JP6001980B2 - Visible relationship deriving method, visible relationship deriving device, and visible relationship deriving program - Google Patents

Description

  The present invention relates to a visible relationship deriving method, a visible relationship deriving device, and a visible relationship for deriving a visible relationship such as whether or not an aircraft (self-machine) is visible (exposed) to a target to be attacked. It relates to the derivation program.

  Non-guided bullets such as rockets and guns are mounted on combat aircraft such as rotary wing aircraft (helicopters) to destroy threats (targets) existing on the ground. Since the rotary wing aircraft attacks the target in the air, the aircraft and the target are located on the map, and the terrain between the aircraft and the target is changed. You have to figure out if

  Thus, a technique is disclosed in which not only the own device and the target are displayed on the map, but also the target and the probability of destroying the target are visualized on the map (for example, Patent Document 1). There is also known a technique for specifying the position of the own machine in the topographic map and displaying a visual instruction of the topographic map that is a threat to the own machine (for example, Patent Document 2).

Japanese Patent No. 3553446 Patent No. 3025969

  However, in order to capture the target within the range of the aircraft, the aircraft must also approach the target, and if the aircraft is exposed (viewed) to the target, it may be attacked. is there. In particular, aircraft is difficult to camouflage with its background (sky) at positions where the background is empty, unlike ground targets. When attacking a target, the aircraft Is likely to be exposed.

  Therefore, for example, attacks using topographic undulations (terrain), such as moving or waiting while hiding in the shade so as not to enter the field of view of the target, or attacking the target at a position where the background is a mountain surface Becomes effective. However, since the selection of such an attack position is conventionally left to the pilot, the optimum attack position may not be selected depending on the individual pilot's ability and experience.

  Therefore, in view of such problems, the present invention makes it possible for the pilot to objectively and accurately grasp the visual relationship between the aircraft and the target, and to select an appropriate attack position. It is an object to provide a relationship deriving device and a visible relationship deriving program.

In order to solve the above-mentioned problem, the visual relationship deriving method of the present invention relates to any two target points on an arbitrary straight line extending from the target onto the horizontal plane, and the distance between the two target points and the target, and Deriving the angle between the connection between the elevation point corresponding to the elevation of the two target points and the target and the horizontal plane, and the distance to the target based on the distance and angle between the target of the two target points A target with a long distance to the target is determined by determining whether the elevation point of the target point with a long distance is visible to the target object based on the positional relationship with the elevation point of the target point with a short distance to the target object. If the elevation point of the point is not visible to the target, the elevation point of the target point that is further away from the target is the elevation point of the target point that is further away from the target on the straight line. When the aircraft ascends to a position where the target can visually recognize the target Aircraft and judging whether the visible state of the background of the earth with respect to target.

In order to solve the above-described problem, the visual relationship deriving device of the present invention relates to any two target points on an arbitrary straight line extending on the horizontal plane from the target, and the distance between the two target points and the target, and Based on the angle derivation unit that derives the angle between the connection between the elevation point corresponding to the elevation of the two target points and the target and the horizontal plane, and the distance and angle between the target of the two target points, the target Determine whether the elevation point of the target point with a long distance to the object is visible to the target object based on the positional relationship with the elevation point of the target point with a short distance to the target object. If the elevation point of an object point with a long distance does not become visible to the target object, the elevation point of the object point with a long distance to the target object is an object point with a longer distance to the target object on a straight line. To the position where the aircraft can see the target by the positional relationship with the altitude point of When above, characterized in that it comprises a visible determination unit to determine whether the visible state of the background of the earth with respect to aircraft target, the.

In order to solve the above-described problem, the visual relationship derivation program according to the present invention relates to any two target points on an arbitrary straight line extending from the target object on the horizontal plane, and between the two target points and the target object. Based on the distance, the angle deriving unit for deriving the angle between the connection between the elevation point corresponding to the elevation of the two target points and the target and the horizontal plane, and the distance and the angle between the target of the two target points Then, determine whether the elevation point of the target point with a long distance to the target is visible with respect to the target according to the positional relationship with the elevation point of the target point with a short distance to the target. If the altitude point of the target point with a long distance to the object is not visible with respect to the target object, the altitude point of the target point with a long distance to the target object will further increase the distance to the target object on the straight line. Due to the positional relationship between the long target point and the elevation point, the aircraft When it surfaced to a position that is visible to, to function as a visible determination unit to determine whether the visible aircraft has a background ground against target.

