JP4775188B2 - Radar control device and network radar - Google Patents

Description

  The present invention relates to a radar control device that calculates a radar surveillance coverage in order to detect a target such as an aircraft or a missile, and a network radar using the radar control device.

Conventionally, in a network radar in which a plurality of radars are connected via a network, the radar control device controls each radar as a central management device. For example, in Patent Document 1, when one of the radars constituting the network radar deteriorates in performance due to fluctuations in natural conditions, the radar control device instructs another radar to change the monitoring coverage to compensate for the deteriorated radar. And tried to ensure the performance of the entire network radar.
Further, in Patent Document 2, the radar control device performs data processing by integrating data obtained from each radar, and transmits a transmission signal whose phase is controlled to each radar.

JP2001-174547 (4th page, FIG. 3) JP 2002-277533 (4th page, FIG. 1)

In network radar, in order to efficiently monitor a target area, if a radar control device operates a radar to centrally monitor an area with a high probability of appearance of a target (hereinafter referred to as an “important area”). More efficient monitoring can be realized.
However, in Patent Document 1, the radar control device only changes the monitoring coverage of the radar only when one of the radars deteriorates in performance, and does not centrally monitor the priority area. In Patent Document 1, when one radar is tracking a target and it goes out of the tracking range, the radar controller cues to the adjacent radar, that is, information such as the position of the target. And makes the adjacent radar detect the target. However, this operation only gives the radar information about the target that has already been detected and tracked, and causes the radar to detect the target. Both radars operate efficiently to detect the target. I'm not letting you.
Also in Patent Document 2, the radar control device controls the monitoring coverage of each radar according to the performance of the radar, and does not centrally monitor the priority area.

When the target area is monitored on average as in Patent Documents 1 and 2, it is possible to allocate more radar operation resources than necessary, such as resource allocation in which the target detection probability is higher than necessary in areas other than the priority area. There is sex.
Also, when the target area is large, the data rate, which means the time required for one scan of the radar monitoring coverage, is increased, or the target cannot be monitored by any radar, so-called “missing”. There may be a problem such as

  The present invention has been made to solve the above-described problems, and an object thereof is to obtain a radar control device that constructs and controls a network radar that efficiently monitors a monitoring target area.

A radar control device according to the present invention is a radar control device that controls a plurality of radars each having a plurality of settable coverage areas , and is based on an assumed track of a target that is expected to appear and radar specifications of the radar. , detection performance calculation unit for calculating a detection performance of the target on the assumption track each and assumed trajectory in each of the plurality of monitors covering band can be set, calculates the combination of settings should do the monitoring covered area to each radar based on detection performance And a radar control unit for instructing the monitoring coverage to be set for each radar based on the combination of the monitoring coverage calculated by the standby combination calculation unit. Note that the radar can set a predetermined monitoring coverage, set and monitor the monitoring coverage determined by the radar control device, and the assumed track is a prediction of the trajectory of the target.

The radar control apparatus according to the present invention is a radar control apparatus that controls a plurality of radars each having a plurality of settable coverage areas , and is configured to assume a target track expected to appear and radar specifications of the radar. Based on the detection performance calculation unit that calculates the detection performance of the target on the assumed track for each combination of the monitoring coverage that can be set for each of the multiple radars, and set for each of the multiple radars based on the detection performance A standby combination calculation unit for calculating a combination of monitoring coverages to be set , and a radar control unit for instructing the monitoring coverage to be set for each radar based on the combination of the monitoring coverages calculated by the standby combination calculation unit. It is characterized by. Note that the radar can set a predetermined monitoring coverage, set and monitor the monitoring coverage determined by the radar control device, and the assumed track is a prediction of the trajectory of the target.

  According to the present invention, the radar control device determines the monitoring coverage set by each radar based on the detection performance of the monitoring coverage, and instructs the determined monitoring coverage for each radar. It is possible to obtain a radar control device that constructs and controls a network radar to be monitored.

  Further, according to the present invention, the radar control device determines the monitoring coverage set by each radar based on the detection performance for each combination of the monitoring coverage, and instructs the determined monitoring coverage for each radar. A radar control apparatus that constructs and controls a network radar that efficiently monitors a target area can be obtained.

