JP5117429B2 - Target display device - Google Patents

Description

  The present invention relates to a target display device that is used as a display device such as a radar device and displays a target position.

  2. Description of the Related Art Conventionally, a target display device that is applied to a radar device and transmits various types of information related to a target to an operator is known. For example, as shown in Non-Patent Document 1, this target display device has a function of converting a radar video signal into a display video signal and displaying it, and a function of displaying a result of data processing by a wake processing device or the like. I have.

  FIG. 11 is a block diagram showing a configuration of a conventional target display device. The target display device includes an operation unit 1, a control unit 2, and a display unit 3. The operation unit 1 receives the operation of the operator, generates a control signal corresponding to the operation, and sends the control signal to the control unit 2. The control unit 2 processes the radar video signal input from the outside and the wake data processed by the wake processing device based on the control signal sent from the operation unit 1 and displays it as a display signal on the display unit 3. send. The display unit 3 displays various types of information based on the display signal sent from the control unit 2.

  Next, the operation of the conventional target display device configured as described above will be described. FIG. 12 is a flowchart showing a target display process executed by the target display device. When the target display process is started, first, an estimated value and an error covariance matrix are input (step ST401). That is, the control unit 2 inputs a target estimated value and an error covariance matrix indicating an error of the estimated value from a wake processing device or the like. Next, a screen display method is input (step ST402). That is, information regarding a screen display method is input from the operation unit 1. Information regarding the display method of the screen input from the operation unit 1 is sent to the control unit 2.

  Next, calculation of error range boundary line data is performed (step ST403). That is, the control unit 2 calculates error range boundary line data from the error covariance matrix. Next, conversion into a display video signal is performed (step ST404). That is, the control unit 2 displays the target estimated position data indicated by the estimated value input in step ST401 and the error range boundary line data obtained by calculation in step ST403 on the screen input in step ST402. Convert to display video signal according to method.

  Next, screen display is performed (step ST405). That is, the control unit 2 sends the display video signal obtained in step ST404 to the display unit 3. Thereby, an image is displayed on the screen of the display unit 3. Next, it is checked whether or not the process is finished (step ST406). If it is determined in step ST406 that the process is not completed, the process returns to step ST401 and the above-described process is repeated. On the other hand, if it is determined in step ST406 that the process is finished, the target display process is finished.

  FIG. 13 is a diagram illustrating a display example in the target display device when PPI (Plan Position Indicator) display is designated as a screen display method. Here, the target position (circle mark in FIG. 13) displayed on the target display device includes an error, and the smooth error covariance matrix and the prediction error covariance matrix together with the smooth value and the prediction value from the wake processing device. Is displayed, the operator can obtain detailed information on the target position accuracy by displaying the error range boundary line based on these.

  However, when the entire search range of the radar device is displayed, the error range indicated by the error range boundary line is smaller than the display range, and therefore, as shown in FIG. 14, the error range of each target (in FIG. 14). It is difficult to show a visible dot) that looks like a black dot in a circle.

  In the column of the conventional technique of Patent Document 1, an evaluation apparatus that displays a target predicted position and a target predicted existence range boundary line in addition to the target observation position is shown. A conventional target display device has a range switching function for switching a distance range to be displayed, an off-center display function for designating a position to be displayed at the center of the screen, and a display range centered on the designated position. The zoom display function for magnifying the image is used, and by using these functions, the display described in the column of the prior art in Patent Document 1 can be performed. FIG. 15 shows a display example by the zoom display function, and an ellipse around the target indicated by a circle represents an error range boundary line.

Japanese Utility Model Publication No. 5-19979

Supervised by Takashi Yoshida, revised Radar Technology, IEICE, 1996, pp. 192-201

  As described above, in the conventional target display device, the operator displays the entire search range of the radar device even if the error range boundary line is displayed in order to obtain detailed information on the target position accuracy. In this case, since the error indicated by the error range boundary line is smaller than the display range, it is difficult to visually indicate the error range of each target.