  According to the present invention, the pilot can be made to objectively and accurately grasp the visual relationship between the aircraft and the target object, so that an appropriate attack position can be selected.

It is a functional block diagram which shows the schematic structure of an aircraft. It is the flowchart which showed the flow of the process of the visual relationship derivation method. It is the top view which showed the target object and the surrounding topography. It is explanatory drawing for demonstrating the tangent of an object point. It is explanatory drawing for demonstrating the process of a one-way specific | specification part. It is explanatory drawing for demonstrating the specific procedure of the target point with respect to arbitrary 1 straight lines. It is the vertical sectional view which illustrated the undulation of the topography in a straight line. It is explanatory drawing which showed the kind for identifying the visible relationship of an own machine and a target object. It is explanatory drawing reflecting the result of the individual determination. It is explanatory drawing reflecting the result of the individual determination. It is explanatory drawing reflecting the result of the individual determination. It is explanatory drawing reflecting the result of the individual determination. It is explanatory drawing which showed the visible relationship in the whole top view. It is explanatory drawing which showed the kind for identifying the visible relationship of an own machine and a target object. It is explanatory drawing which shows the conversion procedure from the separate determination of visual relationship to comprehensive determination.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. The dimensions, materials, and other specific numerical values shown in the embodiments are merely examples for facilitating the understanding of the invention, and do not limit the present invention unless otherwise specified. In the present specification and drawings, elements having substantially the same function and configuration are denoted by the same reference numerals, and redundant description is omitted, and elements not directly related to the present invention are not illustrated. To do.

(Aircraft 100)
FIG. 1 is a functional block diagram showing a schematic configuration of aircraft 100. Here, a rotary wing aircraft (helicopter) is illustrated as the aircraft 100. Then, in order to move the aircraft 100 to an appropriate attack position for attacking the target 102 to be attacked, a visibility relationship is derived, such as whether or not the aircraft is visible (exposed) to the target. Show the pilot. The aircraft 100 includes an information acquisition unit 110, a central control unit 112, a flight mechanism 114, and a non-guided bullet firing mechanism 116. Here, only the configuration necessary for the present embodiment will be described, and the description of the configuration not related to the present embodiment will be omitted.

  The information acquisition unit 110 includes a communication unit 110a, an operation unit 110b, a sensor 110c, a display unit 110d, and the like. The communication unit 110a communicates with ground equipment in flight or on land (on board) using a data link technique such as broadcast-type automatic dependent surveillance (ADS-B). The operation unit 110b includes a control stick, operation keys, a touch panel, and the like, and accepts pilot operation inputs. In the present embodiment, information such as the position of the target 102 is acquired through the communication unit 110a or the operation unit 110b. The sensor 110c detects a current flight state such as a flight position (including longitude, latitude, altitude), aircraft speed, aircraft attitude, wind force received by the aircraft, wind direction, weather, atmospheric pressure, temperature, and humidity around the aircraft. The display unit 110d is configured by a liquid crystal display, an organic EL (Electro Luminescence) display, and the like, displays a part of various information acquired through the communication unit 110a, the operation unit 110b, the sensor 110c, and the like, and transmits it to the pilot.

  The central control unit 112 is configured by a semiconductor integrated circuit including a central processing unit (CPU), a ROM storing programs, a RAM as a work area, and the like, and manages and controls the entire aircraft 100. Further, the central control unit 112 functions as a mesh generation unit 120, an angle derivation unit 122, a one-direction specification unit 124, a visibility determination unit 126, a completion determination unit 128, and a map reflection unit 130.

  The flight mechanism 114 is composed of a rotor blade (main rotor) at the upper part of the fuselage and an internal combustion engine (for example, a jet engine or a reciprocating engine) that obtains a propulsive force. Maintain the surface that has surfaced. However, the mechanism for generating lift is not limited to this, and it is also possible to obtain lift around the fixed wing by propulsion.

