JP5013949B2 - Rocket tracking radar device - Google Patents

Description

  The present invention relates to tracking a high-speed flying object, and more particularly to a rocket tracking radar apparatus that tracks a small target generated after separation or blasting of a rocket.

In a rocket guidance system and a radar device that tracks a rocket, target detection and tracking processing are the main functions. Therefore, since the target of detection and tracking is a rocket, detection and tracking are performed for a target having a large RCS (Radar Cross Section), and detection and tracking of a single target are mainly performed.
By the way, after launch, the rocket separates the booster and fairing (protective cover that guards the onboard satellite from wind pressure, high heat, and vibration at the time of launch) or disperses it into multiple pieces by blasting. Also, when a rocket is made a missile, it can be separated into multiple warheads, or it can be broken into multiple pieces by interception blasting. For small objects generated by these separations and blasting, it is important to predict and confirm the location of the fall and damage. However, although the current radar apparatus can track only one target having the largest RCS, it is difficult to track a small object (small target) that has been separated and divided before the rocket hits itself.
In addition, as a conventional technique, there is a proposal of a method for tracking a plurality of missiles (targets) flying in an air defense system that intercepts missiles so as to respond to each target (for example, Patent Document 1 and Patent Document 2). reference).

Japanese Patent Laid-Open No. 7-190695 JP 2001-82897 A JP 2004-340615A

  However, in the case of the conventional techniques described in Patent Document 1 and Patent Document 2, it is based on capturing one target more accurately and tracking quickly, and predicting the landing point of a missile is Even if possible (see, for example, Patent Document 3), the number of targets and small targets that increase after separation and blasting cannot be positively detected and tracked to predict the fall range. In other words, conventional general radar devices do not have devices or signal processing that deal with detecting the number of targets and fragments after separation and blasting, and tracking algorithms corresponding to those targets. Not equipped. For this reason, it has been difficult to confirm the damage situation when the rocket component falls to a place other than predicted.

  The present invention has been made to solve the above problems, and detects and tracks a small object separated from the rocket (in this invention, it is treated as a fragment) and a rocket fragment caused by a blast. An object is to obtain a rocket tracking radar device that can be predicted.

In the rocket tracking radar device according to the present invention, the transmission / reception device forms a tracking beam via an antenna device to transmit / receive radio waves, the target detection unit detects a target signal from the received signal, and the tracking unit detects the target signal. The transmitter / receiver is controlled to perform tracking processing for the next target position, and the fall range prediction unit calculates and displays the predicted fall range where the target lands based on the tracking result data of the track unit In a rocket tracking radar device that is displayed on the device, a separation / blast determination unit that determines separation or blasting of the rocket based on a signal indicating separation or blasting status of the target rocket that has been tracked, and various types A debris database that stores in advance debris information including the size, number, flight direction, speed, and fall pattern of debris generated by rocket separation and blasting. A threshold that controls the setting of the detection threshold of the target detection unit so as to estimate the size of the fragment based on the fragment information of the target rocket in the fragment database and detect the estimated size fragment as a target when it is determined to be a blast. If it is determined that it is separated or blown, the tracking filter of the tracking unit is changed so that the tracking can be performed with a single tracking beam targeting the group of fragments based on the fragment information on the target rocket in the fragment database. And a tracking control unit for controlling, the separation / blast determination unit calculates a spectrum on the frequency axis for the target signal detected by the target detection unit, and determines the target rocket based on the distribution state of the target frequency component. It determines whether separated or blasting occurs, the tracking unit in accordance with the control of the tracking control section, fracture of the subject rocket debris database Based on the information, the tracking filter corresponding to the group of fragments is changed to perform the tracking process, and the transmission / reception device is controlled to form a tracking beam for the group of fragments, and the fall range prediction unit determines whether to separate or blast The predicted fall range of the debris is calculated based on the tracking result data corresponding to the subsequent group of debris and the debris information on the target rocket in the debris database.

  According to the present invention, it is possible to detect and track a small object separated from a rocket or a broken piece of a rocket caused by a blast, and to predict a fall range of the separated and broken object or a broken piece. As a result, it is possible to predict the damage situation caused by the fall of debris.