  In addition, when a range switching function, an off-center display function, or a zoom display function is used as a method for obtaining detailed information regarding the target position accuracy with respect to a specific position or target, it is impossible to confirm the entire status of the search range of the radar apparatus. At the same time, there is a problem that detailed information regarding the position accuracy of the target at another position cannot be obtained at the same time.

  Furthermore, when the operator wants to obtain detailed information on the positional accuracy of the moving target, if the target moves outside the off-center display or zoom display screen, the normal display (display that is not off-center display or zoom display) ), And after specifying the position, it is necessary to switch again to off-center display or zoom display, which requires a complicated operation.

  The subject of this invention is providing the target display apparatus which can obtain the detailed information regarding the positional accuracy of a target.

In order to solve the above-described problem, a first invention includes an operation unit for setting a magnification of a target error range boundary, an estimated value of a target input from the outside, and an error covariance matrix indicating an error of the estimated value And a control unit that calculates a target error range boundary line based on the magnification set in the operation unit, and a display unit that displays the target error range boundary line calculated by the control unit, , Processing for changing at least one of the line type or color of the error range boundary line according to the magnification used for calculation of the target error range boundary line, or the magnification used for calculation of the target error range boundary line At least one of the processes to be displayed on the screen is executed .

The second invention is a target display device for displaying a main screen and a sub screen on the same screen, an operation unit for setting a position or a target on the main screen to be displayed on the sub screen, and an external input A control unit that calculates a target error range boundary based on an estimated target value and an error covariance matrix indicating an error of the estimated value and a position or target set by the operation unit; A display unit for displaying the target error range boundary line displayed on the sub-screen, and when the magnification of the target error range boundary line to be displayed on the sub-screen is set by the operation unit, from the outside A target error range boundary line is calculated based on the input target estimated value, an error covariance matrix indicating the error of the estimated value, the position or target set by the operation unit, and the magnification, and the display Section calculated by the control section The error range boundary line is displayed on the sub-screen, and the control unit changes at least one of the line type or color of the error range boundary line according to the magnification used to calculate the target error range boundary line. At least one of processing or displaying the magnification used for calculating the target error range boundary line on the screen of the display unit is executed .

A third invention is a target display device having a plurality of screens, an operation unit for setting a position or a target on another screen to be displayed on a specific screen among the plurality of screens, and a target input from the outside And a control unit that calculates a target error range boundary based on the estimated value of the error, an error covariance matrix indicating an error of the estimated value, and a position or target set by the operation unit, and a target calculated by the control unit A display unit that displays the error range boundary line on a specific screen, and the control unit is input from the outside when a magnification of a target error range boundary line to be displayed on the specific screen is set by the operation unit A target error range boundary line is calculated based on a target estimated value and an error covariance matrix indicating an error of the estimated value, a position or target set by the operation unit, and a magnification, and the display unit Eyes calculated by the control unit The error range boundary line is displayed on the specific screen, and the control unit changes at least one of the line type or color of the error range boundary line according to the magnification used for calculating the target error range boundary line. At least one of processing or displaying the magnification used for calculating the target error range boundary line on the screen of the display unit is executed .

  According to the first aspect, since the target error range boundary line is calculated and displayed based on the target estimation value and error covariance matrix input from the outside and the set magnification, the target position accuracy is obtained. It is possible to provide a target display device that improves the recognizability.

  According to the second invention, it has a main screen and a sub screen, and an estimated value and error covariance matrix of a target input from the outside, a set position or target on the main screen to be displayed on the sub screen, and Therefore, the operator can calculate and display the target error range boundary line, so that the operator can check the overall status of the radar device search range on the main screen and look at the sub screen. Detailed information on the position of the target or the target position accuracy can be obtained. As a result, the operability related to the target position display can be improved.