  After the aircraft 100 reaches an appropriate attack position, the non-guided bullet firing mechanism 116 launches a non-guided bullet such as a rocket or a gun to the target 102 in accordance with the pilot's operation.

  In such an aircraft 100, it is necessary to make an attack using terrain ups and downs (terrain) such as moving or waiting while hiding in the shade so as not to be exposed to the target object 102, or attacking at a position where the background is a mountain surface. It becomes. Conventionally, such an attack position selection decision has been left to the pilot, but in the present embodiment, the visual relationship between the aircraft (aircraft 100) and the target object 102 is objectively derived and displayed over the map. Displayed on the section 110d. In this way, the pilot can be made to objectively and accurately grasp the visual relationship between the aircraft and the target, and can select an appropriate attack position. Here, in particular, it is an object to derive a position where the aircraft 100 can stand by while hiding in the shade, and the background becomes a mountain surface during an attack.

  In order to realize this object, each functional unit of the central control unit 112 operates as follows. The mesh generation unit 120 divides the plan view around the target object 102 into a mesh, and generates a plurality of meshes and target points. The angle deriving unit 122 derives, for a plurality of target points, the distance between the target point and the target object 102 and the angle between the connection between the altitude point corresponding to the altitude of the target point and the target object 102 and the horizontal plane. However, in this embodiment, a tangent corresponding to an angle is used. The one-direction specifying unit 124 specifies a straight line to be calculated that is extended from the target object 102. Based on the distance and angle between any two target points with respect to the target object 102, the visibility determining unit 126 is configured such that the altitude point of the target point with the long distance to the target object 102 is the short distance with the target object 102. Whether or not the target object 102 is visible is determined based on the positional relationship between the point and the elevation point. The completion determination unit 128 determines whether or not such processing has been completed for all assumed straight lines. The map reflection unit 130 superimposes the derived visual relationship on the map and displays it on the display unit 110d. The detailed operation of each functional unit will be specifically described below.

(Visibility relationship derivation method)
FIG. 2 is a flowchart showing the flow of processing of the visible relationship deriving method. Here, when the target object 102 is set, the visual relationship between the own machine and the target object 102 is derived according to the flowchart of FIG. 2 and displayed together with the map.

(Mesh generation process S1)
FIG. 3 is a plan view 150 showing the target object 102 and the surrounding terrain. Curve 152 shown in plan view 150 shows contour lines. Further, in the description of FIG. 3 and the following drawings, the relative positions with respect to the drawings are shown by up, down, left, and right when the drawing is viewed from the front.

  For example, the mesh generation unit 120 cuts the topographic map into a square having a side of 1 km centered on the target 102 and forms a plan view 150. Then, the mesh generation unit 120 divides the plan view 150 into a mesh shape in which the distance between the intersections is 50 m, and defines the area divided into the mesh shape as a mesh that is a minimum unit to be calculated. Here, the mesh is shown as a 50 m × 50 m square, but is not limited thereto, and may be a rectangle or a polygon.

  In subsequent calculations, a point (hereinafter referred to as “target point”) 154 that is a representative of the divided mesh is assumed to be a point at the upper left corner of the mesh (indicated by a white circle in FIG. 3). By defining the target point 154 in this way, the altitude of each point in the mesh is considered to be equal to the target point, and the entire mesh is indicated by a flat surface that makes the altitude equal to the target point. Since the upper left corner of the mesh is the target point 154, the target point 154 does not exist in the line segment extending vertically at the right end of the plan view 150 and the line segment extending left and right at the lower end.

…（数式１）

…（数式２）
ここでは、角度の代わりに正接を求めている。これは、２つの角度を比較したときの大小関係が正接の大小関係と等しく、また、後述する数式８や数式９の計算において、正接ｔａｎθの値をそのまま利用することができるからである。ただし、正接に限らず、角度そのもので表してもよい。 (Angle derivation process S2)
FIG. 4 is an explanatory diagram for explaining the tangent of the target point 154. The angle deriving unit 122 is tangent tan θ with respect to all the target points 154 in the plan view 150, where θ is the angle formed by the connection between the altitude point corresponding to the altitude of the target point 154 and the target 102 and the horizontal plane. And the distance from the target point 154 to the target object 102 is associated with each target point. The tangent tan θ is represented by a trigonometric function of the distance l between the target point 154 and the target object 102 and the vertical altitude z of the target point 154 as shown in the following formula 1. The distance l between the target point 154 and the target object 102 depends on the distance x between the target point 154 and the target object 102 in the horizontal direction and the distance y between the target point 154 and the target object 102 as shown in Equation 2 below. Can be represented.