Embodiment 1 FIG.
FIG. 1 is a block diagram showing a functional configuration of a rocket tracking radar apparatus according to Embodiment 1 of the present invention.
In the figure, an antenna device 1 is means for transmitting / receiving radio waves to / from a target, and is constituted by a phased array antenna, for example. The transmission / reception device 2 is means for generating a transmission signal of a radar supplied to the antenna device 1, generating a reception signal of a reflected wave by a target received by the antenna device 1, and forming a beam at the time of transmission / reception. The target detection unit 3 is means for performing normal radar signal processing such as pulse compression on the reception signal extracted by the transmission / reception device 2 and detecting a target signal based on a set detection threshold. The separation / blast determination unit 4 is a means for determining separation or blasting of a rocket based on a signal indicating the separation or blasting state of the target rocket that has been tracked. In the case of the first embodiment, the separation / blast determination unit 4 calculates a spectrum on the frequency axis with respect to the target signal detected by the target detection unit 3, and based on the distribution state of the target frequency component, the rocket Determine if a segregation or blast occurred.

  The fragment database 10 stores in advance fragment information including the size, number, flight direction, speed, and fall pattern of fragments generated by separation and explosion of various rockets. The fragment information is obtained by performing a simulation in advance using information such as the type, size, mass, rocket flight pattern, rocket separation pattern, and blast pattern of the rocket. When the separation / blast determination unit 4 determines separation or blasting, the threshold control unit 5 is based on the fragment information of the target rocket in the fragment database 10 based on information such as the size and speed of the target rocket. Thus, the size of the debris is estimated, and the setting of the detection threshold value of the target detection unit 3 is controlled so that the estimated size of debris is detected as a target.

  The tracking unit 7 performs a tracking process on the target signal detected by the target detection unit 3 and controls the transmission / reception device 2 so as to track the calculated next target position, while the rocket is separated and blown up. In this case, based on the fragment information on the target rocket from the fragment database 10, the tracking filter and parameters are changed so as to correspond to the group of fragments, and the transmission / reception device 2 is formed so as to form a tracking beam for the group of fragments. It is a means to control. When the separation / blast determination unit 4 determines that the separation or blasting is separated, the tracking control unit 6 determines the fragments based on the fragment information (such as fragment size, speed, flight direction) on the target rocket in the fragment database 10. This is means for controlling the tracking unit 7 so as to change the tracking filter and parameters so that the unit can be tracked by one tracking beam as a target within the resolution. The fall range prediction unit 8 calculates a predicted fall range in which the target (rocket) lands on the basis of the tracking result data of the tracking unit 7 at normal times, and tracking result data when the rocket is separated or blown up In addition, it is a means for calculating the predicted fall range based on the shard information (particularly the fall pattern) regarding the rocket in the shard database 10. The display device 9 is a means for displaying the tracking result display, the target detection result, the predicted fall range calculated by the fall range prediction unit 8, and the like.

Next, the operation will be described. FIG. 2 is a flowchart showing the operation of the rocket tracking radar apparatus common to the first to fourth embodiments.
The transmission / reception device 2 gives the generated radar transmission signal to the antenna device 1 and transmits it as a predetermined beam of radio wave to the predicted target position of the rocket, and receives the radio wave reflected by the target received by the antenna device 1 A signal is given to the target detection unit 3 (step ST1). The target detection unit 3 detects (detects) a target signal from the received signal based on the detection threshold and sends it to the tracking unit 7 as target information, and also sends it to the separation / blast determination unit 4. The separation / blast determination unit 4 performs FFT (Fast Fourier Transform) on the target signal to calculate the spectrum on the frequency axis, and whether the rocket has been separated or blown based on the distribution state of the target frequency component. Is determined (step ST3). In the case of a normal target (rocket), the spread on the frequency axis is limited to some extent by conditions such as the target moving speed, so the spread on the frequency axis does not exceed a certain threshold of the separation / blast determination unit 4 Therefore, the separation / blast determination unit 4 determines that the target is not separated or blown, and does not give an instruction to the threshold control unit 5 and the tracking control unit 6.

