor number, and decides that sending is unnecessary in advance. The track specifications for each sensor with the target number and the sensor number other than the sensors and the observation specifications corresponding to the track specifications for each sensor are output to the tracking processing unit 40. Here, the sensors determined not to be sent in advance are, for example, sensors with poor observation accuracy, broken sensors, or the like.

  As described above, according to the second embodiment, the same effects as those of the first embodiment can be obtained, and the wake parameters other than the sensor that the input processing unit 31 has decided not to send in advance can be obtained. By outputting only the observation data corresponding to the original to the tracking processing unit 40, an effect of reducing the load of the tracking calculation of the tracking processing unit 40 is obtained.

Embodiment 3 FIG.
FIG. 8 is a block diagram showing the configuration of the tracking device according to Embodiment 3 of the present invention. This tracking device is obtained by replacing the tracking processing unit 40 shown in FIG. 1 of the first embodiment with a tracking processing unit 41, and other configurations are the same as those in FIG. 1. In FIG. 8 and FIG. Represents the same or corresponding part.

  In FIG. 8, the tracking processing unit 41 obtains the track specifications for each sensor with the target number and the sensor number from the input processing unit 30 and the observation specifications corresponding to the track specifications for each sensor. Input and calculate the integrated wake specifications for each sensor by the wake integration method using the wake specifications for each sensor, and the calculated integrated wake specifications for each sensor, and the target number and sensor number are attached. The track data for each sensor is output to the RCS calculation processing unit 60 and the range / cross range / sensor allocation processing unit 70.

  FIG. 9 is a conceptual diagram of a track integration method used when the tracking processing unit 41 calculates integrated track specifications. In this wake integration method, wake specifications obtained from the sensor group 20 are input, the wakes are averaged by tracking processing by wake integration, and integrated wake specifications for each sensor are calculated. Compared to the detection data integration method shown in FIG. 2, this wake integration method averages the wakes without considering the observation model of each sensor, so that the wake error is increased but the calculation load of the tracking process is reduced. Can do.

  As described above, according to the third embodiment, the same effects as in the first embodiment can be obtained, and the tracking processing unit 41 can perform integrated wake specification by tracking processing using wake integration using the wake specification. As a result, the calculation load of the tracking process can be reduced as compared with the detection data integration method of the tracking processing unit 40 of the first embodiment.

Embodiment 4 FIG.
FIG. 10 is a block diagram showing a configuration of a tracking device according to Embodiment 4 of the present invention. This tracking device is obtained by replacing the sensor specification database 50 shown in FIG. 1 of the first embodiment with a sensor specification database 51, and the other configurations are the same as those in FIG. The same reference numerals represent the same or corresponding parts.

  In FIG. 10, the sensor specification database 51 is connected to the network sensor system, and a new sensor is added to the sensor group 20 by connecting a new sensor to the network sensor system. The RCS of the new sensor and the parameters of the radar equation of the new sensor for calculating the RCS of the integrated wake specification for each sensor are stored, and in addition to the previous sensors, the RCS calculation processing unit 60 is stored. Output to.

  As a method for storing the parameters of the radar equation of the new sensor in the sensor specification database 51, the parameters of the radar equation of the new sensor may be obtained from the network sensor system, or the sensor specification database 51 corresponds to the sensor model. The parameters of the radar equation to be stored may be held in advance, and the model name of the new sensor may be obtained from the network sensor system.

  As described above, according to the fourth embodiment, the same effects as those of the first embodiment can be obtained, and the RCS relating to the new sensor is calculated by the sensor specification database 51 even when a new sensor is added. Thus, the tracking performance of the entire system can be improved.

Embodiment 5 FIG.
FIG. 11 is a block diagram showing a configuration of a tracking device according to Embodiment 5 of the present invention. This tracking device is obtained by replacing the target category / sensor control processing unit 80 shown in FIG. 1 of the first embodiment with a target category / sensor control processing unit 81, and the other configurations are the same as those in FIG. 11 and FIG. 1, the same reference numerals represent the same or corresponding parts.