... (Formula 1)

... (Formula 2)
Here, the tangent is obtained instead of the angle. This is because the magnitude relationship when the two angles are compared is equal to the magnitude relationship of the tangent, and the value of the tangent tan θ can be used as it is in the calculation of Equations 8 and 9 described later. However, not only the tangent but also the angle itself may be used.

(One-way identification process S3)
FIG. 5 is an explanatory diagram for explaining the processing of the one-direction specifying unit 124. The one-direction specifying unit 124 sequentially sets the target point D154 corresponding to the peripheral end and the target in order in the clockwise direction as indicated by white arrows in FIG. 5 for all target points 154 corresponding to the peripheral end of the plan view 150. A straight line 160 in one direction connecting the objects 102 is temporarily set, and a plurality of target points 154 corresponding to the straight line are specified.

  FIG. 6 is an explanatory diagram for explaining a procedure for identifying the target point 154 with respect to an arbitrary one straight line 160. In the present embodiment, since the calculation is performed on the target point 154, the one-direction specifying unit 124 first specifies the target point 154 close to the straight line 160. Here, as shown in FIG. 6, one target point 154 is arbitrarily selected from the target points 154 corresponding to the peripheral edges, and the coordinates of the target point 154 are defined as (i, j) = (0, 0). To do. Then, from the target point 154 to the target object 102, i (i = 0 to 8) is defined in the left-right direction in FIG. 6, and j (j = 0 to 10) is defined in the vertical direction.

…（数式３）

…（数式４）

…（数式５）

…（数式６）
ただし、ｉｎｔは整数への変換関数であり、ここでは導出された値に０．５を加え、小数以下の値を切り捨てることで、小数点の四捨五入を実現している。 The one-direction specifying unit 124 first determines which of the distance x in the left-right direction between the target point 154 and the target object 102 and the distance y in the vertical direction between the target point 154 and the target object 102 is longer. And when x is long (x> y), j which should become the object point 154 is derived | led-out using the following Numerical formula 3 and Numerical formula 4 on the basis of i. Also, when y is long (x ≦ y), the following equation 5 and equation 6 are used to derive i that should be the target point 154 with reference to j. The reason why the cases are divided in this way is to prevent the aspect ratio Ratio shown in Equation 3 and Equation 5 from exceeding 1 (numerator ≦ denominator).

... (Formula 3)

... (Formula 4)

... (Formula 5)

... (Formula 6)
Here, int is a conversion function to an integer, and here, 0.5 is added to the derived value, and the value below the decimal is rounded down to realize rounding of the decimal point.

…（数式７）
したがって、ｊ＝１において左右に延びる線分上で、直線１６０に最も近い対象点１５４は、ｉ＝１（（ｉ，ｊ）＝（１，１））となることが分かる。かかる対象点１５４は、図６に示した黒丸１５４ａの位置となる。また、同様に、ｊ＝２〜９に対応するｉの値を求めると図６にそれぞれ示した黒丸の位置（目標物１０２を除く）が順次導き出される。 In the example of FIG. 6, since x ≦ y, Expression 5 and Expression 6 are used, and the aspect ratio Ratio = 400/500 = 4/5. For example, substituting j = 1 into Equation 6 yields Equation 7 below.

... (Formula 7)
Therefore, it can be seen that the target point 154 closest to the straight line 160 on the line segment extending left and right at j = 1 is i = 1 ((i, j) = (1,1)). Such a target point 154 is the position of the black circle 154a shown in FIG. Similarly, when the value of i corresponding to j = 2 to 9 is obtained, the positions of the black circles (excluding the target object 102) shown in FIG. 6 are sequentially derived.