Embodiment 1 FIG.
1 is a block diagram of a radar control apparatus according to Embodiment 1 of the present invention. The radar control device includes a radar control device 2, a radar control device 2, an input device 3, an assumed track generation device 4, an assumed track database 5, and a radar control unit that instructs the radar to set the monitoring coverage calculated by the standby combination calculation unit. Detection performance calculation that calculates the detection performance of the target on the assumed track for each monitoring coverage based on the assumed track that is the expected trajectory of the target and the radar specifications of the radars 1A, 1B, and 1C. A detection performance calculation device 6, a detection performance database 7, and an optimum standby combination selection device 8 that is a standby combination calculation unit that calculates the monitoring coverage set by each of the radars 1A, 1B, and 1C based on the detection performance. . Further, radars 1A, 1B and 1C for setting a monitoring coverage are connected to the radar control device.
Hereinafter, for convenience of explanation, the radars 1A, 1B, and 1C are collectively referred to as a radar 1 when described.

  The radar 1 is a fixed radar installed at a known coordinate. Each radar 1 has a detection performance related to detection indicated by transmission / reception timing, accuracy, detection range, detection probability, etc., and tracking performance related to tracking. A function d1 relating to function and performance (hereinafter referred to as “radar specification d1”) is output to the radar control device 2.

  The radar control device 2 receives the radar specification d1 from the radar 1 and outputs it to the detection performance calculation device 6, and each radar based on the monitoring coverage information of each radar 1 input from the optimum standby combination selection device 8. 1 is instructed to set the monitoring coverage.

When the prior information d2 is input, the input device 3 outputs the prior information d2 to the assumed track generation device 4. Advance information is information on the model of the target, area information on which the target is likely to appear. Specifically, flight specifications and targets related to the target such as missiles such as airplanes and TBMs are likely to appear. Or a position where the target is expected to be fired (hereinafter referred to as “start point”), for example, an expected arrival point of the target (hereinafter referred to as “end point”) such as an expected landing point of a missile. Is.
More specifically, when the target is an aircraft, the assumed wake generation device 4 creates an assumed wake starting from an air base as a launching point and ending at an air base in Japan as an attack target. When the target is a TBM, an assumed wake is generated with a TBM launch base or the like as a start point and a large city such as Tokyo as an end point.

The assumed track generation device 4 calculates an assumed track d3 based on the prior information d2 input from the input device 3, and outputs the calculated estimated track d3 to the assumed track database 5. The assumed track is calculated based on the type of the target, the start point, and the end point.
FIG. 2 is a diagram for explaining the concept of the assumed wake d3 in the first embodiment of the present invention. Here, regarding the target a, there are two points, Ps (a1) and Ps (a2), as expected start points, and three points, Pe (a1), Pe (a2), and Pe (a3), as expected end points. Take the case where there is. If there are specifications of the start point, end point, and target a, the trajectory of the target a can be predicted. In FIG. 2, the predicted trajectory patterns are t1, t2,.
As in the above example, the assumed track generation apparatus 4 considers all the combinations of the start point and the end point and the specifications of the target a, and assumes the trajectory t1, t2, ... t6 of the target a. Calculate as d3. Even when a plurality of targets are assumed such as the target a, the target b,..., The assumed track d3 is calculated in the same manner as in the above example.

  The assumed track database 5 holds an assumed track d3 input from the assumed track generation device 4. Further, the assumed track d3 is output to the detection performance calculation device 6.

By the way, in the first embodiment, the assumed track generation device 4 calculates the assumed track d3 based on the input prior information d2 and outputs it to the assumed track database 5. Instead of being input, a presumed estimated track d3 may be input, and the input device 3 may directly output the input assumed track d3 to the assumed track database 5. In this case, the assumed track generation device 4 is not necessary.
Further, the assumed track d3 may be directly output from the input device 3 to the detection performance calculation device 6 without providing the assumed track database 5. In this case, the detection performance calculation device 6 calculates the detection performance by a method described later every time the assumed track d3 is input.

First, the detection performance calculation device 6 calculates a case of a monitoring coverage that can be set for each radar 1 based on the radar specification d1 input from the radar control device 2. Thereby, all the cases of the monitoring coverage regarding all the radars 1 are calculated.
Secondly, in all cases of the monitored coverage, the detection performance for all the assumed tracks d3 obtained from the assumed track database 5 is calculated. The detection performance indicates the time taken to detect a target on each assumed track d3, the detection probability, and the like.
The detection performance calculation device 6 outputs the calculated detection performance d4 to the detection performance database 7.

  The detection performance database 7 holds the detection performance d4 input from the detection performance calculation device 6. Further, the detection performance d4 is output to the optimum standby combination selection device 8.

