JP6505000B2 - Target tracking device, sensor system, tracking system, and program - Google Patents

Description

  The present invention relates to a target tracking device for tracking a target, a sensor system including the target tracking device, a tracking system including the sensor system, and a program for controlling the target tracking device.

  Conventionally, by sharing information of a target detected by a sensor using any one of radio waves, sound waves, infrared rays, and light such as visible light through a network, among devices connected through the respective sensors and the network, Tracking systems are known that share the same track of the target. Such a tracking system generates track (fusion track) of the same target (target to be monitored) by merging multifaceted data generated by at least one of the sensor difference and the sensor arrangement difference for each target. Do. Thereby, in the tracking system, it is possible to improve the accuracy of the information on the position and the movement of the target.

  Such a tracking system is used, for example, as a system for monitoring or observing flying objects in the air or space, or control of a sensor group in an air defense system or the like. In these applications, sensors are assigned to each target based on shared track information in order to obtain detailed data such as image information about each target and control firearms for each target, etc. More accurate track information on the target is obtained.

  A distributed tracking system is known as an example of such a tracking system. A distributed tracking system comprises a plurality of platform mounted sensor systems, each of which communicates with each other via a network. Here, the platform is a mother body on which the sensor system is mounted, and means a mobile object such as a vehicle, an aircraft, a ship, or a fixed site on the ground. Each sensor system has a sensor and a target tracking device connected to each of the sensor and the network.

  For example, Japanese Unexamined Patent Application Publication No. 2010-281782 (Patent Document 1) describes, as such a distributed tracking system, “all of the sensor observation information is generated by flowing a retracking sensor trace in which the sensor observation information is aggregated to the network. There is disclosed a target tracking device configured to reduce the amount of data to be sent to the network as compared to the conventional method of outputting. Specifically, the target tracking device of Patent Document 1 contributes to the retracking sensor track having the accuracy of the fusion track being equal to or higher than the reference regarding the accuracy of the fusion track commonly determined among the target tracking devices. Only if the re-tracking sensor wakes on the network. In FIG. 1 of Patent Document 1, a configuration obtained by removing the signal processing unit and the sensor tracking processing unit from the sensor corresponds to the above-described target tracking device.

Unexamined-Japanese-Patent No. 2010-281782

  In the target tracking device described in Patent Document 1, in order to improve the fusion track without changing the configuration during operation etc., based on observation data of one or more sensors used to generate the track. It is necessary to increase the output frequency of the re-tracking track. For this reason, when assigning a sensor to a target based on shared track information and acquiring track information with high accuracy, the target tracking device connected to the assigned sensor also collects observation data of this sensor. It is necessary to increase the output frequency of the re-tracking track. On the other hand, in the target tracking device described in Patent Document 1, each target tracking device controls the output frequency of the retracking sensor track in accordance with a common reference regarding the retracking track. For this reason, when assigning sensors to targets based on shared track information and acquiring track information with high accuracy, a re-tracking sensor transmitted via the network from all the tracking devices connected to the network The output frequency of the network is increased, and there is a problem that the network load increases.

  The present invention has been made in view of the above problems, and its object is to achieve high accuracy integration without increasing the load on the network due to the increase in the output frequency of the retracking sensor track in all target tracking devices. An object is to provide a target tracking device capable of obtaining a track, a sensor system including the target tracking device, a tracking system including the sensor system, and a program for controlling the target tracking device.

According to an aspect of the present invention, a target tracking device tracks a target by an observation value output from a sensor and is connected to a network. Target tracking device, the rows that Ukoto tracking processing to the observed value output from the sensor, and the tracking tail processor for generating a tracking sensor track, by performing a further tracking process to observations, the first re-tracking A shared re-tracking processing unit that generates a sensor track, a unique re-tracking processing unit that generates a second re-tracking sensor track by further performing tracking processing on the observed value, and the other first re-tracking sensor track A determination processing unit that determines whether a sharing condition determined in common with the target tracking device is satisfied, and another target tracking of a shared retracking sensor trajectory that is a first retracking sensor trajectory that satisfies the sharing condition A shared fusion track is generated by fusing a communication processing unit for transmitting to and receiving from a device, a shared retracking sensor trace, and another device sensor trace that is a shared retracking sensor trace transmitted from another target tracking device Shared fusion tracking Comprising a processing section, a second re-tracking sensor track, a fusion of the other device sensor track, and a unique fusion tracking processing unit for generating a unique fusion track.

  According to the present invention, the shared fusion tracking processing unit uses the shared retracking sensor track, whereas the unique fusion tracking processing unit uses the retracking sensor track. In addition, the shared retracking sensor track is a retracking sensor track that satisfies the shared condition. That is, in addition to the shared fusion tracking processing unit that generates the same shared fusion track as other target tracking devices, the target tracking device generates a unique fusion track with high accuracy for updating an eigen fusion track to be updated by the retracking sensor track at a high frequency. A processing unit is provided. Therefore, according to the present invention, it is possible to obtain a highly accurate merged track without increasing the load on the network by increasing the output frequency of the retracking sensor track in all target tracking devices.