(Visibility determination processing S4)
FIG. 7 is a vertical cross-sectional view illustrating terrain undulations on the straight line 160. The target point 154 corresponding to j = 1 to 9 obtained above, the target point (i, j) = (0, 0) as the base point, and the target point (i, j) = (8, 10) as the target object 102 7) When each altitude z is projected onto the vertical plane of the straight line 160, the result is as shown in FIG. Here, the projection indicates that the altitude z of the target point 154 is reflected as the altitude z of the intersection of the line 160 passing through the target point 154 and perpendicular to the straight line 160.

  As can be understood with reference to FIG. 7, the visible relationship between the own aircraft and the target object 102 varies depending on the terrain. For example, there may be an area where the aircraft 100 is exposed to a target object, or there may be an area where the aircraft 100 can stand by while hiding in the shade. In particular, when you can wait while hiding in the shade, even if you rise to the exposure position, if the background becomes a mountain surface, it is less exposed to the target object 102 than the case where the background is empty, and attacks at the optimal attack position. be able to. Here, the mesh of the plan view 150 is associated with five regions so that the pilot can easily grasp the visual relationship between the own device and the target object 102.

  FIG. 8 is an explanatory diagram showing types for identifying the visible relationship between the own device and the target object 102, and FIGS. 9 to 12 are explanatory diagrams reflecting the results of individual determination.

  Referring to FIG. 8, in the present embodiment, finally, the mesh of the plan view 150 is identified into five regions. A region 1 is a region exposed from the target 102 and indicates a region that cannot be used as a background (for example, a mountain surface). Area 2 is a mountain shade, but is less than 150 ft from the ground to the exposure altitude (exposure altitude), and the aircraft 100 cannot stably maintain the spatial position (cannot hover). Region 3 is a shaded region and is 150 ft or more from the ground to the exposure altitude, and the aircraft 100 can stably maintain a spatial position. However, when the target 102 is lifted up to a position where the target 102 can be visually recognized at the time of attack, the background becomes empty and is exposed. The area 4 is an area that is exposed from the target 102 as in the case of the area 1 but can be used as a background (for example, a mountain surface). Region 5 is the same as region 3 and is in the shade, and is 150 ft from the ground to the exposure altitude. Aircraft 100 can stably maintain the spatial position, and has surfaced to a position where target 102 can be seen at the time of attack. However, the background is a mountain surface and it is difficult to be exposed to the target 102.

  Here, 150 ft for determining the judgment position from the ground to the exposure altitude is obtained by adding the height of planting on the ground (50 ft) to the height at which the aircraft 100 can stably maintain the spatial position (100 ft). Value. In addition, the background of the mountain becomes a condition that it is 100 ft or more from the exposure altitude to the altitude of the mountain surface (the altitude at which the background is empty).

  At this time, the order suitable for the attack position is region 5> region 3> region 2> region 4> region 1.

  Here, the target point 154 in the straight line 160 as shown in FIG. 7 is determined based on FIG. 8, and the mesh corresponding to the target point 154 is identified in each region.

  First, the visibility determining unit 126 determines that the altitude point of the target point 154 having a long distance from the target object 102 is the target object based on the distance and angle (here, tangent) between the two target points 154 and the target object 102. Whether or not the object 102 is visible is determined based on the positional relationship between the target point 154 and the altitude point having a short distance from the target 102.

  Specifically, the visibility determination unit 126 extracts the target points 154 shown in FIG. 7 in order from the target 102 and determines whether the elevation point of the arbitrary target point 154 is visible with respect to the target 102. . That is, it is determined whether or not the target point 154 closer to the target object 102 than the arbitrary target point 154 has a tangent greater than the tangent of the arbitrary target point 154. The visibility determining unit 126 sets the mesh of the target point 154 as the region 1 when the target point 154 having a large tangent does not exist, and sets the mesh of the target point 154 as the region 2 when the target point 154 having a large tangent exists. . Then, as shown in FIG. 9A for the vertical sectional view and as shown in FIG. 9B for the plan view 150, the mesh of the target point 154 specified by the one-direction specifying unit 124 is the region 1 and region 2. Identified.