  When it is determined in step ST3 that the target is not separated or blown up, the target information detected by the target detection unit 3 is sent to the tracking unit 7 as it is. The tracking unit 7 performs a tracking process on the target information, predicts the next target position, and instructs the transmission / reception apparatus 2 to form a tracking beam at the predicted next target position and transmit / receive radio waves. (Step ST4). In addition, the tracking unit 7 sends the tracking result data to the fall range prediction unit 8. The fall range prediction unit 8 calculates and estimates a predicted fall range (landing point in this case) based on the tracking result data by a well-known method conventionally performed for a normal target (rocket). The predicted fall range information is sent to the display device 9 and displayed on a map or the like. (Step ST5). The display device 9 also displays the current target detection result and tracking result.

  On the other hand, in step ST3, when the rocket blows up, the target frequency component spreads on the frequency axis extremely more than usual. Therefore, when the target frequency component spreads beyond a certain threshold, it is determined that separation or blasting has occurred in the target. In addition, the target frequency component when the rocket is normal is one peak, but when separated, a plurality of peaks appear on the frequency axis. Therefore, the appearance of the plurality of peaks is determined to have occurred. When it is determined that separation or blasting has occurred, the separation / blast determination unit 4 instructs the threshold control unit 5 and the tracking control unit 6 to perform subsequent processing. In the threshold control unit 5, when the separation / blast determination unit 4 determines separation or blasting, the fragment control unit 10 refers to the fragment database 10 on the basis of information such as the size and speed of the target rocket and obtains fragment information of the target rocket. To do. Then, the size of the debris is estimated, and the setting of the detection threshold value of the target detection unit 3 is controlled so that the debris having the estimated size is detected as a target based on the RCS based on the size of the debris (step ST6-1). . Specifically, the detection threshold value of the target detection unit 3 is lowered so that even small-sized fragments that may not be detected by the normal target (rocket) detection process can be detected. At that time, instead of controlling the entire threshold value, area information that is highly likely to have debris may be given together, and only the threshold value for an area that is likely to have debris may be controlled.

  In addition, when the separation / blast determination unit 4 determines that the separation or explosion, the tracking control unit 6 uses the fragment information (the size, speed, flight direction, etc.) of the target rocket in the fragment database 10. The tracking filter and parameter change of the tracking unit 7 are controlled so that a certain group of fragments can be tracked by one tracking beam as a target within the resolution. In the tracking unit 7, it is necessary to perform tracking processing by applying a tracking filter that can track a group of fragments in accordance with an instruction from the tracking control unit 6, and at the same time, to collect a plurality of fragments in the beam with respect to the transmission / reception device 2. An instruction is given to form a minimum tracking beam for transmission and reception. (Step ST6-2). When a certain amount of fragments are targeted, an instruction is given to apply one beam and not use more tracking resources than necessary.

After the determination of separation or blasting, the transmission / reception device 2 performs transmission / reception by forming a tracking beam for a group of a plurality of pieces generated by separation or blasting based on an instruction from the tracking unit 7 (step ST7). The target detection unit 3 detects a target composed of a plurality of pieces of fragments from the received signal based on the detection threshold value changed and set so that the fragments can be detected, and sends the detected target information to the tracking unit 7 (step ST8). ). The tracking unit 7 performs a tracking process on a group of a plurality of pieces, and sends the tracking result data to the transmission / reception unit 2 as well as to the fall range prediction unit 8 (step ST9). The fall range prediction unit 8 calculates a predicted fall range in which the debris may fall based on the tracking result data and the debris information (debris fall pattern) regarding the target rocket in the debris database 10. The predicted fall range is displayed on a map or the like (step ST10).
In the display device 9, the displayed predicted fall range is generally performed for debris such as a fuselage, but if the fallen object contains a substance that accompanies an explosion, such as fixed fuel, it will inherently fall due to the explosion after the fall. It may affect the range exceeding the predicted fall range. Therefore, if the type of object to be dropped (aircraft, fuel tank, fuel type, etc.) can be obtained as prior information, etc., the predicted fall range is limited to the range that considers the explosion after the fall according to the type of the object. You may make it change into the extended thing.