  According to the third aspect of the present invention, the apparatus has a plurality of screens, and is based on a target estimation value and error covariance matrix input from the outside, and a set position or target on another screen to be displayed on the specific screen. Since the target error range boundary line is calculated and displayed, the position or target on the other screen set by itself is checked by looking at the specific screen while checking the overall status of the radar device search range on the other screen. It is possible to obtain detailed information on the positional accuracy of the. As a result, the operability related to the target position display can be improved.

It is a block diagram which shows the structure of the target display apparatus which concerns on Example 1 of this invention. It is a flowchart which shows the target display process performed with the target display apparatus which concerns on Example 1 of this invention. It is a figure which shows the example of a display in the target display apparatus which concerns on Example 1 of this invention. It is a block diagram which shows the structure of the target display apparatus which concerns on Example 2 of this invention. It is a flowchart which shows the target display process performed with the target display apparatus which concerns on Example 2 of this invention. It is a figure which shows the example of a display in the target display apparatus which concerns on Example 2 of this invention. It is a figure which shows the example of a display in the target display apparatus which concerns on Example 3 of this invention. It is a flowchart which shows the target display process performed with the target display apparatus which concerns on Example 3 of this invention. It is a figure which shows the example of a display in the target display apparatus which concerns on Example 3 of this invention. It is a figure which shows the other example of a display of the target display apparatus which concerns on Example 3 of this invention. It is a block diagram which shows the structure of the conventional target display apparatus. It is a flowchart which shows the target display process performed with the conventional target display apparatus. It is a figure which shows the example of a display when PPI display is designated as a display method to a display part with the conventional target display apparatus. It is a figure which shows the example of a display in a conventional target display apparatus (there is an error range boundary line, and normal display). It is a figure which shows the example of a display in the conventional target display apparatus (there is an error range boundary line, zoom display).

  Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings. In the following description, the same reference numerals as those used in the background art section are used for the portions corresponding to the constituent parts described in the background art section.

  FIG. 1 is a block diagram illustrating a configuration of a target display device according to Embodiment 1 of the present invention. The target display device includes an operation unit 1a, a control unit 2a, and a display unit 3. The operation unit 1a is configured by adding a magnification setting unit 11 to the operation unit 1 of the conventional target display device described in the background art section. The magnification setting unit 11 sets the magnification of the error range boundary line. The magnification set by the magnification setting unit 11 is sent to the control unit 2a.

  The control unit 2a is configured by adding an error range boundary calculation unit 21 to the control unit 2 of the conventional target display device described in the background art section. The error range boundary line calculation unit 21 performs a calculation for multiplying the error range boundary line by k according to the magnification k set by the magnification setting unit 11 of the operation unit 1a. The control unit 2a processes the radar video signal input from the outside and the wake data processed by the wake processing device based on the control signal sent from the operation unit 1a, and displays it on the display unit 3 as a display signal. send.

  Next, the operation of the target display device according to the first embodiment configured as described above will be described. FIG. 2 is a flowchart showing target display processing executed by the target display device. When the target display process is started, first, an estimated value and an error covariance matrix are input (step ST101). That is, the control unit 2a receives the target estimation value and the error covariance matrix from the wake processing device or the like.

  Next, a screen display method is input (step ST102). That is, information related to the display method of the screen is input from the operation unit 1a according to the operation of the operator. Information regarding the display method of the screen input from the operation unit 1a is sent to the control unit 2a. Next, an error range boundary line magnification and the like are input (step ST103). That is, in accordance with the operation of the operator, the magnification of the error range boundary line is input from the magnification setting unit 11 of the operation unit 1a, and information on the display on / off of the error range boundary line is input from the operation unit 1a. . These pieces of information are sent to the control unit 2a.

  Next, it is checked whether or not the boundary line display is “ON” (step ST104). That is, the control unit 2a checks whether or not the information regarding the display on / off of the error range boundary input in step ST103 indicates “ON”. If it is determined in step ST104 that it is not “ON”, the sequence proceeds to step ST106.