…（数式８）
すると、鉛直断面図は図１０（ａ）のように、平面図１５０は図１０（ｂ）のように、領域２が、地上から暴露高度までの距離が１５０ｆｔ未満の領域２と、１５０ｆｔ以上の領域３とに識別される。 Next, the visibility determination unit 126 determines the distance from the ground to the exposure altitude with respect to the target point 154 (mesh) determined to be the region 2, and replaces the region of 150 ft or more with the region 2 to the region 3. The distance h to the exposure altitude is 1 for the target point 154 determined to be the region 2 from the target 102, tan θ for the tangent, and the tangent of the target points 154 closer to the target 102 than the target point 154. When the tangent of the largest target point 154 is tan θ _max , it can be expressed by the following Equation 8.

... (Formula 8)
Then, the vertical sectional view is as shown in FIG. 10 (a), and the plan view 150 is as shown in FIG. 10 (b). Region 2 is a region 2 where the distance from the ground to the exposure height is less than 150 ft, and more than 150 ft. The region 3 is identified.

  Next, the visibility determining unit 126 determines whether or not there is a region determined to be the region 3 at the target point 154 closer to the target object 102 than the target point 154 determined to be the region 1, and it is determined that there is the region 3. Then, the region is replaced with region 1 to region 4. Then, as shown in FIG. 11A, the vertical sectional view is as shown in FIG. 11A, and as shown in FIG. 11B, the plan view 150 is identified as the area 1 that cannot be used as the background and the area 4 that can be used as the background. The

  Finally, when the elevation point of the target point having a long distance from the target object 102 is not visible with respect to the target object 102, the visibility determining unit 126 further increases the altitude of the target point 154 having a long distance from the target object 102. It is determined whether or not the point is in a visible state with the ground as a background with respect to the target object 102 based on the positional relationship with the altitude point of the target point 154 having a longer distance from the target object 102 on the straight line.

…（数式９）
すると、鉛直断面図は図１２（ａ）のように、平面図１５０は図１２（ｂ）のように、領域３が、攻撃時に背景が空となる領域３と、攻撃時に背景が山肌となる領域５とに識別される。かかる領域５は、山陰に隠れながら待機でき、暴露する位置に浮上したとしても背景が山肌となるので、最適な攻撃位置となる。このように領域５の有無が判定されると、１の直線１６０に関する可視判定が終了する。 That is, the visibility determination unit 126 determines whether there is a region determined as the region 4 at the target point 154 farther from the target object 154 than the target point 154 determined as the region 3, and there is a region determined as the region 4. In this case, it is determined whether the distance from the exposure altitude of the target point 154 determined to be the region 3 to the mountain surface limit altitude is 100 ft or more. Here, if there is a region 4 and the distance from the exposure altitude of the target point 154 determined to be the region 3 to the mountain limit altitude is 100 ft or more, the region 3 is replaced with the region 5. The distance d from the exposure altitude to the mountain limit altitude is the distance l from the target 102 of the target point 154 determined to be the region 3, and the tangent is the most among the target points 154 closer to the target 102 than the target point 154. When the tangent of the large target point 154 is tan θ _max and the tangent of the region 4 is tan θ _d , the following equation 9 can be used.

... (Formula 9)
Then, the vertical sectional view is as shown in FIG. 12 (a), and the plan view 150 is as shown in FIG. 12 (b). The region 5 is identified. Such an area 5 can stand by while hiding in the shade, and even if it rises to the position to be exposed, the background becomes a mountain surface, so it becomes an optimum attack position. When the presence / absence of the region 5 is determined in this way, the visibility determination regarding the one straight line 160 ends.

(Completion determination processing S5)
The completion determination unit 128 determines whether or not the one-direction specifying process S3 and the visibility determination process S4 have been completed for all target points 154 corresponding to the peripheral edge of the plan view 150. Then, if everything is completed, the process proceeds to the map reflection process S6. If not completed, the straight line 160 is moved in the direction indicated by the white arrow in FIG. Repeat the process.

  Here, even if the target point 154 close to the moved straight line 160 is already the target point 154 corresponding to the other straight line 160, that is, even if an area is already associated with the target point 154, The region is determined again with respect to the target point 154. This is because the determination result may change depending on the positional relationship with another target point 154 on the straight line 160, and in this case, it is necessary to associate an appropriate region with the target point 154. At this time, if a region different from the already associated region is derived, a region with a high priority is selected in the order not suitable as the attack position (region 1> region 4> region 2> region 3> region 5). To associate. However, the present invention is not limited to such a case, and the region determination may not be performed again in order to reduce the processing load.