  As can be seen from the flow in FIG. 2, when the first separation / blast determination is performed, normal tracking is performed with the target number being 1, but the target detection data rate (cycle) is short and separation / blasting is performed. If the place is far away from the radar, there is little possibility that the target will spread greatly immediately after separation and blasting. Even if the data rate is long or the separation / blasting location is close to the radar, simulation results simulating the situation in advance in the debris database 10 can be accurate for various conditions. Enables target detection and tracking.

  As described above, according to the first embodiment, the separation / blast determination unit 4 calculates the spectrum on the frequency axis with respect to the target signal detected by the target detection unit 3, and determines the target frequency component. Based on the distribution state, it is determined whether or not the rocket has been separated or blasted. If it is determined that the rocket has been separated or blasted, the threshold control unit 5 determines the size of the fragment based on the fragment information of the target rocket in the fragment database 10. The detection threshold value of the target detection unit 3 is controlled so as to detect a fragment of the estimated size as a target, and the tracking control unit 6 collects the fragments based on the fragment information on the target rocket in the fragment database 10. The tracking filter of the tracking unit 7 is controlled so that it can be tracked with a single tracking beam, and the tracking unit detects the fragment information of the target rocket in the fragment database. Based on this, the tracking filter is changed to the tracking filter corresponding to the group of fragments, and the tracking process is performed, and the transmission / reception device 2 is controlled to form a tracking beam for the group of fragments, and the fall range prediction unit 7 determines the separation or blasting. The predicted fall range of the fragments is calculated and displayed based on the tracking result data corresponding to the subsequent fragments and the fragment information on the target rocket in the fragment database. Therefore, it is possible to detect and track a small object separated from the rocket or a fragmented rocket due to a blast, and to predict the fall range of the separated or fragmented object or fragment. As a result, it is possible to predict the damage situation caused by the fall of debris.

Embodiment 2. FIG.
In the first embodiment, the separation / blasting determination is performed using the received signal of the own radar. In the second embodiment, the information obtained from the rocket control system outside the rocket tracking radar device is used. Describes the determination of separation and blasting.
FIG. 3 is a block diagram showing a functional configuration of a rocket tracking radar apparatus according to Embodiment 2 of the present invention. In the figure, portions corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. In the second embodiment, the rocket control system 11 is connected to the separation / blast determination unit 4 in the radar apparatus.
The rocket control system 11 is a system for monitoring and controlling the launched rocket. Therefore, information on the rocket separated or blown up from the rocket control system 11 can be obtained. The separation / blast determination unit 4 performs the separation / blast determination based on the information on the separated or blasted rocket provided from the rocket control system 11 (FIG. 2. Step ST3). The subsequent processing is the same as in the first embodiment.

  According to the second embodiment, since the information of the separated or blasted rocket provided from the rocket control system 11 is used for the determination of separation / blasting, the rocket control system 11 can accurately monitor and control. Therefore, it is possible to determine separation / blasting more accurately and quickly than in the first embodiment, and the processing scale of the rocket tracking radar device itself can be reduced accordingly. Furthermore, if it is possible to obtain detailed information such as the speed and position of the rocket that has been separated and blasted from the rocket control system 11, information on the actual separation and blasting can be obtained by referring to the fragment database 10. High accuracy tracking and fall prediction are possible.

Embodiment 3 FIG.
In the third embodiment, information indicating separation or blasting generated based on rocket monitoring image information from an image radar device outside the rocket tracking radar device is used as a signal representing the state of rocket separation or blasting. In addition, using separation / blast status information consisting of information representing the scattering status of fragments, performing separation / blast determination, detection threshold change control, and tracking parameter change control will be described.
FIG. 4 is a block diagram showing a functional configuration of a rocket tracking radar apparatus according to Embodiment 3 of the present invention. In the figure, portions corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. In the third embodiment, the image radar device 12 is connected to the separation / blast determination unit 4, the threshold control unit 5, and the tracking control unit 6 in the radar device.
The image radar device 12 is a device that monitors and images a rocket. Collects images of rockets separated or blown up, and separates and blast status information consisting of information indicating that the rockets are separated or blasted and information indicating the state of debris scattering. The blast determination unit 4, threshold control unit 5 and tracking control. Send to part 6. The separation / blast determination unit 4 determines whether separation or blasting has occurred in the rocket based on the separation / blast status information (FIG. 2. Step ST3). When it is determined as separation or blasting, the threshold control unit 5 refers to the fragment database 10 to obtain the fragment information of the target rocket, and considers the scattering state of the fragments in the separation / blasting status information and determines the fragment size. The threshold setting of the target detection unit 3 is controlled so as to detect a fragment having the estimated size as a target (FIG. 2. Step ST6-1). In addition, the tracking control unit 6 is configured so that the tracking unit 7 can track with a single tracking beam targeting a group of fragments based on the fragment information on the target rocket in the fragment database 10 and the scattering state of the fragments of the separation / blast status information. The tracking filter and parameter change are controlled (FIG. 2. Step ST6-2). Subsequent processing is performed in the same manner as in the first embodiment.