  On the other hand, if it is determined in step ST104 that it is “ON”, then error range boundary line data is calculated (step ST105). That is, the error range boundary calculation unit 21 of the control unit 2a displays the error range boundary line based on the magnification input in step ST103, the target estimation value and the error covariance matrix input in step ST101. Data is obtained by calculation.

Here, the estimated value vector X of the target two-dimensional orthogonal coordinates is [p _x , p _y , v _x , v _y ] ^T , and the error covariance matrix P is E [(X−E [X]) (X−E). [X]) ^T ]. p _x , p _y , v _x , and v _y are the x-axis position, the y-axis position, the x-axis speed, and the y-axis speed, respectively, and ^AT is the transposition of the vector A or the matrix A, E [•] indicates an expected value. Also, P (1,1), P (2,2), and P (1,2) shown below are respectively the variance of the x-axis position error, the variance of the y-axis position error, the x-axis and the y-axis. Corresponds to the variance of the position error.

Error range boundary data for the estimation value vector X and the error covariance matrix P of the two-dimensional orthogonal coordinates, the position component p _x of the estimated value vector _X, is calculated as an ellipse centered at p _y, it is set by the operation unit 1a When the magnification of the error range boundary line is k, it is expressed by the following equations (1) to (5).

ここで、ｔｈは、誤差範囲境界線の閾値であり、制御部２ａに予め設定された値を用いるほか、外部または操作部１ａから入力するように構成することができる。また、操作部１ａから閾値パラメータとして、観測値がゲート内に入る確率（下側確率）ｐ_ｌまたは観測値がゲート内に入らない確率（上側確率）ｐ_ｕを入力し、制御部２ａで、カイ二乗分布の逆関数から閾値ｔｈ（＝ｆ^−１（閾値パラメータ，自由度）＝ｆ^−１（下側確率ｐ_ｌまたは上側確率ｐ_ｕ，２））を算出するように構成することができる。上述した演算が終了すると、シーケンスはステップＳＴ１０６に進む。

Here, th is a threshold value of the error range boundary line, and may be configured to be input from the outside or the operation unit 1a in addition to using a value preset in the control unit 2a. Further, as a threshold parameter from the operation unit 1a, the probability that the observation value enters the gate (lower probability) _pl or the probability that the observation value does not enter the gate (upper probability) _pu is input, and the control unit 2a A threshold th (= f ⁻¹ (threshold parameter, degree of freedom) = f ⁻¹ (lower probability p ₁ or upper probability p _u , 2)) can be calculated from the inverse function of the chi-square distribution. . When the above-described calculation ends, the sequence proceeds to step ST106.

In step ST106, conversion into a display video signal is performed. That is, the control section 2a, the display data error range boundary obtained by the estimated position data and step ST105 of target _{[e x (i), e} y (i)], the screen display of the input in step ST102 Convert to display video signal according to method.

  Next, screen display is performed (step ST107). That is, the control unit 2a sends the display video signal obtained in step ST106 to the display unit 3. Thereby, a display is performed on the screen of the display unit 3. Next, it is checked whether or not it is finished (step ST108). If it is determined in step ST108 that the process is not finished, the process returns to step ST101 and the above-described processing is repeated. On the other hand, if it is determined in step ST108 that the process is finished, the target display process is finished.

In the above-described example, the case where the display data of the error range boundary line is given as point data has been described. However, the line segment data [e _x (i), e _y (i), e _x (i + 1), e _y ( i + 1)] can also be provided.

  FIG. 3 is a diagram illustrating a display example in the target display device when PPI display is designated as the screen display method. Here, ◯ indicates the smooth position of each target, and the ellipse drawn with a solid line around the ○ indicates the smooth error range boundary of each target.

  As described above, according to the target display device according to the first embodiment of the present invention, the conventional target display device shown in FIG. 13 could not show the error range of each target in a visible manner. As shown in FIG. 3, this can be improved, and the operator can obtain detailed information on the target position accuracy.