  The optimum standby combination selection device 8 is based on the detection performance for each monitored coverage and for each assumed track, and the second assumption that the target detection and the target detection are impossible. By changing the weight to be added to the detection performance according to the track and integrating the detection performance to which the weight is added, the monitoring coverage set by the first radar in which the monitoring coverage set for the radar is undetermined is set. An evaluation value calculation processing unit 81 that calculates an evaluation value for each area, the monitoring coverage set for the first radar is determined as the monitoring coverage with the maximum evaluation value, and the first monitoring coverage is determined. The first assumed wake determined to be able to detect the target by the monitoring coverage determination processing unit 82 that changes the second radar to the second radar and the second radar changed from the first radar Assumed wake change to change to 2 assumed wake And a processing section 83, detection performance based on the database 7 detection performance d4 obtained from, for awaits at which timing in which direction each radar 1 in which performance is determined whether the combination an optimal waiting.

Next, a specific operation will be described.
When the prior information d2 is input to the assumed track generation device 4 via the input device 3, the assumed track generation device 4 calculates the assumed track d3 based on the advance information d2 in advance, and this assumed track d3. Is output to the assumed wake database 5.
Thereafter, the assumed track database 5 holds the input assumed track d3.

When each radar 1 outputs its radar specification d1 to the radar control device 2, the radar control device 2 outputs each radar specification d1 input from each radar 1 to the detection performance calculation device 6.
The detection performance calculation device 6 acquires the assumed track d3 from the assumed track database 5, calculates the detection performance d4 for each monitoring coverage for each assumed track d3, and outputs the detection performance d4 to the detection performance database 7. The calculation method of the detection performance d4 will be described in detail below.

As an example, a method for calculating detection performance when there are two radars 1 and radars 1A and 1B will be described.
FIG. 3 is a diagram for explaining the concept of the detection performance d4 in the first embodiment of the present invention. The radar 1A can change the monitoring coverage according to its radar specifications, and can monitor a target by forming a plurality of patterns of monitoring areas. Here, consider a case where the radar 1A sets the monitoring coverage of two patterns F (A1) and F (A2). Further, the radar 1B is the same as the radar 1A, and here, the case where the radar 1B sets the monitoring coverage of the two patterns F (B1) and F (B2) is considered.
Further, the assumed track d3 is assumed to be composed of three types, t1, t2 and t3.
The detection performance calculation device 6 calculates detection performance for all the monitored coverage areas F (A1), F (A2), F (B1), and F (B2) with respect to t1 which is one of the assumed tracks. Specifically, from the start of the target on the assumed track t1 until the radar that sets the monitoring coverages F (A1), F (A2), F (B1), and F (B2) detects The time taken, detection probability, and the like are set as detection performances ef1, ef2, ef3, and ef4. For the assumed tracks t2 and t3, the detection performance similar to that in the case of t1 is calculated and set to ef5,. In the following description, it is assumed that the detection performance is good when the detection performance value is large.
As in this example, the detection performance calculation device 6 calculates the detection performance for each estimated track d3 and for each monitoring coverage, and outputs these to the detection performance database 7 as the detection performance d4.
Thereafter, the detection performance database 7 holds the input detection performance d4.

The optimum standby combination selection device 8 acquires the detection performance d4 from the detection performance database 7, and calculates the optimum combination of the monitoring coverages in each radar 1.
The optimum standby combination selection device 8 selects a monitoring coverage area with good detection performance for each assumed track as a monitoring coverage area that the radar should set as a standby state, and should also be set similarly for all radars. If the area is selected, the optimum combination for the monitored coverage area can be calculated.
In the first embodiment, a method based on the concept of the greedy algorithm is adopted as a method for calculating the optimum combination related to the monitoring coverage as described above. The greedy algorithm has been found to be an excellent solution to the set covering problem, which is a well-known optimization problem. When a full search or the like is performed, an optimal solution for the combination of the monitoring coverage is obtained. However, depending on the number of monitoring coverages of the radar 1 and the number of assumed wakes d3, an optimal combination of the monitoring coverages may be derived. May take a huge amount of time that is not realistic. This greedy algorithm can obtain an excellent solution in a short time by executing a simple process. Hereinafter, a combination based on the monitoring coverage is shown and a solution based on the greedy algorithm is called an optimal solution. A calculation method based on the greedy algorithm will be described below.

FIG. 4 is a flowchart showing a method for calculating the optimum combination of the monitored coverages by the optimum standby combination selecting apparatus 8 according to the first embodiment of the present invention using the greedy algorithm.
First, the detection performance d4 is acquired from the detection performance database 7 in step ST401. Step ST401 may be executed at the time of calculating the optimum combination of the monitoring coverage areas, or may be executed in advance.
In step ST402, the states of all the radars 1 and the assumed wakes t1, t2, and t3 are initialized. The state indicates a state of “confirmed” or “unconfirmed”. Specifically, the radar 1 is a “undecided state” radar that is a first radar for which the monitoring coverage to be set is undetermined, and a second radar in which the monitoring coverage to be set is determined. It is classified as a “definite state” radar. In addition, the assumed track includes an “undefined state” assumed track that is a first assumed track that cannot be detected by the radar 1 in which the target on the assumed track is in a confirmed state, and a target on the assumed track. Are classified into “estimated track” in the “determined state”, which is a second assumed track that can be detected by the radar 1 in the definite state.