FIG. 1 is a diagram schematically illustrating a target tracking device, a sensor system, and a tracking system according to a first embodiment. FIG. 2 is a diagram for describing a detailed configuration of a target tracking device and a sensor system of a tracking system according to a first embodiment. FIG. 6 is a diagram for explaining sensor observation values and sensor tracks generated by the sensor system of the tracking system according to the first embodiment. FIG. 6 is a diagram for explaining sensor observation values generated by the sensor system of the tracking system according to the first embodiment and a retracking sensor track. FIG. 8 is a diagram illustrating an example of retracking sensor tracks generated by the target tracking device of each sensor system of the tracking system according to the first embodiment. It is a figure for demonstrating the typical example of the data structure of fusion track | truck DB. It is a flowchart for demonstrating the flow of the process performed by the target tracking apparatus based on Embodiment 1 which receives sensor information, produces | generates a retracking sensor track, and delivers it. FIG. 10 is a flowchart for describing the flow of processing for generating a shared fusion track based on the retracking sensor track, which is performed by the target tracking device according to the first embodiment. FIG. 1 is a diagram illustrating a hardware configuration of a target tracking device according to a first embodiment. FIG. 7 is a diagram showing an outline of a target tracking device, a sensor system, and a tracking system according to a second embodiment. FIG. 8 is a diagram for describing a detailed configuration of a target tracking device and a sensor system of a tracking system according to a second embodiment. FIG. 16 is a flowchart for describing a flow of processing for receiving sensor information and generating a retracking sensor track performed by the target tracking device according to the second embodiment. FIG. 16 is a flowchart for describing the flow of processing for generating a unique fusion track based on the retracking sensor track, which is performed by the target tracking device according to the second embodiment. FIG. 14 is a diagram showing an outline of a target tracking device, a sensor system, and a tracking system according to a third embodiment. FIG. 16 is a diagram for describing a detailed configuration of a target tracking device and a sensor system of a tracking system according to a third embodiment. FIG. 18 is a flowchart for describing a flow of processing for receiving sensor information, generating a retracking sensor track, and distributing the sensor information, which is performed by the target tracking device according to the third embodiment. FIG. 18 is a flowchart for explaining the flow of processing for generating a shared fusion track based on the retracking sensor track, which is performed by the target tracking device according to the third embodiment. FIG. 18 is a diagram for describing a detailed configuration of a target tracking device and a sensor system of a tracking system according to a fourth embodiment.

  A tracking system according to each embodiment of the present invention will be described below with reference to the drawings. Moreover, in the following description, the same reference numerals are given to the same members. Their names and functions are also the same. Therefore, detailed description about them will not be repeated.

  In the following, in the first embodiment, a configuration will be described which enables each target tracking device to obtain the same fusion track even when the delay due to the network is large. Specifically, a configuration will be described in which each target tracking device transmits and receives correlated re-tracking sensor tracks via the network.

  Further, in the second embodiment, based on the configuration of the first embodiment, high-accuracy fused tracks are obtained without increasing the output frequency of the retracking sensor track in all the target tracking devices constituting the tracking system. The possible configurations will be described. Specifically, a configuration capable of reducing the amount of data communication in the network will be described. Further, in the third and fourth embodiments, a configuration (modification) in which a part of the second embodiment is modified will be described.

First Embodiment
<A. System configuration>
FIG. 1 is a diagram schematically showing a target tracking device, a sensor system, and a tracking system according to the present embodiment. Referring to FIG. 1, tracking system 1 includes a sensor group 100 and a network 900. Sensor group 100 includes a plurality of sensor systems 1010. A plurality of sensor systems 1010 are located on platforms 1001, 1002 and 1003, respectively. Although FIG. 1 exemplifies a configuration in which the sensor group 100 includes the sensor system 1010 on three platforms, the number of platforms on which the sensor system 1010 is mounted and the number of sensor systems 1010 are three. It is not limited to Also, in the following, when the platforms 1001, 1002, and 1003 are expressed without being distinguished from one another, they will be simply described as "platform 1000".

  Each sensor system 1010 is communicably connected to the network 900. This allows each sensor system 1010 to communicate with each other sensor system 1010. That is, the sensor systems 1010 of each of the platforms 1001, 1002, 1003 of the tracking system 1 can communicate with each other via the network 900. Hereinafter, although an example of a configuration including one sensor system in one platform will be described with reference to FIG. 1, the relationship between the sensor system 1010 and the platform is not limited to be one to one. Two or more sensor systems 1010 may be provided in one platform. Further, the sensor device 1100 and the target tracking device 1200 of one sensor system 1010 may be arranged on different platforms.

  The sensor system 1010 on each platform 1000 comprises a sensor device 1100, a target tracking device 1200, and a display device 1300. The target tracking device 1200 includes an interface unit 1210 and a fusion processing unit 1220. The sensor device 1100 is connected to the interface unit 1210. The fusion processing unit 1220 is connected to the network 900 and the display device 1300.

  The sensor device 1100 monitors a target (monitoring target) with a sensor by any one or a plurality of combinations of light such as radio waves, sound waves, infrared rays, and visible light. Specifically, the sensor device 1100 generates an observation value (hereinafter also referred to as “sensor observation value”) and a track (hereinafter also referred to as “sensor track”).

  The interface unit 1210 of the target tracking device 1200 acquires the sensor observation value of the target from the sensor device 1100 provided in the sensor system 1010 including the target tracking device 1200. The interface unit 1210 converts the acquired sensor observation value into a data format handled by the fusion processing unit 1220. The operation of the interface unit 1210 is the same as in the interface unit 1210 of the target tracking device 1200 of any of the sensor systems 1010 of the platform 1001 and platforms 1002 and 1003 in FIG. 1.