  According to the third embodiment, from the information that is given from the image radar device 12 outside the device and that is generated based on the monitoring image information of the rocket and that indicates that it has been separated or blown up and the information that indicates the state of scattering of fragments. Since the separation / blast determination unit 4, the threshold control unit 5 and the tracking control unit 6 are processed using the separation / blast status information as described above, the separation / blast status is more accurately determined than in the second embodiment. In addition, it is possible to perform processing for detection and tracking of fragments with higher accuracy.

Embodiment 4 FIG.
In the fourth embodiment, signal processing is performed in the rocket tracking radar device to obtain image information, and separation / blast determination is performed based on the result.
FIG. 5 is a block diagram showing a functional configuration of a rocket tracking radar apparatus according to Embodiment 4 of the present invention. In the figure, portions corresponding to those in FIG. 1 are denoted by the same reference numerals, and description thereof will be omitted in principle. In the fourth embodiment, an imaging processing unit 13 is provided between the target detection unit 3 and the separation / blast determination unit 4.
The imaging processing unit 13 is a unit that performs imaging processing on the target signal detected by the target detection unit 3 and generates an image of the target being tracked. This imaging process is performed using, for example, a signal processing technique such as SAR (Synthetic Aperture Radar) or ISAR (Inverse SAR). The separation / blast determination unit 4 determines whether separation or blasting has occurred based on the target image generated by the imaging processing unit. When the rocket is separated or blasted, the target image generated by the imaging processing unit 13 is disturbed. Therefore, the separation / blast determination unit 4 determines that separation or blasting has occurred when this image disturbance occurs ( Figure 2. Step ST3). Subsequent processing is performed in the same manner as in the first embodiment.
In addition, when the imaging of the target by the imaging processing unit 13 can be performed with high accuracy, it is possible to check the state of separation or blasting as in the third embodiment. The status of separation and blasting may be sent to the tracking control unit 6 to refer to the fragment database 10 more accurately.

  According to the fourth embodiment, it is possible to determine separation / blasting by imaging only by adding the imaging processing unit 13 to the radar apparatus. Therefore, compared to the first embodiment, the state of separation or blasting can be more accurately determined. Therefore, it is possible to perform processing for detection and tracking of fragments with higher accuracy.

Embodiment 5 FIG.
In each of the above embodiments, tracking is performed by applying a tracking beam to a block of debris. However, if the tracking resource of the rocket tracking radar apparatus has sufficient processing capability, each small target (Debris) may be tracked separately. In that case, as shown in the flow of FIG. 6, the tracking control unit 6 controls the tracking unit 6 to track each small target (debris) with an individual tracking beam when it is determined as separation or blasting. . In the tracking unit 6, when the tracking beam is instructed to the transmission / reception device 2, the tracking unit 6 changes the tracking filter to individually correspond to each small target (debris) and individually tracks each small target (debris). An instruction is given to form a beam (step ST6-2). The transmission / reception device 2 performs transmission / reception by forming an individual beam corresponding to each small target (debris) from the beam irradiated from the antenna device 1 (step ST71). As a result, the tracking unit 6 performs a tracking process for each small target (debris) (step ST91).
Therefore, when the rocket tracking radar apparatus has tracking resources with sufficient processing capability and can perform tracking individually for each target, more accurate tracking and fall prediction are possible.