In step ST403, the evaluation value calculation processing unit 81 calculates an evaluation value by the method shown in the following formula (1) for each monitoring coverage area.
(Evaluation Value) = Σ _{Assumed Wake} {(Weight) × (Detection Performance)} Expression (1)
The monitoring coverage area F (A1) will be described as an example. It is assumed that the radar 1A is in an undetermined state at this time, and the assumed tracks t1, t2, and t3 are also in an undetermined state. The optimum standby combination selection device 8 sets the detection performance for each assumed track in F (A1) as a result of weighting the assumed track and totaling it as the evaluation value of F (A1). Specifically, in FIG. 3, the evaluation value ev (A1) of the monitoring coverage F (A1) is obtained by adding the weight to ef1, adding the weight to ef5, and adding the weight to ef9. And The monitoring coverage area F (A2) is calculated in the same manner as described above, and the evaluation value ev (A2) is calculated.
Also, evaluation values are calculated according to the equation (1) for the monitoring coverages F (B1) and F (B2) that are the monitoring coverages of the radar 1B.

  Next, in step ST404, the monitoring coverage determination processing unit 82 selects the monitoring coverage having the highest evaluation value, and the monitoring coverage to be set by the radar to which the selected monitoring coverage belongs. And the radar for which the monitoring coverage is determined is changed to a fixed state. For example, when ev (A2) is the highest among the evaluation values ev (A1), ev (A2), ev (B1), and ev (B2), the monitoring coverage to be set by the radar 1A is set to F (A2 ) To change the radar 1A to the finalized state. When the radar 1 is in a definite state, the evaluation value is not calculated by the equation (1) of the evaluation value calculation processing unit 81 for the radar 1 thereafter.

In step ST405, when the assumed wake change processing unit 83 monitors the determined radar, the assumed wake capable of detecting the target is selected and changed to a confirmed state. Here, the optimum standby combination selecting device 8 has a threshold value, and by comparing the threshold value with the detection performance, it is determined whether or not detection on the assumed track is possible. One threshold value may be used for each radar control device. However, a threshold value is provided for each assumed track, a threshold value is provided for each radar monitoring coverage, and further, for each assumed track and for each monitoring coverage. A threshold may be provided.
Further, in step ST406, the evaluation value calculation processing unit 81 changes the weight related to the assumed track changed to the confirmed state in step ST405. For example, if the weight is reduced, it is assumed that the indeterminate state is assumed rather than the detection of the target on the assumed track that is in the definite state when calculating {(weight) × (detection performance)} in Equation (1). It is possible to obtain an evaluation value when importance is attached to detection of a target on a wake.

  In step ST407, it is determined whether or not all the radars 1 are in a definite state. If all the radars 1 are in a confirmed state, the process is terminated. If there is a radar 1 in an unconfirmed state, steps ST403 to ST406 are repeated. For example, in the above example, since the radar 1B has not been changed from the unconfirmed state to the confirmed state, Step ST403 to Step ST406 are repeated.

In this way, as in the process shown in FIG. 4, the combination of the monitoring coverage to be set by each radar 1, that is, the optimum solution is determined by weighting the detection performance and calculating the evaluation value. .
After the optimum standby combination selection device 8 determines the optimum solution, the radar control device 2 is notified of the combination d5 of the monitoring coverage corresponding to each radar 1.
The radar control device 2 transmits a corresponding monitoring coverage to each radar 1, and each radar 1 sets the designated monitoring coverage and monitors the target.
For example, when the monitoring coverage areas determined as the optimal solutions for the radar 1A and the radar 1B in the above example are F (A2) and F (B1), the optimal standby combination selection device 8 sends the {F (A2) and F (B1)} are notified as the combination d5 of the monitored coverage. Furthermore, the radar control device 2 instructs the radar 1A to set the monitoring coverage area F (A2), and instructs the radar 1B to set the monitoring coverage area F (B1).

  As described above, according to the first embodiment, the radar control device calculates the optimum solution of the combination related to the monitoring coverage of the radar 1 based on the assumed track and the radar specifications of each radar. Instead of improving performance, efficient detection performance can be realized as a radar set in which a plurality of radars are combined.