  The fusion processing unit 1220 of the target tracking device 1200 generates a track (specifically, a correlated re-tracking sensor track) generated based on data output from the sensor device 1100 of the sensor system 1010 including the target tracking device 1200. , And sends to the target tracking device 1200 of another sensor system 1010 via the network 900. Also, the fusion processing unit 1220 is a track transmitted via the network 900 from another sensor system 1010 different from the sensor system 1010 including the fusion processing unit 1220 (specifically, a correlated re-tracking sensor trace) Receive Furthermore, the fusion processing unit 1220 fuses by merging the wake generated in the sensor system 1010 including the fusion processing unit 1220 and the wake transmitted from the other sensor system 1010 via the network 900. Generate a wake. In the configuration of FIG. 1, for example, the fusion processing unit 1220 of the sensor system 1010 on the platform 1001 transmits the correlated retracking sensor track to the sensor system 1010 on the platforms 1002 and 1003. Also, the fusion processing unit 1220 of the sensor system 1010 on the platform 1001 receives the wake (specifically, the correlated re-tracking sensor wake) transmitted from the sensor system 1010 on the platforms 1002 and 1003 via the network 900. Do. Furthermore, the fusion processing unit 1220 of the sensor system 1010 on the platform 1001 is transmitted from the wake generated by the sensor system 1010 on the platform 1001 and the sensor system 1010 on the platforms 1002 and 1003 via the network 900. A fusion track is generated by merging with another track. The fusion processing unit 1220 of the sensor system 1010 on the platforms 1002 and 1003 performs the same processing as the fusion processing unit 1220 of the sensor system 1010 on the platform 1001.

  In the following, in order to clarify the processing in the transmission determination processing unit 1222 described later, the sensor track, the retracking track, and the error of the fusion track will be described in detail in the following (i) to (iii).

  (I) A sensor track and a retracking sensor track are calculated as a result of tracking an observed value of a target using a Kalman filter or the like.

  (Ii) The observed value of the target includes values representing the position and the error of the position of the target. Therefore, when calculating the sensor track and the retracking sensor track from the observation value by the Kalman filter etc., the target position calculated by the sensor track and the retracking sensor track based on the value representing the error about the position of the observation value An error vector (e) consisting of errors in velocity and acceleration is also calculated.

  (Iii) The retracking sensor track also includes an error vector (e) consisting of errors with respect to the target position, velocity, and acceleration. Therefore, when calculating the fusion track from the retracking sensor track by the Kalman filter etc., an error consisting of the target position, velocity and acceleration errors calculated in the fusion track based on the error vector included in the retracking sensor track The vector (E) is also calculated.

<B. Details of sensor system>
FIG. 2 is a diagram for describing the detailed configurations of the target tracking device 1200 and the sensor system 1010 on the platform 1001 of the tracking system 1. Referring to FIG. 2, sensor system 1010 on platform 1001 includes sensor device 1100, target tracking device 1200, and display device 1300, as described above.

  The sensor device 1100 includes a signal processing unit 1101 and a sensor tracking processing unit 1102. The target tracking device 1200 includes the interface unit 1210 and the fusion processing unit 1220 as described above. The interface unit 1210 includes a coordinate conversion processing unit 1211 and a fusion correlation processing unit 1212. The fusion processing unit 1220 includes a retracking processing unit 1221, a transmission determination processing unit 1222, a communication processing unit 1223, a fusion tracking processing unit 1224, a delay unit 1225, a display processing unit 1226, and a fusion track DB (Data Base). And 1227).

  The sensor system 1010 on the platforms 1002 and 1003 has the same configuration as the sensor system 1010 on the platform 1001. Also, the program of the sensor system 1010 on the platforms 1002 and 1003 executes the same processing as the program of the sensor system 1010 on the platform 1001. As such, the details of the sensor system 1010 residing on the platforms 1002, 1003 will not be repeated.

(B1. Sensor device 1100)
The signal processing unit 1101 calculates the position of the target and the observation error from the observation result by the sensor. The signal processing unit 1101 outputs the calculation result as a sensor observation value to the sensor tracking processing unit 1102.

  The sensor tracking processing unit 1102 generates a sensor track using the sensor observation value output from the signal processing unit 1101. Specifically, when the sensor observation value is input, the sensor tracking processing unit 1102 updates the sensor track using the sensor observation value and the sensor track generated last time by the sensor tracking processing unit 1102. The sensor tracking processing unit 1102 transmits the sensor observation value and the sensor track to the coordinate conversion processing unit 1211 in the interface unit 1210.

  Here, an outline of sensor observation values and sensor tracks output from the sensor device 1100 to the target tracking device 1200 will be described. FIG. 3 is a diagram for explaining sensor observation values and sensor tracks generated by the sensor system of the tracking system according to the present embodiment. Referring to FIG. 3, black dots indicate sensor observation values. Also, the arrows are for explaining the concept of sensor wake.

  The sensor observation value is a value obtained when the target is sensed every sampling period. The sensor track is data representing target identification information (target ID), target position, target velocity, target acceleration, error (track error), and the like at the time of sampling. In the sensor device 1100, as shown in states (A), (B), (C), and (D) in FIG. 3, sensor observation values are sequentially obtained, so the sensor wake changes as time passes. .