It is a block diagram which shows the function structure of the rocket tracking radar apparatus by Embodiment 1 of this invention. It is a flowchart which shows the procedure of the process of the target detection and tracking which concerns on Embodiment 1 thru | or 5 of this invention. It is a block diagram which shows the function structure of the rocket tracking radar apparatus by Embodiment 2 of this invention. It is a block diagram which shows the function structure of the rocket tracking radar apparatus by Embodiment 3 of this invention. It is a block diagram which shows the function structure of the rocket tracking radar apparatus by Embodiment 4 of this invention. It is a flowchart which shows the procedure of the process of the target detection and tracking which concerns on Embodiment 5 of this invention.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 1 Antenna apparatus, 2 Transmission / reception apparatus, 3 Target detection part, 4 Separation / blast determination part, 5 Threshold control part, 6 Tracking control part, 7 Tracking part, 8 Fall range prediction part, 9 Display apparatus, 10 Debris database, 11 Rocket Control system, 12 image radar device, 13 imaging processing unit.

Claims (5)

The transmitter / receiver forms a tracking beam via the antenna device to transmit / receive radio waves, the target detection unit detects the target signal from the received signal, and the tracking unit performs tracking processing on the target signal to the next target position The rocket that controls the transmission / reception device to perform tracking with respect to the vehicle, calculates the predicted fall range where the target lands on the basis of the tracking result data of the tracking unit by the fall range prediction unit, and displays it on the display device In tracking radar equipment,
A separation / blast determination unit that determines the separation or blast of the rocket based on a signal indicating the separation or blast status of the target rocket that has been tracked,
Debris database that pre-stores debris information including separation of various rockets, debris size, number, flight direction, speed, drop pattern generated by blasting,
If it is determined as separation or blasting, the size of the target rocket is estimated based on the fragment information of the target rocket in the fragment database, and the detection threshold value of the target detection unit is set so that the estimated size fragment is detected as a target. A threshold control unit for controlling
Tracking that controls the change of the tracking filter of the tracking unit so that it can be tracked by a single tracking beam targeting a group of fragments based on the fragment information on the target rocket in the fragment database when it is determined as separation or blasting A control unit,
The separation / blast determination unit calculates a spectrum on the frequency axis for the target signal detected by the target detection unit, and whether or not separation or blasting has occurred in the target rocket based on the distribution state of the target frequency component Determine whether
According to the control of the tracking control unit, the tracking unit performs tracking processing by changing to a tracking filter corresponding to a group of fragments based on the fragment information of the target rocket in the fragment database, and also tracks the group of fragments. Controlling the transceiver to form a beam,
The fall range prediction unit calculates a predicted fall range of a fragment based on tracking result data corresponding to a group of fragments after separation or blast determination and fragment information regarding the target rocket in the fragment database A rocket tracking radar device.   The separation / blast determination unit determines whether or not a target rocket has been separated or blown based on information on a separated or blasted rocket obtained from a rocket control system outside the device. The described rocket tracking radar device. The separation / blast determination unit is provided by an image radar device outside the device, and includes a separation / explosion information generated based on monitoring image information of the rocket or information indicating that the explosion has occurred and information indicating the state of fragment scattering. Based on the blast status information, determine whether the target rocket has been separated or blown up,
The threshold control unit sets the threshold value of the target detection unit so as to detect as a target a fragment of a size estimated by considering the fragment information of the target rocket from the fragment database and the scattering state of the fragment of the separation / blast status information. Control
The tracking control unit includes a tracking filter of the tracking unit so that a single tracking beam can be used to track a group of fragments based on the fragment information on the target rocket in the fragment database and the scattering state of the fragments in the separation / blast status information. The rocket tracking radar apparatus according to claim 1, wherein the change of the rocket is controlled. An imaging processing unit that performs imaging processing on the target signal detected by the target detection unit and generates an image of the target being tracked,
The rocket tracking radar device according to claim 1, wherein the separation / blast determination unit determines whether separation or blasting has occurred based on a target image generated by the imaging processing unit. When the tracking control unit is determined to be separated or blown up, the tracking unit controls the tracking unit to track each piece with a separate tracking beam instead of tracking a group of pieces with a single tracking beam,
2. The tracking unit is configured to change to a tracking filter individually corresponding to each fragment and to control the transmission / reception apparatus so as to form an individual tracking beam corresponding to each fragment. The rocket tracking radar device according to any one of claims 1 to 4 .

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