Embodiment 2. FIG.
In the first embodiment, the optimum standby combination selection apparatus 8 employs a greedy algorithm, and repeatedly determines the monitoring coverage having the best evaluation value from the values calculated once, thereby reducing the monitoring coverage. We decided one by one and calculated the optimal solution. However, in this calculation method, after the monitoring coverage for one radar 1 is determined, the monitoring coverage of the radar 1 is not changed. Therefore, the calculated optimal solution is the combination of the monitoring coverages. The efficiency was not always the best.
The radar control apparatus according to the second embodiment calculates the detection performance from all the combinations of all the assumed tracks and the monitoring coverage, and sets the best evaluation value among them as the optimum solution. .

  The radar control apparatus according to the second embodiment is obtained by changing the configuration of the radar control apparatus according to the first embodiment shown in FIG. For this reason, illustration is abbreviate | omitted and description regarding the same structure and function as FIG. 1 is abbreviate | omitted.

The detection performance calculation device 6 is based on the assumed track that is the expected trajectory of the target and the radar specification d1 of the radar 1 for every combination of the monitoring coverage set by the radar 1 and for each assumed track. This corresponds to a detection performance calculation unit for calculating the detection performance of the target above. When the radar specification d1 from the radar control device 2 and the assumed track d3 from the assumed track database 5 are input, the detection performance d4. Calculate The details are described below.
First, calculate all combinations of surveillance coverage. For example, as shown in FIG. 3, two types of radars 1A and 1B, and the monitoring coverages that can be set by each radar are F (A1) and F (A2), and F (B1) and F (B2). To do. At this time, there are four types of all combinations of the monitored coverage areas: 1 {F (A1), F (B1)}, 2 {F (A1), F (B2)}, 3 {F (A2) , F (B1)}, 4 {F (A2), F (B2)}.
Second, the detection performance d4 is calculated for each combination of the monitoring coverages and for each of the assumed tracks t1, t2, and t3, and this is output to the detection performance database 7.

  The detection performance database 7 holds the detection performance d4 input from the detection performance calculation device 6.

Furthermore, the optimum standby combination selection device 8 acquires the detection performance d4 from the detection performance database 7, and calculates an evaluation value for each combination of the monitored coverage areas. The calculation of the evaluation value is the same as the method shown in Expression (1), but the weights are all set to 1. In the first embodiment, the detection performance of equation (1) represents the detection performance for each monitoring coverage and for each assumed track, and the evaluation value is calculated for each monitoring coverage. Therefore, there are as many evaluation values as the number of monitoring coverages in an indeterminate state. On the other hand, in the second embodiment, the detection performance of Expression (1) represents the detection performance for each combination of the monitoring coverages and for each assumed track, and the evaluation value is calculated for each combination of the monitoring coverages. For this reason, there are as many evaluation values in the second embodiment as there are combinations of monitoring coverage areas.
The optimum standby combination selection device 8 adopts the combination of the monitored coverage with the highest evaluation value and notifies the radar control device 2 of it.

  As described above, according to the second embodiment, since all the solutions are listed, the optimum solution is always obtained, and standby that is more efficient than that of the first embodiment can be realized.

Embodiment 3 FIG.
In the second embodiment, since all the solutions are enumerated, there is a possibility that the processing time for calculating the optimum standby becomes unrealistic.
For the radar control device according to the third embodiment, the optimum standby combination selection device 8 is calculated after all the first radars that are in the unconfirmed state are changed to the second radars that are in the confirmed state. It is characterized by changing the value of the monitoring coverage and recalculating the evaluation value, and stopping the change of the value of the monitoring coverage when the improvement of the evaluation value stops. The optimum solution calculated in the first form is changed by using an evaluation function to obtain the optimum solution.

FIG. 5 is a flow chart showing a method for obtaining the solution by changing the optimum solution while the optimum standby combination selecting device 8 according to the third embodiment of the present invention determines the combination of the monitored coverage by the greedy algorithm. is there.
In FIG. 5, the same operations as those in the optimum standby combination selecting apparatus 8 in the first embodiment shown in FIG.

The optimum standby combination selection apparatus 8 calculates an evaluation value for each monitoring coverage area in an undefined state in steps ST401 to ST403.
Next, in step ST508, it is determined whether or not all radars have been determined in the past. If all radars have not been confirmed in the past, steps ST403 to ST406 are repeated until all radars 1 are confirmed in steps ST404 to ST407.