(B2. Target tracking device 1200)
Referring back to FIG. 2, interface unit 1210 performs processing necessary for connecting sensor device 1100 and target tracking device 1200.

  The coordinate conversion processing unit 1211 receives, from the sensor tracking processing unit 1102, the sensor track and the sensor observation value represented by a coordinate system unique to the sensor in the sensor device 1100. The coordinate conversion processing unit 1211 converts the sensor track and the sensor observation value into coordinate values in the coordinate system of the target tracking device 1200. The coordinate conversion processing unit 1211 outputs the converted sensor wake and the sensor observation value to the fusion correlation processing unit 1212.

  The fusion correlation processing unit 1212 identifies the fusion track having a correlation with the sensor observation value from the fusion tracks of each of the plurality of targets, and then identifies the sensor observation value and the sensor track as identification information of the fusion track identified Hereinafter, it transmits to re-tracking processing section 1221 in association with “correlated fusion track information”). Specifically, the fusion correlation processing unit 1212 determines the correlation between the input sensor track and sensor observation value, and each of a plurality of fusion tracks delayed by one sampling.

  More specifically, the fusion correlation processing unit 1212 correlates the sensor observation value input from the sensor device 1100 with the fusion track generated by the fusion processing unit 1220 by correlation processing. The fusion correlation processing unit 1212 compares the predicted value of the sensor observation value calculated based on the information of the position and velocity of the fusion track as the correlation process with the sensor observation value input from the sensor device 1100, The fusion track in the case of a match within the error range is taken as the fusion track corresponding to the sensor observation value.

  More specifically, the fusion correlation processing unit 1212 indicates, when a correlated fusion track is identified, correlated fusion track information indicating a fusion track correlated with the sensor track and the sensor observation value with respect to the sensor track and the sensor observation value. (That is, identification information of the fusion track) is added. The fusion correlation processing unit 1212 respectively correlates the sensor track and the sensor observation value to which the correlation fusion track information is added with the correlated sensor track (hereinafter also referred to as “sensor track (correlated)”) and the correlated sensor observation. A value (hereinafter also referred to as “sensor observation value (correlated)”) is output to the retracking processing unit 1221.

  On the other hand, the fusion correlation processing unit 1212 includes information representing that there is no fusion track related to the sensor track and the sensor observation value when the fusion track having a correlation can not be identified, and the sensor track and sensor observation The values are output to the retracking processing unit 1221 as a sensor track (correlated) and a sensor observation value (correlated), respectively.

  The retracking processing unit 1221 generates a retracking sensor track by using the correlated sensor observation value. That is, in the sensor system 1010 on the platform 1001, not only the sensor device 1100 but also the fusion processing unit 1220 of the target tracking device 1200 generates a sensor track based on the sensor observation value. The retracking sensor track includes target identification information (target ID), target position, target speed, target acceleration, error (track error), etc., as with the sensor track generated by the sensor device 1100. Configured

  The retracking processing unit 1221 outputs the retracking sensor track to the transmission determination processing unit 1222 in association with the identification information of the fused track having the correlation. Note that, in the following, the retracking sensor track associated with the identification information of the correlated fusion track is also referred to as “retracking sensor track (correlated)”.

  Here, the retracking sensor track will be described. FIG. 4 is a diagram for explaining the sensor observation value generated by the sensor system 1010 of the tracking system 1 and the retracking sensor track. Referring to FIG. 4, black dots indicate sensor observation values similar to those in the state (D) of FIG. 3. Also, the arrows are for explaining the concept of sensor wake.

  The retracking sensor track is a sensor track generated for each cycle using one or more sensor observation values included in the reference cycle T. In the case of FIG. 4, the retracking processing unit 1221 generates a retracking sensor track at time tb using a plurality of sensor observation values at times ta to tb. Also, the retracking processing unit 1221 generates a retracking sensor track at time tc using a plurality of sensor observation values at times tb to tc. Similarly, the retracking processing unit 1221 generates a retracking sensor trace at time td and a retracking sensor trace at time te.

  The transmission determination processing unit 1222 transmits the sensor system 1010 on its platform 1001 and other platforms 1002 and 1003 connected via the network 2000 with respect to the retracking sensor track (correlated) received from the retracking processing unit 1221. The fusion processing unit 1220 of the sensor system 1010 located above determines whether or not to share for use in creating and updating the fusion track. The transmission determination processing unit 1222 transmits the retracking sensor track (correlated) determined to be shared to the communication processing unit 1223 and the fusion tracking processing unit 1224, and the retracking sensor track (correlated) determined not to be shared is It does not transmit to the communication processing unit 1223 and the fusion tracking processing unit 1224. In addition, the transmission determination processing unit 1222 attaches a transmission determination result flag with a value of “1” to the retracking sensor track (correlated) determined to be shared, and determines that the retracking sensor track (correlation is determined not to be shared (correlation) And the transmission determination result flag with the value “0”.

  The transmission determination processing unit 1222 transmits the above-described retracking sensor track (correlated) to the sensor system 1010 on its own platform 1001 and the sensor system 1010 on the other platforms 1002 and 1003 connected via the network 2000. If there is a fusion track that is correlated with the retracking sensor trace (correlated), the fusion processing unit 1220 determines whether or not to share or not use it for creation and update of the fusion track in the fusion processing unit 1220. This is performed depending on whether the error norm En calculated from the error vector E of {circle around (1)} satisfies a predetermined standard. As the norm, the length of the difference vector (the sum of squares of each component), the value of one determined component of the error vector such as position and velocity, or the value calculated from the values of those components are used. Ru. When there is no fused track correlated with the retracking sensor track (correlated), the transmission determination processing unit 1222 determines that the retracking sensor track (correlated) is shared.