  The control unit 2a can be configured to change at least one of the line type or color of the error range boundary line according to the magnification set by the magnification setting unit 11 of the operation unit 1a. Further, the control unit 2 a can be configured to display the magnification set by the magnification setting unit 11 of the operation unit 1 a on the screen of the display unit 3. Further, only one of these configurations or both may be configured.

  FIG. 4 is a block diagram illustrating a configuration of the target display device according to the second embodiment of the present invention. The target display device includes an operation unit 1b, a control unit 2b, and a display unit 3. The operation unit 1b is configured by adding a sub-screen setting unit 12 to the operation unit 1 of the conventional target display device described in the background art section. The sub screen setting unit 12 sets a position or target on the main screen to be displayed on (the center of) the sub screen. The content set by the sub-screen setting unit 12 is sent to the control unit 2b.

  The control unit 2b is configured by adding a sub-screen error range boundary calculation unit 22 to the control unit 2 of the conventional target display device described in the background art section. The sub-screen error range boundary calculation unit 22 obtains an error range boundary by calculation based on the position or target set by the sub-screen setting unit 12 of the operation unit 1b, and the main screen and the sub-screen are the same screen. Execute the process for displaying on the screen. The control unit 2b processes the radar video signal input from the outside and the wake data processed by the wake processing device based on the control signal input from the operation unit 1b, and sends it to the display unit 3 as a display signal. .

  Next, the operation of the target display device according to the second embodiment configured as described above will be described. FIG. 5 is a flowchart showing a target display process executed by the target display device. When the target display process is started, first, an estimated value and an error covariance matrix are input (step ST201). That is, the control unit 2b receives the target estimation value and the error covariance matrix from the wake processing device or the like.

  Next, the main / sub-screen display method is input (step ST202). That is, information related to the display method of the main screen and the sub screen is input from the operation unit 1b according to the operation of the operator. Information regarding the display method of the main screen and the sub screen input from the operation unit 1b is sent to the control unit 2b.

  Next, the sub-screen display position / target is selected (step ST203). That is, according to the operation of the operator, information on the position on the main screen or the target to be displayed on the sub screen (center) is input from the sub screen setting unit 12 of the operation unit 1b. Information about the position or target input from the sub-screen setting unit 12 of the operation unit 1b is sent to the control unit 2b.

  Next, error range boundary line magnification and the like are input (step ST204). That is, according to the operation of the operator, the magnification of the error range boundary line is input from the operation unit 1b, and information regarding the display on / off of the error range boundary line is input. These pieces of information are sent to the control unit 2b.

  Next, it is checked whether or not the sub-screen display is “ON” (step ST205). That is, the control unit 2b checks whether or not the information related to display on / off of the error range boundary input in step ST203 indicates “on” in the sub-screen display. If it is determined in step ST205 that it is not “ON”, the sequence proceeds to step ST207.

  On the other hand, if it is determined in step ST205 that it is “ON”, then error range boundary line data is calculated (step ST206). That is, the sub-screen error range boundary calculation unit 22 of the control unit 2b relates to the magnification of the error range boundary input in step ST204, and the position or target input from the sub-screen setting unit 12 of the operation unit 1b in step ST203. Based on the information and the target estimation value and error covariance matrix input in step ST201, display data of the error range boundary line is obtained by calculation. This calculation is the same as the calculation performed by the target display device according to the first embodiment described above. Thereafter, the sequence proceeds to step ST207.

In step ST207, conversion into a display video signal is performed. That is, the control unit 2b is mainly the display data error range boundary obtained by calculating the estimated position data and step ST206 of the target _{[e x (i), e} y (i)] was input in step ST202 According to the display method of the screen and sub-screen, it is converted into a display video signal.

  Next, main / sub-screen display is performed (step ST208). That is, the control unit 2b sends the display video signal obtained in step ST207 to the display unit 3. As a result, images are displayed on the main screen and the sub screen of the display unit 3. Next, it is checked whether or not it is finished (step ST209). If it is determined in step ST209 that the process is not finished, the process returns to step ST201 and the above-described processing is repeated. On the other hand, if it is determined in step ST209 that the process has ended, the target display process ends.