  In FIG. 11, the target classification / sensor control processing unit 81 has a tracking calculation error in the initial calculation of tracking calculation, so that the accuracy of a certain reference time determined in advance or a certain track specification determined in advance. Until the accuracy of the wake specification becomes smaller, the target categorization processing and sensor control by the integrated wake specification for each sensor are not performed, but the target categorization processing is performed by the track specification for each sensor, and the sensor control signal Is output to the sensor group 20. That is, the target classification and sensor control processing unit 81 uses the sensor arrangement information in the range direction and the cross range direction related to the extracted track data having a large RCS, and the target traveling direction corresponds to the range direction. A sensor control signal that assigns observation beams in a concentrated manner is output to the sensor group 20, and the warheads and boosters are classified according to the target velocity vector included in the wake parameters with a large RCS, and the observation beams are concentrated on the warheads compared to the boosters. A sensor control signal to be assigned to the sensor group 20

  In step ST8 of the first embodiment, the target classification / sensor control processing unit 80 classifies the warhead (main body) and the booster, and performs sensor control that assigns the observation beam to the warhead (main body) more intensively than the booster. Although the signal is output to the sensor group 20, in the fifth embodiment, the target classification / sensor control processing unit 81 is based on a certain reference time determined in advance or accuracy of a certain track specification determined in advance. Until the accuracy of the wake specifications is reduced, the warhead (main body) or the booster identifier is not attached, for example, the warhead (main body) identifier or the classification determination pending identifier is attached, and the sensor control signal is output to the sensor group 20. .

  As described above, according to the fifth embodiment, the same effects as those of the first embodiment can be obtained, and the target classification / sensor control processing unit 81 can determine a predetermined criterion at the initial stage of the tracking calculation. Until the accuracy of the wake specification becomes smaller than the time or the accuracy of the wake specification determined in advance, the target categorization process and sensor control by the integrated wake specification are not performed, and the target specification is determined by the wake specification of each sensor. By performing the classification process and the sensor control, the tracking performance and the classification performance at the initial time of the tracking calculation can be improved.

It is a block diagram which shows the structure of the tracking apparatus by Embodiment 1 of this invention. It is a conceptual diagram of the detection data integration system at the time of the tracking process part of the tracking apparatus by Embodiment 1 of this invention calculating integrated track specifications. It is a figure explaining the magnitude relationship of the target velocity vector in the tracking apparatus by Embodiment 1 of this invention, and RCS of the wake specification for each sensor. It is a figure explaining the isolation | separation determination of the target by the target velocity vector in the target classification and sensor control processing part of the tracking device by Embodiment 1 of this invention. It is a figure which shows the separation method of the range direction in the target classification and sensor control process part of the tracking apparatus by Embodiment 1 of this invention. It is a flowchart which shows the flow of a process of the tracking apparatus by Embodiment 1 of this invention. It is a block diagram which shows the structure of the tracking apparatus by Embodiment 2 of this invention. It is a block diagram which shows the structure of the tracking apparatus by Embodiment 3 of this invention. It is a conceptual diagram of the track integration method when the tracking processing unit of the tracking device according to Embodiment 3 of the present invention calculates integrated track specifications. It is a block diagram which shows the structure of the tracking apparatus by Embodiment 4 of this invention. It is a block diagram which shows the structure of the tracking apparatus by Embodiment 5 of this invention.

Explanation of symbols

10 target group, 20 sensor group, 30 input processing unit, 31 input processing unit, 40 tracking processing unit, 41 tracking processing unit, 50 sensor specification database, 51 sensor specification database, 60 RCS calculation processing unit, 70 range cross Range / sensor allocation processing unit, 80 target classification / sensor control processing unit, 81 target classification / sensor control processing unit, 90 target classification / sensor control parameter setting processing unit, 100 display unit.