(Map reflection process S6)
The map reflection unit 130 superimposes the derived visual relationship on the map and displays it on the display unit 110d. In this manner, the visible relationship in the entire plan view 150 as shown in FIG. 13 can be displayed, and the pilot can objectively and accurately grasp the visible relationship between the subject aircraft and the target.

(When there are multiple targets 102)
In the above-described embodiment, the visual relationship is derived on the assumption that there is one target object 102, but the same algorithm can be applied even when there are a plurality of target objects 102.

  FIG. 14 is an explanatory diagram showing types for identifying the visible relationship between the own device and the target object 102, and FIG. 15 is an explanatory diagram showing a conversion procedure from the individual determination of the visual relationship to the comprehensive determination. .

  In contrast to the individual determination in FIG. 8, in the comprehensive determination in FIG. 14, the area A is an area that is exposed from all the target objects 102, and cannot be used as a background (for example, a mountain skin) for any target object 102. Indicates. Area B is a shaded area for all targets 102 but is less than 150 ft from the ground to the exposure altitude (exposure altitude), and the aircraft 100 cannot stably maintain the spatial position (cannot hover). It is. Region C is a shaded area for all targets 102 and is 150 ft or more from the ground to the exposure altitude, and aircraft 100 can stably maintain a spatial position. However, if the target 102 is lifted up to a position where the target 102 can be visually recognized at the time of attack, the background is empty and exposed to any target 102.

  The area E is an area that is exposed from all the targets 102 as in the case of the area A, but indicates an area that can be used as a background (for example, mountain skin) for all the targets 102. Region E, like region C, is a shaded area for all targets 102 and is 150 ft or more from the ground to the exposure altitude, and is a region where aircraft 100 can stably maintain a spatial position. Further, even if the target 102 is lifted up to a position where the target 102 can be visually recognized at the time of the attack, the background is a mountain surface with respect to all the targets 102 and is not easily exposed to the target 102.

  Here, first, the individual determination of FIG. 8 is performed based on the flowchart of FIG. Then, based on FIG. 15, the individual determination when there is one target 102 is converted into a comprehensive determination when there are a plurality of targets 102. Note that the vertical parameter and the horizontal parameter in FIG. 15 are the results of individual determination of different target objects 102, and the intersection of each individual determination indicates the result of comprehensive determination.

  At this time, as described above, the order suitable for the attack position is as follows: region 5> region 3> region 2> region 4> region 1 regardless of whether the target 102 is 1 or plural. (Region E> region C> region B> region D> region A). Therefore, when the individual determination of the attack position from each of the plurality of targets 102 is the same, the determination result should be used for the comprehensive determination of the plurality of targets 102. However, if there is an inferior determination as an attack position on either side, the inferior determination result is also used for the comprehensive determination of the target object 102.

  Therefore, individual determination of each of the plurality of targets 102 is converted into comprehensive determination as shown in FIG. 15 in the following procedure. More specifically, when the visibility determination unit 126 first obtains the determination result of the region 1 for any of the target objects 102, the comprehensive determination is also set to the region A (1). Next, the visibility determination unit 126 sets the overall determination for the region 4 other than the region converted in (1) only for the target object 102 in the case of the region 4, and sets the other regions as regions D. Region A (2).

  Subsequently, for the areas other than the areas converted in (1) and (2), the visibility determining unit 126 sets all areas determined to be the area 2 as the area B (3). Then, with respect to areas other than the areas converted in (1), (2), and (3), all areas determined to be area 3 are set as area C (4). Finally, the remaining area determined as the area 5 for any target 102 is defined as an area E (5). Thus, as shown in FIG. 15, all areas are comprehensively determined.

  As described above, according to the visible relationship deriving method of the present embodiment, the visible relationship between the aircraft and the target, in particular, the pilot 100 can wait while the aircraft 100 is hidden in the shade, and at the time of the attack. It is possible to objectively and accurately grasp the position where the background is a mountain surface, and to select an appropriate attack position.