  FIG. 6A is a diagram illustrating a display example on the target display device when PPI display is designated as the screen display method. Here, the ○ mark displayed on the main screen and the sub screen indicates the smooth position of each target, and the ellipse drawn with a solid line around the ○ mark displayed on the sub screen is the target smooth error range boundary line Indicates.

  When two or more positions or targets to be displayed on the sub-screen (center) are set, as shown in FIG. 6B, the number of sub-screen areas is automatically increased and divided. Each of the screens can be configured to display two or more set positions or targets. According to this configuration, it is possible to obtain detailed information regarding the positional accuracy of a plurality of targets.

  As described above, according to the target display device according to the second embodiment, the operator views the sub screen as in the conventional zoom display while confirming the entire status of the search range of the radar device on the main screen. Thus, it is possible to obtain detailed information regarding the position on the main screen set by itself or the target position accuracy.

  In the target display device according to the second embodiment described above, when a target is set as an object to be displayed on the sub-screen from the operation unit 1b, the target position is displayed on the sub-screen with the target position being substantially the center. be able to. Thereby, even if the target moves, the set position accuracy of the target and the situation in the vicinity of the target can be continuously displayed without performing complicated operations.

  Further, the target display device according to the second embodiment is configured to display the error range boundary line only on the sub-screen, but the error range boundary line is also displayed on the main screen as in the first embodiment. And the magnification of the error range boundary line can be changed independently of the sub-screen.

  FIG. 7 is a block diagram illustrating the configuration of the target display device according to the third embodiment of the present invention. The target display device includes an operation unit 1c, a control unit 2c, and a display unit 3a. The display unit 3a includes a first screen display unit 31 that displays a first screen and a second screen display that displays a second screen. Part 32. The first screen corresponds to another screen of the present invention, and the second screen corresponds to the specific screen of the present invention.

  The operation unit 1b is configured by adding a second screen setting unit 13 to the operation unit 1 of the conventional target display device described in the background art section. The second screen setting unit 13 sets a position or target on the first screen to be displayed on the second screen display unit 32 (center thereof). The position or target set by the second screen setting unit 13 is sent to the control unit 2c.

  The control unit 2c is configured by adding a second screen error range boundary calculation unit 23 to the control unit 2 of the conventional target display device described in the background art section. The second screen error range boundary calculation unit 23 calculates an error range boundary by calculation based on the position or target set by the second screen setting unit 13 of the operation unit 1c, and the second screen display unit 32. The process which produces | generates the 2nd screen displayed on is performed. The control unit 2c processes the radar video signal input from the outside and the wake data processed by the wake processing device based on the control signal input from the operation unit 1c, and sends it to the display unit 3a as a display signal. .

  Next, the operation of the target display device according to the third embodiment configured as described above will be described. FIG. 8 is a flowchart showing a target display process executed by the target display device. When the target display process is started, first, an estimated value and an error covariance matrix are input (step ST301). That is, the control unit 2c receives a target estimation value and an error covariance matrix from a wake processing device or the like.

  Next, the display method of the first screen / second screen is input (step ST302). That is, according to the operation of the operator, information related to the screen display method of the first screen display unit 31 and the second screen display unit 32 is input from the operation unit 1c. Information regarding the display method of the screen input from the operation unit 1c is sent to the control unit 2c.

  Next, the second screen display position / target is selected (step ST303). That is, according to the operation of the operator, information on the position or target on the first screen display unit 31 displayed on the second screen display unit 32 (center) is input from the second screen setting unit 13 of the operation unit 1c. Is done. Information on the position or target input from the operation unit 1c is sent to the control unit 2c.

  Next, error range boundary line magnification and the like are input (step ST304). That is, according to the operation of the operator, information regarding the magnification of the error range boundary line is input from the operation unit 1c, and information regarding display on / off of the error range boundary line is input. These pieces of information are sent to the control unit 2c.