  As a determined criterion for determining whether or not to share the retracking sensor track (correlated), for example, an error vector of the merged track when the retracking sensor track (correlated) is fused to the fused track (E The retracking sensor track (correlated) is shared if the fusion norm error En exceeds Th1, and the retracking sensor track (correlated) if Th is less than Th1. Can not be shared. Alternatively, the minimum value Th2 required as the fusion track error is determined, and if the fusion track error norm En exceeds Th2, the retracking sensor track (correlated) is shared, and if it is less than Th2, the retracking sensor It is also possible not to share wakes (correlated).

  Furthermore, the error vector (E ') of the fusion track when the retracking sensor track (correlated) is fused to the fusion track is calculated, and the amount of improvement of the error vector with respect to the error vector (E) of the fusion track before fusion. For the norm Dn calculated from the difference vector (D) (D = E'-E), the criterion Th3 of the necessary improvement amount is determined, and the retracking is performed when the error norm En of the fusion track exceeds Th1. It is assumed that sensor track (correlated) is shared, and re-tracking sensor track (correlated) is not shared if the error norm En of the fusion track is less than Th2, and the error norm En of the fusion track exceeds Th2 and is less than Th1. In this case, it may be decided to share when Dn exceeds Th3 and not share when it is less than Th3.

  When the communication processing unit 1223 receives the retracking sensor track (correlated) from the transmission determination processing unit 1222, the communication processing unit 1223 outputs the retracking sensor track (correlated) to the fusion tracking processing unit 1224. Further, the communication processing unit 1223 transmits the retracking sensor track (correlated) received from the transmission determination processing unit 1222 to the target tracking device 1200 of the sensor system 1010 on the platforms 1002 and 1003 via the network 900. Also, the communication processing unit 1223 receives the retracking sensor trace (correlated) from the target tracking device 1200 of the other sensor system 1010 on the platforms 1002 and 1003 via the network 900. As a result, the target tracking device 1200 of the sensor system 1010 on each platform 1000 can share the retracking sensor track (correlated) output from the retracking processing unit 1221 of the sensor system 1010 on the platform 1001. Note that the retracking sensor track (correlated) transmitted by the communication processing unit 1223 to the fusion tracking processing unit 1224 or the network 900 is only one whose transmission determination result flag is “1”.

  As described above, the sensor system 1010 and the target tracking device 1200 on the platform 1001 are configured to detect the retracking sensor track (correlated) when the contribution for reducing the track error to the fusion track by the retracking sensor track is small. It does not flow to the network 900. Therefore, according to the tracking system 1, it is possible to reduce the amount of data to be sent to the network 900 and to ensure the tracking accuracy of the fusion track.

  A command to change the setting of the reference value Th (that is, the required accuracy for the merged track) is transmitted from the management server (not shown) to the transmission determination processing unit 1222 via the network 900. The transmission determination processing unit 1222 changes the value of the reference value Th based on the command.

  The fusion tracking processing unit 1224 is transmitted from the target tracking device 1200 of the target retracking sensor track (correlated) generated by the sensor system 1010 on the platform 1001 and the target tracking device 1200 of the sensor system 1010 on the platforms 1002 and 1003. The fusion track of the target is generated and updated using the retracking sensor track (correlated) of the target. Specifically, the fusion tracking processing unit 1224 identifies a fusion track correlating to the retracking sensor track based on the correlated fusion track information associated with the retracking sensor track, and updates the identified fusion track. Specifically, the fusion tracking processing unit 1224 performs tracking by the Kalman filter. In addition, since tracking by a Kalman filter is conventionally known, it is not repeatedly demonstrated here.

  Specifically, the fusion tracking processing unit 1224 is configured to sequentially update the fusion track regarding a plurality of targets, and to hold the latest fusion track. Further, when the fusion track of the target is not registered in the fusion track DB 1227, the fusion tracking processing unit 1224 newly registers the fusion track of the target. The fusion tracking processing unit 1224 updates the fusion track of the target when the fusion track of the target is already registered in the fusion track DB 1227. Further, the fusion tracking processing unit 1224 outputs the fusion track to the delay unit 1225. Further, the fusion tracking processing unit 1224 outputs the fusion track and the retracking sensor track to the display processing unit 1226.

FIG. 5 represents an example of a retracking sensor trajectory generated by the target tracking device 1200 of the sensor system 1010 on each platform of the tracking system 1. (A) in FIG. 5 shows the position and velocity values to be observed by the tracking system 1 for each time, and (B), (C) and (D) indicate on the platforms 1001, 1002 and 1003, respectively. The target tracking device 1200 of a certain sensor system 1010 shows a retracking track generated based on the position and velocity of the target shown in (A). The fusion processing unit 1220 transmits the retracking tracks generated based on the sensor track to the network at unique timings. In the example of FIG. 5, the fusion processing unit 1220 of the sensor system 1010 on the platform 1001 transmits retracking tracks at times t _C , t _I and t _F respectively, and the fusion processing unit 1220 of the sensor system 1010 on the platform 1002. Transmits retracking tracks at times t _B , t _E , t _H , and t _K , respectively, and the fusion processing unit 1220 of the sensor system 1010 on the platform 1003 transmits them at times t _A , t _D , t _G and t _J. Each sends a retracking track.