  Also provided is a visual relationship deriving device including the mesh generation unit 120, the angle deriving unit 122, the one-direction specifying unit 124, the visibility determining unit 126, the completion determining unit 128, and the map reflecting unit 130 described above. . Furthermore, a visible relationship derivation program for causing a computer to function as the mesh generation unit 120, the angle derivation unit 122, the one-direction identification unit 124, the visibility determination unit 126, the completion determination unit 128, and the map reflection unit 130 is also provided. Provided. In addition, a storage medium such as a computer-readable flexible disk, magneto-optical disk, ROM, EPROM, EEPROM, CD, DVD, BD or the like on which the visible relationship derivation program is recorded is also provided. Here, the program refers to data processing means described in an arbitrary language or description method.

  As mentioned above, although preferred embodiment of this invention was described referring an accompanying drawing, it cannot be overemphasized that this invention is not limited to this embodiment. It will be apparent to those skilled in the art that various changes and modifications can be made within the scope of the claims, and these are naturally within the technical scope of the present invention. Is done.

  For example, in the above-described embodiment, the plan view 150 is divided into a plurality of meshes, and the area is identified for each mesh. However, the present invention is not limited to this, and any point on the straight line can be determined from the target object 102. It is possible to grasp whether it is suitable as an attack position.

  Further, the visual relationship deriving method described above does not necessarily have to be processed in time series in the order described in the flowchart, and may include processing in parallel or by a subroutine.

  The present invention is used for a visible relationship deriving method, a visible relationship deriving device, and a visible relationship deriving program for deriving a visible relationship such as whether or not an aircraft is visible (exposed) to a target to be attacked. can do.

DESCRIPTION OF SYMBOLS 100 ... Aircraft 102 ... Target 122 ... Angle derivation | leading-out part 126 ... Visibility determination part 154 ... Target point 160 ... Straight line

Claims (3)

With respect to any two object points on an arbitrary straight line extending on the horizontal plane from the target object, the distance between the two object points and the target object, the altitude point corresponding to the altitude of the two object points, and the Deriving the angle between the connection with the target and the horizontal plane,
Based on the distance between the two target points to the target and the angle, the elevation point of the target point having a long distance to the target is the elevation point of the target point having a short distance to the target. It is determined whether or not the target object is visible according to the positional relationship ,
When the altitude point of the target point having a long distance to the target is not visible with respect to the target, the altitude point of the target point having a long distance to the target is further When the aircraft ascends to a position where the target can visually recognize the target due to the positional relationship with the altitude point of the target point having a longer distance from the target, the aircraft is in a visible state with the ground as a background with respect to the target. A method of deriving a visible relationship, characterized by determining whether or not With respect to any two object points on an arbitrary straight line extending on the horizontal plane from the target object, the distance between the two object points and the target object, the altitude point corresponding to the altitude of the two object points, and the An angle deriving unit for deriving an angle between the connection with the target and the horizontal plane;
Based on the distance between the two target points to the target and the angle, the elevation point of the target point having a long distance to the target is the elevation point of the target point having a short distance to the target. It is determined whether or not the target object is visible according to the positional relationship, and when the altitude point of the target point having a long distance to the target object is not visible to the target object, The altitude point of the target point with a long distance to the target has risen to a position where the aircraft can visually recognize the target object due to the positional relationship with the altitude point of the target point with a longer distance to the target on the straight line. If a visual determination unit that the aircraft to determine whether the visible state of the background of the earth with respect to the target,
A visual relationship deriving device comprising: Computer
With respect to any two object points on an arbitrary straight line extending on the horizontal plane from the target object, the distance between the two object points and the target object, the altitude point corresponding to the altitude of the two object points, and the An angle deriving unit for deriving an angle between the connection with the target and the horizontal plane;
Based on the distance between the two target points to the target and the angle, the elevation point of the target point having a long distance to the target is the elevation point of the target point having a short distance to the target. It is determined whether or not the target object is visible according to the positional relationship, and when the altitude point of the target point having a long distance to the target object is not visible to the target object, The altitude point of the target point with a long distance to the target has risen to a position where the aircraft can visually recognize the target object due to the positional relationship with the altitude point of the target point with a longer distance to the target on the straight line. If a visual determination unit that the aircraft to determine whether the visible state of the background of the earth with respect to the target,
Visibility relationship derivation program to make it function.

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