When all the radars 1 are in the finalized state in step ST407, in step ST511, any one of the radars in the finalized state is changed to an indeterminate state, and in step ST512, it is changed to the indeterminate state. The assumed wake that has been determined to be detectable by the radar 1 is changed from the confirmed state to the unconfirmed state. Note that in step ST512 of FIG. 5, the assumed track that has been determined to be capable of detecting the target by the radar 1 that has been changed to the indeterminate state is described as the “target assumed track”.
Furthermore, in step ST513, the weight regarding the assumed track changed to the unconfirmed state is changed. Since the weight affects {(weight) × (detection performance)} in the expression (1), for example, if the weight is increased, an evaluation value is obtained when the detection of the target on the assumed track in the undefined state is emphasized. be able to.

Thereafter, an evaluation value is calculated in step ST403, and the process proceeds to step ST508. At this point, since all the radars have been confirmed, the process proceeds to step ST509.
In step ST509, the currently changed evaluation value is compared with the previous evaluation value corresponding thereto. The “changed evaluation value this time” is the evaluation value calculated in step ST403 immediately before proceeding to step ST509. The “previous evaluation value corresponding to it” is an evaluation value when the monitoring coverage is fixed in step ST404 for the radar 1 that has been changed to the unconfirmed state in step ST511 immediately before proceeding to step ST509. is there.

When the current evaluation value is larger than the previous evaluation value in step ST509, the process proceeds to step ST404. Here, it is considered that the solution has approached the optimal solution by changing the radar in the confirmed state to the unconfirmed state in step ST511 and recalculating, and the process proceeding to step ST404 is further optimized by changing the evaluation value further. This is to repeat the recalculation to find the solution.
If the current evaluation value is smaller than the previous evaluation value, after returning to the state of the radar and the assumed track before being changed to the unconfirmed state in steps ST511 and ST512 in step ST510. The process is terminated. Here, it is considered that the solution has deviated from the optimal solution by changing the state of the radar 1, and step ST510 indicates that the state of the radar is returned to the immediately previous state and the recalculation process is terminated.

  As described above, the optimum standby combination selection device 8 changes the optimum solution obtained using the greedy algorithm, and continues the processing as long as the current evaluation value exceeds the previous evaluation value, and the evaluation function cannot be improved. A method of terminating the process is sometimes adopted. The solution at the end of the process is regarded as the final optimum solution, and the radar control device 2 is notified of the combination d5 of the monitored coverage.

  As described above, according to the third embodiment, since the final optimum solution is calculated by adopting the greedy algorithm and the improvement method, the processing time is longer than that of the first embodiment, but the calculation time is longer. Becomes realistic, and an optimal or suboptimal solution can be obtained.

Embodiment 4 FIG.
In the first to third embodiments, the detection performance and the like are calculated using each radar 1 as a fixed radar, but each radar 1 may be a mobile radar.
FIG. 6 is a block diagram of a radar control apparatus according to Embodiment 4 of the present invention. The radar control apparatus according to the fourth embodiment can move the radars 1A, 11B, and 1C in the configuration diagram of the radar control apparatus according to the first embodiment shown in FIG. 1 to the movable radars 11A, 11B, and 11C (hereinafter, radars 11A, 11B). And 11C are generally referred to as radar 11). In FIG. 6, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

  The radar 11 in FIG. 6 can move and change the position coordinates, and is fixed at the time of operation such as when detecting performance or detecting a target. Hereinafter, the operation of the radar control apparatus according to the fourth embodiment will be described.

When the radar 11 finishes moving and the installation position is fixed, each radar 11 outputs the radar specification d1 at the fixed position to the radar control device 2.
Subsequently, the radar control device 2 outputs the radar specification d1 of each radar 11 to the detection performance calculation device 6, and the detection performance calculation device 6 receives the new radar specification d1 received and the assumed track acquired from the assumed track database 5. Based on d3, the detection performance d4 is calculated. The subsequent operation is the same as the operation of the radar control apparatus according to the first embodiment.

  As described above, according to the radar control device according to the fourth embodiment, after the radar 11 has finished moving, the optimum standby combination selection device 8 calculates the optimum solution again, so even after the radar 11 is moved. Efficient detection performance can be realized.

Furthermore, when the position of the radar 11 is changed a plurality of times, each optimum solution may be held every time it is changed, and the optimum solution with the highest detection efficiency may be selected based on the plurality of held optimum solutions. Specifically, for example, the radar control device 2 holds the installation coordinates of the radar 11 and the optimal solution at this time, and among the optimal solutions held by the radar device control device 2, the optimum with the highest evaluation value is obtained. Select a solution. Furthermore, the radar coverage area of the radar that constitutes the selected optimal solution is transmitted to each radar, and the radar 11 is instructed to move to the position of the radar 11 corresponding to the selected optimal solution.
Each radar 11 monitors the target at the instructed position and the monitoring coverage area.
In this way, it is possible to obtain a solution for where to move each radar.