The fusion tracking processing unit 1224 generates or updates one fusion track from retracking sensor tracks transmitted from sensor systems 1010 on multiple platforms for one target. In addition, the fusion tracking processing unit 1224 typically generates or updates a fusion track at the time when the retracking sensor track is received. As an example, as shown in FIG. 5, the fusion tracking processing unit 1224 of the sensor system 1010 on the platform 1001 generates a fusion track by the retracking sensor track transmitted from the platform 1003 at time t _A and the platform at time t _B re-tracking sensor track, which is transmitted from the 1002 to update the fusion track at time t _C platform 1001 itself updates the fusion track by re-tracking sensor track transmitted to other platforms. Likewise, the merged track is updated at the time when the retracking sensor track is received.

  FIG. 6 is a view for explaining a typical example of the data structure of the fusion track DB 1227. As shown in FIG. That is, FIG. 6 is a diagram showing the data structure of the fusion track. Referring to FIG. 6, the fusion track DB 1227 stores the fusion track by dividing it into a plurality of targets. Each fusion track contains a target ID for identifying each of a plurality of targets, and a fusion track. Each fusion track is configured to include generated or updated time information, a position, a velocity, an acceleration, and an error vector. The fusion tracking processing unit 1224 also holds the same data as the fusion track DB 1227 shown in FIG.

  Referring back to FIG. 2, delay unit 1225 outputs the latest fusion track generated and updated by fusion tracking processing unit 1224 to fusion correlation processing unit 1212 and transmission determination processing unit 1222. As a result, the fusion track sent to fusion correlation processing unit 1212 and transmission determination processing unit 1222 is about to be generated by fusion tracking processing unit 1224 based on the outputs of fusion correlation processing unit 1212 and transmission determination processing unit 1222 The fusion track is delayed by one sampling period.

  The display processing unit 1226 causes the display device 1300 to display the fusion track and the retracking sensor track (correlated) output from the fusion tracking processing unit 1224. This allows the operator of the platform 1001 to view the fusion track and retracking sensor track (correlated).

  As described above, in the tracking system 1, each of the plurality of target tracking devices 1200 can share the retracking sensor track (correlated) via the network 900. Furthermore, each of the plurality of target tracking devices 1200 fuses the shared re-tracking sensor track (correlated), so that the result of the fusion tracking processing becomes identical between the target tracking devices 1200. That is, in the tracking system 1, all the target tracking devices 1200 can share the same merged track. Therefore, the fusion track generated by the fusion processing unit 1220 of the target tracking device 1200 is also referred to as a shared fusion track.

  Note that the correlated fusion track information (that is, the identification information of the fusion track) is the retracking sensor track, or the information on the fused track associated with the sensor track and the sensor observation value, from the transmission source of the retracking sensor track to the transmission destination Used to notify For this reason, the correlation fused track information may be any information as long as it contains information that can specify the fused track common among the respective target tracking devices 1200. For example, the correlated fusion track information is an ID such as a number representing a re-tracking track (correlated) forming a track, an ID such as a number representing a re-tracking sensor track (correlated) when the track is first registered. Alternatively, based on them, each fusion processing unit 1220 can be an ID such as a number generated for track management in accordance with the same rule. Further, each fusion processing unit 1220 creates common management information representing the same fusion track by distributing and collating information on the fusion track among the fusion processing units 1220, and the management information is included in the correlated fusion track information. It is also good.

<C. Control structure>
7A and 7B are flowcharts for explaining the flow of processing performed by the target tracking device 1200 of the sensor system 1010 of each platform 1001 of the tracking system 1. FIG. 7A shows a flow of processing performed by the target tracking device 1200 for receiving sensor information, generating a retracking sensor track, and distributing it, and FIG. 7B shows a retracking sensor track performed by the target tracking device 1200. The flow of processing to generate fusion track is shown below. As shown in FIG. 7A, in step S102, the coordinate conversion processing unit 1211 of the target tracking device 1200 receives the sensor track and the sensor observation value from the sensor device 1100. In step S104, the coordinate conversion processing unit 1211 of the target tracking device 1200 performs coordinate conversion on the sensor track and the sensor observation value output from the sensor device 1100. In step S106, the fusion correlation processing unit 1212 of the target tracking device 1200 performs fusion correlation processing with the existing fusion track on the sensor track and the sensor observation value, and generates a sensor observation value (correlated).

  In step S108, the retracking processing unit 1221 of the target tracking device 1200 generates a retracking sensor trace (correlated) using the sensor observation value (correlated). In step S110, the transmission determination processing unit 1222 of the target tracking device 1200 merges the fusion track error vector (E) or the fusion track error vector (E) and the retracking sensor track into the fusion track. It is determined whether the difference vector (D) (D = E−E ′) with the error vector (E ′) of the pixel satisfies the predetermined criterion.