Claims (7)

Input observation parameters and track parameters calculated by each sensor in the sensor group, sort the track parameters by target number and sensor number, track parameters for each sensor, and track for each sensor. An input processing unit for outputting the specifications and the corresponding observation specifications;
A tracking processing unit that calculates the integrated track specifications for each sensor using the track specifications or observation parameters for each sensor;
Using the integrated track specifications for each sensor, the track specifications for each sensor, and the radar equation parameters for each sensor stored in the sensor specification database, the RCS (Radar Cross) for each sensor is stored. Section) and an RCS calculation processing unit for calculating RCS of integrated wake specifications for each sensor,
Range / cross range that calculates sensor placement information in the range direction and cross range direction from the integrated track specifications for each sensor or the track specifications for each sensor using the placement information of each sensor output by the sensor group A sensor allocation processing unit;
Among the wake parameters with RCS and the integrated wake parameters with RCS calculated by the RCS calculation processing unit, the wake parameters and the integrated wake having an RCS larger than the preset RCS threshold value. Using the sensor arrangement information in the range direction and the cross range direction related to the extracted track data having a large RCS and the integrated track data, the observation beam of the sensor whose target traveling direction corresponds to the range direction is extracted. A sensor control signal for allocating intensively is output to the above sensor group, and warheads and boosters are classified according to target velocity vectors possessed by wake parameters with a large RCS, and observation beams are intensively assigned to warheads compared to boosters A tracking device including a target classification / sensor control processing unit that outputs a sensor control signal to the sensor group.   2. The input processing unit outputs a track specification for each sensor other than a preset sensor and an observation specification corresponding to the track specification for each sensor. Tracking device.   The tracking processing unit calculates an integrated wake specification for each sensor by a detection data integration method using an observation specification corresponding to the wake specification for each sensor. Tracking device.   The tracking device according to claim 1, wherein the tracking processing unit calculates an integrated wake specification for each sensor by a wake integration method using the wake specification for each sensor.   When a new sensor is added to the sensor group, the RCS calculation processing unit uses the parameter of the radar equation of the sensor added in the sensor specification database, and the integrated track of the added sensor track RCS and the added sensor. The tracking device according to claim 1, wherein an RCS of specifications is calculated.   The target classification / sensor control processing unit has an RCS at the initial stage of the tracking calculation until the accuracy of the wake specification becomes smaller than the accuracy of the predetermined reference time or the predetermined wake specification. From the track parameters, track parameters having an RCS larger than the RCS threshold value set in advance are extracted, and sensor arrangement information in the range direction and the cross range direction related to the extracted track parameters having a large RCS The tracking device according to claim 1, wherein a sensor control signal is output to the sensor group by using. In the method of assigning a sensor to a target in a tracking device that performs a tracking process using observation parameters and track parameters calculated by each sensor of the sensor group,
A first step of calculating an integrated wake specification for each sensor using a wake specification or an observation specification for each sensor;
Using the integrated wake specifications for each sensor, the wake specifications for each sensor, and the radar equation parameters for each sensor prepared in advance, the RCS of the wake specifications for each sensor and the integrated wake parameters for each sensor. A second step of calculating the original RCS;
Third step of calculating sensor arrangement information in the range direction and the cross range direction from the integrated wake specification for each sensor or the wake specification for each sensor using the arrangement information of each sensor output by the sensor group. When,
From the wake parameters with RCS and the integrated wake parameters with RCS calculated in the second step, the wake parameters with the RCS larger than the preset RCS threshold and the integrated wake parameters are selected. A fourth step of extracting elements;
Using the sensor arrangement information in the range direction and the cross range direction related to the wake specification having a large RCS and the integrated wake specification, the fifth observation beam of the sensor in which the traveling direction of the target corresponds to the range direction is intensively assigned. Steps,
A target sensor characterized by comprising a sixth step of classifying warheads and boosters according to target velocity vectors possessed by wake parameters having a large RCS, and allocating observation beams to the warheads more intensively than boosters. Assignment method.

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