Embodiment 5 FIG.
In the fourth embodiment, the radars 11A, 11B, and 11C are fixed. However, in the fifth embodiment, it is assumed that the radar continues to move without being fixed.
FIG. 7 is a configuration diagram of a radar control apparatus according to Embodiment 5 of the present invention. The radar control device according to the fifth embodiment is obtained by replacing the radar 1C in the configuration diagram of the radar control device according to the first embodiment shown in FIG. 1 with a continuously moving radar 12C (hereinafter referred to as a radar 12C). is there. In FIG. 7, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted.

  The radar 12C is a radar that has a known route and moves periodically. For example, if the aircraft continues to perform a circular orbit, the detection performance is calculated in consideration of various radar specifications at a predetermined position on the circular orbit, and the optimal solution for the radar specifications and circular orbit parameters is calculated. Also good. However, in this case, three-dimensional movement is possible, and even if it is a circular orbit, there are various parameters such as the size of the circle, so a huge amount of time is required to calculate the solution using the greedy algorithm. May be necessary.

Embodiment 6 FIG.
In the first to fifth embodiments, after calculating the optimum solution, each radar monitors the target in the selected monitoring coverage. In the sixth embodiment, a case where the radar specifications of each radar are changed will be considered. For example, when the radar breaks down or the weather changes, the specifications of the radar change.
FIG. 8 is a block diagram of a radar control apparatus according to Embodiment 6 of the present invention. A radar control device according to the sixth embodiment receives a radar specification d1 from the outside and holds it as the current radar specification in the radar control device according to the first embodiment shown in FIG. The radar specification holding device 9 is added. In FIG. 8, the same components as those in FIG. 1 are denoted by the same reference numerals, and the description thereof is omitted. By the way, also in the sixth embodiment, the optimum standby combination selecting device 8 includes the evaluation value calculation processing unit 81, the monitoring coverage determination processing unit 82, and the assumed track change processing unit 83, as in the first embodiment. For convenience of explanation, the description is omitted.

Hereinafter, the operation of the radar control apparatus according to the sixth embodiment will be described.
Upon receiving the radar specification d1 from each radar 1, the radar control device 2 outputs the radar specification d1 to the detection performance calculation device 6 and also outputs it to the radar specification holding device 9. The radar specification holding device 9 holds the inputted radar specification d1 in correspondence with the radar. The subsequent calculation operation of the optimum solution is the same as that of the radar control apparatus according to the first embodiment.
Next, when the radar specification of any one of the plurality of radars changes, the radar 1 whose radar specification has changed outputs the changed radar specification d1 to the radar control device 2.

FIG. 9 is a flowchart showing the operation when the radar control apparatus 2 according to the sixth embodiment of the present invention receives a new radar specification d1.
When a new radar specification d1 is input from the radar 1 in step ST901, the radar control device 2 outputs a radar corresponding to the new radar specification d1, that is, a new radar specification d1 in step ST902. The radar 1 is determined and determined. In step ST903, radar specifications relating to the determined radar are acquired from the radar specification holding device 9, and in step ST904, the new radar specifications are compared with the acquired radar specifications.
If the new radar specifications and the acquired radar specifications are the same in the comparison in step ST904, the process is terminated. When the new radar specifications and the acquired radar specifications are different, in step ST905, the new radar specifications d1 are output to the detection performance calculation device 6, and the radar specification holding device 9 adds new radar specifications. The element d1 is output.

When a new radar specification d1 is input, the radar specification holding device 9 replaces the radar specification of the corresponding radar 1 with the input new radar specification d1 as the current radar specification.
The detection performance calculation device 6 calculates the detection performance d4 for the new radar specification d1 and outputs it to the detection performance database 7.
The optimal standby combination selection device 8 acquires the detection performance d4 from the detection performance database 7 and calculates the optimal standby combination. The operations of the detection performance calculation device 6 and the optimum standby combination selection device 8 are the same as those in the first embodiment.
Since the detection performance calculation device 6 recalculates the detection performance d4 for the new data specification d1, when the optimal standby combination selection device 8 calculates the optimal solution, the radar specification d1 is changed. The optimal solution for the state is calculated.

  In the above description, when the new radar specification and the current radar specification are different in step ST904 in FIG. 9, the detection performance calculation device 6 and the optimum standby combination selection device 8 use the new radar specification as the new radar specification. The monitor coverage is recalculated with the combination of detection performance and optimum standby in place of the specifications, but the radar specifications need not be replaced or recalculated under predetermined conditions. For example, there is a case where the new radar specification d1 has an abnormal value, or a case where the difference between the new radar specification and the current radar specification is very small.