  Next, it is checked whether or not the second screen display is “ON” (step ST305). That is, the control unit 2c checks whether or not the information related to display on / off of the error range boundary input in step ST303 indicates “on” in the second screen display. If it is determined in step ST305 that it is not “ON”, the sequence proceeds to step ST307.

  On the other hand, if it is determined in step ST305 that it is “ON”, then error range boundary line data is calculated (step ST306). That is, the second screen error range boundary calculation unit 23 of the control unit 2c is the magnification of the error range boundary input in step ST304, information on the position or target input from the second screen setting unit 13 in step ST303, In addition, based on the target estimation value and the error covariance matrix input in step ST301, error range boundary line data is calculated. This calculation is the same as the calculation performed by the target display device according to the first embodiment described above. Thereafter, the sequence proceeds to step ST307.

In step ST307, conversion into a display video signal is performed. That is, the control unit 2c receives the target estimated position data and the error range boundary line data [e _x (i), e _y (i)] obtained by the calculation in step ST306 in the first screen input in step ST302. / Convert to display video signal according to display method of second screen.

  Next, the first screen / second screen display is performed (step ST308). That is, the control unit 2c sends the display video signal obtained in step ST307 to the display unit 3. Thereby, an image is displayed on the 1st screen display part 31 and the 2nd screen display part 32 of the display part 3a. Next, it is checked whether or not it is finished (step ST309). If it is determined in step ST309 that the process is not finished, the process returns to step ST301 and the above-described processing is repeated. On the other hand, when it is determined in step ST309 that the process is finished, the target display process is finished.

  FIG. 9 is a diagram illustrating a display example on the second display screen unit 32 of the target display device when PPI display is designated as the screen display method. Here, a circle indicates a target smooth position, and an ellipse drawn with a solid line around the circle indicates a target smooth error range boundary. The straight line drawn from the ○ mark connects the current smooth position and the predicted position at the next observation, and the ellipse drawn with a dotted line around the predicted position at the next observation is the next observation. A residual error range boundary line (corresponding to the target prediction existence range boundary line shown in Patent Document 1) representing a range in which correlation can sometimes be obtained is shown.

  As described above, according to the target display device according to the second embodiment, the operator can check the overall status of the search range of the radar device on the first screen display unit 31 as in the conventional zoom display. By looking at the second screen display unit 32, it is possible to obtain detailed information regarding the position on the screen of the first screen display unit 31 set by itself or the target position accuracy.

  When two or more positions or targets to be displayed on (the center of) the second screen display unit 32 are set, the number of screen divisions of the second screen display unit 32 is automatically increased as shown in FIG. Further, two or more set positions or targets can be displayed on each of the divided screens. The circles in each screen shown in FIG. 10 indicate the target smooth position, and the ellipses drawn with solid lines around the circles indicate the target smooth error range boundary. According to this configuration, it is possible to obtain detailed information regarding the positional accuracy of a plurality of targets.

  In the target display device according to the third embodiment, the example in which the display unit 3a is configured by two screen display units has been described. However, the display unit 3a may be configured by two or more screen display units.

  Further, in the target display devices according to the first to third embodiments described above, the control unit, as the error range boundary line, the observation error range boundary line calculated from the smooth value or the predicted value and the observation error covariance matrix, Smooth error range boundary calculated from smooth value and smooth error covariance matrix, prediction error range boundary calculated from prediction value and prediction error covariance matrix, residual calculated from prediction value and residual covariance matrix It can be configured to select and display at least one of the error range boundary lines. In this case, at least one of the line type and the color can be changed for each error range boundary line.

  The present invention can be used as a target display device such as a radar device or a sonar device.