  If it is determined that the determined criteria are satisfied (YES in step S110), the transmission determination processing unit 1222 determines in step S112 that the retracking sensor track (correlated) is transmittable. Also, in step S114, the communication processing unit 1223 of the target tracking device 1200 determines the re-tracking sensor track (correlated) determined by the transmission determination processing unit 1222 to be transmittable to another platform (platform 1002 in FIG. 1, 1003) to the sensor system 1010. On the other hand, when it is determined that the determined reference is not satisfied (NO in step S110), the target tracking device 1200 receives the sensor information, generates a retracking sensor track, and ends the series of processes for distributing.

  As shown in FIG. 7B, in step S122, the target tracking device 1200 is a retracking sensor track (correlation detected by the fusion tracking processing unit 1224 as (a) the transmission determination processing unit 1222 newly transmittable (shared). (B) Whether the communication processing unit 1223 newly receives any of the re-tracking sensor tracks (correlated) received from the target tracking device 1200 of the sensor system 1010 of another platform or none of them Branches the process. When any re-tracking sensor track (correlated) is received (YES in step S122), in step S124, fusion tracking processing unit 1224 sets the re-tracking sensor track (correlated) to a fused track having correlation. Execute fusion tracking processing to merge. That is, the target tracking device 1200 generates or updates a fusion track.

  Further, following step S124, in step S126, the fusion tracking processing unit 1224 of the target tracking device 1200 updates the fusion track DB 1227 with the fusion track generated or updated. Further, in step S128, the display processing unit 1226 of the target tracking device 1200 causes the display device 1300 to display the fusion track generated or updated by the fusion tracking processing unit 1224. If the fusion tracking processing unit 1224 has not received any retracking sensor track (correlated) (NO in step S122), the target tracking device 1200 generates a fusion track based on the retracking sensor track. End the processing of.

  The processes of steps S102 to S114 of FIG. 7A and the processes of steps S122 to S128 of FIG. 7B are executed by a processor 2100 (see FIG. 8) of the target tracking device 1200 described later.

<D. Hardware configuration>
FIG. 8 is a diagram showing the hardware configuration of the target tracking device 1200. As shown in FIG. Referring to FIG. 8, target tracking apparatus 1200 includes a processor 2100, a memory 2200, communication IFs (InterFaces) 2300, 2400 and 2500, an operation key 2600, and a reader / writer 2700. The processor 2100, the memory 2200, the communication IFs 2300, 2400 and 2500, the operation key 2600, and the reader / writer 2700 are communicably connected to each other by a bus.

  The memory 2200 is typically configured to include a read only memory (ROM) 2210, a random access memory (RAM) 2220, and a hard disc drive (HDD) 2230. The memory 2200 may have a flash memory instead of the HDD 2230 or together with the HDD 2230.

  The processor 2100 executes a program stored in the memory 2200. The ROM 2210 is a non-volatile storage medium, and typically stores a BIOS (Basic Input Output System) and firmware. The RAM 2220 temporarily stores various programs, data generated by execution of the program by the processor 2100, and data input by the user. The HDD 2230 stores an operating system 2331, an application program 2232, and a fusion track DB 1227.

  The processor 2100 typically corresponds to the fusion processing unit 1220 in FIG. More specifically, fusion processor 1220 is realized by processor 2100 executing a program stored in memory 2200.

  The communication IF 2300 is an interface for communicating with the sensor device 1100. The communication IF corresponds to the interface unit 1210 in FIG. The processing in the interface unit 1210 may be realized by the processor 2100. The communication IF 2400 is an interface for communicating with the network 900. The communication IF 2500 is an interface for communicating with the display device 1300.

  The reader / writer 2700 executes a process of reading information stored in the memory card 700 and a process of writing information in the memory card 700.

  Software such as programs stored in the memory 2200 may be stored in a memory card or other storage medium and distributed as a program product. Alternatively, the software may be provided as a downloadable program product by an information provider connected to the so-called Internet. Such software is temporarily stored in the RAM 2220 after being read from the storage medium by a reader / writer or other reader or downloaded via an interface. The software is read from the RAM 2220 by the processor 2100 and is further stored in the HDD 2230 in the form of an executable program. The processor 2100 executes the program.

  Each component which comprises the target tracking device 1200 shown by the figure is general. Therefore, an essential part of the present invention can be said to be software stored in the memory 2200, a memory card or other storage medium, or software downloadable via a network.

  The recording medium is not limited to a DVD (Digital Versatile Disc) -ROM, a CD (Compact Disc) -ROM, an FD (Flexible Disk), and a hard disk. For example, magnetic tape, cassette tape, optical disk (MO (Magnetic Optical Disc) / MD (Mini Disc)), optical card, mask ROM, EPROM (Electronically Programmable Read-Only Memory), EEPROM (Electronically Erasable Programmable Read-Only Memory) The medium may be a fixedly carrying program such as a semiconductor memory such as a flash ROM. Also, the recording medium is a non-transitory medium that can read the program and the like from a computer, and does not include a temporary medium such as a carrier wave.

  Furthermore, the program referred to here includes not only a program directly executable by the processor 2100 but also a program of source program format, a compressed program, an encrypted program and the like.

  The hardware configurations of the target tracking devices 1200A and 1200B described in the second and third embodiments are also similar to those of the target tracking device 1200. Therefore, in the second and third embodiments, the hardware of the target tracking devices 1200A and 1200B I will not explain the configuration repeatedly.