  As described above, according to the sixth embodiment of the present invention, the optimum standby combination is recalculated every time the radar specification d1 changes. It becomes possible to realize the waiting.

1 is a configuration diagram of a radar control apparatus according to Embodiment 1 of the present invention. It is a figure for demonstrating the assumed track in Embodiment 1 of this invention. It is a figure for demonstrating the evaluation value in Embodiment 1 of this invention. It is a flowchart explaining operation | movement of the optimal standby combination selection apparatus 8 in Embodiment 1 of this invention. It is a flowchart explaining operation | movement of the optimal standby combination selection apparatus 8 in Embodiment 3 of this invention. It is a block diagram of the radar control apparatus which concerns on Embodiment 4 of this invention. It is a block diagram of the radar control apparatus which concerns on Embodiment 5 of this invention. It is a block diagram of the radar control apparatus which concerns on Embodiment 6 of this invention. It is a flowchart explaining operation | movement of the radar control apparatus 2 which concerns on Embodiment 6 of this invention.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Radar 2 Radar control apparatus 6 Detection performance calculation apparatus 8 Optimal standby combination selection apparatus d1 Radar specification d3 Assumed track d4 Detection performance

Claims (8)

A radar control device for controlling a plurality of radars each having a plurality of configurable monitoring coverage areas,
The target on the assumed track for each of the plurality of settable monitoring coverages and for each assumed track based on the assumed track that is an expected trajectory of the target that is expected to appear and the radar specifications of the radar. A detection performance calculator for calculating the detection performance of an object,
Based on the detection performance, a standby combination calculation unit that calculates a combination of monitoring coverage to be set for each of the radars,
A radar control device comprising: a radar control unit that instructs a monitoring coverage to be set for each radar based on a combination of the monitoring coverages calculated by the standby combination calculation unit. The radar includes a first radar in which a monitoring coverage to be set has not been determined and a second radar in which a monitoring coverage to be set is determined,
The assumed wake includes a first assumed wake that cannot be detected by the second radar and a second assumed wake that can be detected by the second radar.
The standby combination calculator
An evaluation value calculation processing unit that calculates, as an evaluation value, a value obtained by adding a weight to the detection performance corresponding to each assumed route for each monitoring coverage area that can be set in the first radar;
The monitoring coverage to be set for the first radar is determined to be the monitoring coverage that maximizes the evaluation value, and the first radar for which the monitoring coverage to be set is determined is set to the second radar. A monitoring coverage determination processing unit to change to radar,
An assumed wake change processing unit that changes an assumed wake capable of detecting a target by the second radar changed from the first radar to the second assumed wake from the first assumed wake. The radar control apparatus according to claim 1. The standby combination calculation unit, after all of the first radar is changed to the second radar,
Of the second radar, change any radar to the first radar,
With respect to the changed first radar, the evaluation value is recalculated while changing the weight related to the assumed track, and when the improvement of the evaluation value is stopped, the calculation processing of the combination of the monitoring coverage to be set is finished. The radar control apparatus according to claim 2. 4. The radar according to claim 2, wherein the assumed wake change processing unit determines whether or not the target can be detected based on a detection time or a detection probability of the target. 5. Control device. A radar control device for controlling a plurality of radars each having a plurality of configurable monitoring coverage areas,
Based on the assumed track that is the expected trajectory of the target that is expected to appear and the radar specifications of the radar, the assumption is made for each combination of the monitoring coverage that can be set for each of the plurality of radars and for each assumed track. A detection performance calculator for calculating the detection performance of the target on the wake;
A standby combination calculation unit for calculating a combination of monitoring coverages to be set for each of the plurality of radars based on the detection performance,
A radar control device comprising: a radar control unit that instructs a monitoring coverage to be set for each radar based on a combination of the monitoring coverages calculated by the standby combination calculation unit. The standby combination calculation unit calculates an evaluation value for each combination of the monitoring coverage based on detection performance, and sets the combination of the monitoring coverage with the maximum evaluation value as a monitoring coverage to be set for each radar. The radar control device according to claim 5. A radar specification holding unit that receives input from the outside of the radar specification and holds it as the current radar specification,
When a new radar specification input for the same radar is different from the current radar specification, the current radar specification is replaced with the new radar specification, and the new radar specification is detected as a detection performance calculation unit. The radar control device according to claim 1, wherein the radar control device outputs the signal to the radar control device. A plurality of radars each having a plurality of configurable monitoring coverage areas and outputting radar specifications,
The network radar provided with the radar control device according to any one of claims 1 to 7, which instructs setting of a monitoring coverage for each radar based on a radar specification of the radar.

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