1, 1a, 1b, 1c Operation unit 2, 2a, 2b, 2c Control unit 3, 3a Display unit 31 First screen display unit 32 Second screen display unit 11 Magnification setting unit 12 Sub-screen setting unit 13 Second screen setting unit 21 Error range boundary calculation unit 22 Sub-screen error range boundary calculation unit 23 Second screen error range boundary calculation unit

Claims (8)

An operation unit for setting the magnification of the target error range boundary line;
A control unit that calculates a target error range boundary line based on an externally input target estimation value and an error covariance matrix indicating an error of the estimation value, and a magnification set in the operation unit;
A display unit for displaying a target error range boundary calculated by the control unit;
Equipped with a,
The control unit performs processing for changing at least one of the line type or color of the error range boundary line according to the magnification used for calculating the target error range boundary line, or a magnification used for calculating the target error range boundary line A target display device that executes at least one of processes for displaying a message on the screen of the display unit. A target display device that displays a main screen and a sub-screen on the same screen,
An operation unit for setting a position or a target on the main screen to be displayed on the sub-screen;
A control unit that calculates a target error range boundary line based on a target estimated value input from the outside, an error covariance matrix indicating an error of the estimated value, and a position or target set by the operation unit;
A display unit for displaying a target error range boundary calculated by the control unit on the sub-screen;
Equipped with a,
When the magnification of the target error range boundary line to be displayed on the sub-screen is set by the operation unit, the control unit inputs an estimated value of the target input from the outside and an error covariance matrix indicating an error of the estimated value And the target error range boundary line based on the position or target set in the operation unit and the magnification,
The display unit displays the target error range boundary calculated by the control unit on the sub-screen,
The control unit performs processing for changing at least one of the line type or color of the error range boundary line according to the magnification used for calculating the target error range boundary line, or a magnification used for calculating the target error range boundary line A target display device that executes at least one of processes for displaying a message on the screen of the display unit. A target display device having a plurality of screens,
An operation unit for setting a position or target on another screen to be displayed on a specific screen among the plurality of screens;
A control unit that calculates a target error range boundary line based on a target estimated value input from the outside, an error covariance matrix indicating an error of the estimated value, and a position or target set by the operation unit;
A display unit for displaying a target error range boundary calculated by the control unit on the specific screen;
Equipped with a,
When the magnification of a target error range boundary line to be displayed on the specific screen is set by the operation unit, the control unit is an error estimate covariance matrix indicating an estimated target value input from the outside and an error of the estimated value And a target error range boundary line based on the position or target set in the operation unit and the magnification,
The display unit displays the target error range boundary calculated by the control unit on the specific screen,
The control unit performs processing for changing at least one of the line type or color of the error range boundary line according to the magnification used for calculating the target error range boundary line, or a magnification used for calculating the target error range boundary line A target display device that executes at least one of processes for displaying a message on the screen of the display unit. When a plurality of positions or targets are set by the operation unit, the control unit divides the sub-screen or the specific screen as a display destination into a plurality of error ranges, and displays a plurality of target error ranges displayed on each of the divided screens. Calculate the boundary line,
  The target display device according to claim 2, wherein the display unit displays a plurality of target error range boundary lines calculated by the control unit on a plurality of divided screens, respectively. 5. The display unit according to claim 2, wherein, when a target is set by the operation unit, the display unit displays the target at substantially the center of the sub-screen or the specific screen that is the display destination. The target display device according to any one of the preceding claims. The control unit, as an error range boundary line, as an error range boundary line calculated from a smooth value or predicted value and an observation error covariance matrix, a smooth error range boundary line calculated from a smooth value and a smooth error covariance matrix, Selecting and displaying at least one of a prediction error range boundary calculated from a prediction value and a prediction error covariance matrix and a residual error range boundary calculated from a prediction value and a residual covariance matrix; The target display device according to any one of claims 1 to 5. The target display device according to claim 6, wherein the control unit displays at least one of a line type and a color for each error range boundary line. The control unit is based on a target error range boundary threshold value input from the outside or the operation unit, or a target error range boundary threshold value calculated from a threshold parameter set in the operation unit, 6. The target display device according to claim 1, wherein a magnification of a target error range boundary line is adjusted.

Images