E. Summary>
(1) As described above, the target tracking device 1200 (i) uses the sensor observation value of the target sequentially output from the sensor device 1100, and repeatedly generates the retracking sensor track of the target. And (ii) fusion tracking processing of generating and updating a fusion track of the target using the generated re-tracking sensor track and the target re-tracking sensor track received from the other target tracking device 1200 Unit 1224, and (iii) a display processing unit 1226 that causes the display 1300 to display the fusion track. The fusion tracking processing unit 1224 generates and updates fusion tracks of each of a plurality of targets including the above targets.

  The target tracking device 1200 (iv) identifies a fusion track correlating with the sensor observation value from among the fusion tracks of each of the plurality of targets, and then associates the sensor observation value with the identification information of the identified fusion track. Fusion correlation processing unit 1212 to transmit to re-tracking processing unit 1221, and (v) re-tracking sensor track generated by re-tracking processing unit 1221 using the sensor observation value as identification information associated with the sensor observation value The communication processing unit 1223 further performs processing of associating and transmitting to another target tracking device 1200 and processing of receiving a retracking sensor track of a target from the other target tracking device 1200.

  Identification information for identifying a fusion track of the target is associated with the target retracking sensor track received from the other target tracking device 1200. The fusion tracking processing unit 1224 uses the generated re-tracking sensor track, which is associated with the same identification information, and the re-tracking sensor track acquired from the other target tracking device 1200, to form a fusion track. Update.

  According to the above-described configuration, the target tracking device 1200 receives from the other target tracking device 1200 the retracking sensor track (ie, the tracking information associated with the identification information (ie, the identification information of the fusion track) associated with the sensor observation value. Re-tracking sensor wake (correlated) can be received. Further, the target tracking device 1200 can transmit the re-tracking sensor track (correlated) generated by the target tracking device 1200 to the other target tracking device.

  Thus, according to the target tracking device 1200, it is possible to share the re-tracking sensor track (correlated) with another target tracking device 1200. Therefore, each of the plurality of target tracking devices 1200 fuses the shared re-tracking sensor track (correlated), so that the result of the fusion tracking processing becomes identical between the target tracking devices 1200. Therefore, all target tracking devices 1200 constituting the tracking system 1 can share the same merged track.

  (2) The target tracking device 1200 uses the error vector (E) of the fusion track before the update and the error vector (E ′) of the fusion track before the update when the retracking sensor track is fused to the fusion track before the update The transmission determination processing unit 1222 is further included to determine whether the difference vector (D) with the reference value is greater than or equal to the reference value Th. The communication processing unit 1223 determines that the difference vector (D) is determined to be equal to or larger than the reference value Th, the retracking sensor track (that is, the retracking sensor track (correlation ) Is sent to the other target tracking device 1200.

  According to the above configuration, the target tracking device 1200 does not need to transmit all re-tracking sensor tracks (correlated) to other target tracking devices 1200. Therefore, according to the target tracking device 1200, the amount of data flowing through the network 900 can be reduced as compared with a configuration in which all retracking sensor tracks (correlated) flow through the network 900.

Second Embodiment
<F. System configuration>
FIG. 9 is a diagram showing an outline of a target tracking device, a sensor system, and a tracking system according to the present embodiment. Referring to FIG. 9, tracking system 1A includes sensor group 100A and network 900. Sensor group 100A includes a sensor system 1010A on platform 1001 and a sensor system 1010 on each of a plurality of platforms 1002 and 1003.

  Tracking system 1A differs from tracking system 1 of the first embodiment in that tracking system 1A includes a sensor system 1010A instead of sensor system 1010 on platform 1001. Hereinafter, the tracking system 1A will be described, focusing on the difference from the tracking system 1 according to the first embodiment. Although FIG. 9 exemplifies a configuration including the sensor systems 1010 and 1010A in which the sensor group 100A is on three platforms, the number of platforms and the number of sensor systems 1010 and 1010A are limited to three. It is not something to be done.

  The sensor system 1010A on the platform 1001 and the sensor system 1010 on the platforms 1002 and 1003 are communicably connected to the network 900. This allows sensor system 1010A on platform 1000 and sensor system 1010 on platforms 1002 and 1003 to communicate with each other.

  The sensor system 1010A on the platform 1001 requires a highly accurate fusion track as compared to the sensor system 1010 on the platforms 1002 and 1003. The sensor system 1010A includes a sensor device 1100, a target tracking device 1200A, and a display device 1300. The target tracking device 1200A includes an interface unit 1210A, a plurality of fusion processing units 1220 and 1230, and an association processing unit 1240. The fusion processing units 1220 and 1230 are connected to the network 900 and the display device 1300, respectively.

  Similar to the fusion processing unit 1220 of the target tracking device 1200A, the fusion processing unit 1230 of the target tracking device 1200A receives the track transmitted from the target tracking device 1200 of the sensor system 1010 of each of the platforms 1002 and 1003 via the network 900 ( Specifically, the correlated re-tracking sensor wake) is received. Further, the fusion processing unit 1230 has been transmitted from the track generated based on the data output from the sensor device 1100 and the target tracking device 1200 of the sensor system 1010 of each of the platforms 1002 and 1003 via the network 900. A fusion track is generated by fusing the track.

  However, unlike the fusion processing unit 1220, the fusion processing unit 1230 creates a network 900 (specifically, the correlated retracking sensor trajectory) generated based on the data output from the sensor device 1100 of the sensor system 1010A. Do not send to platforms 1002 and 1003 via As described above, the fusion processing unit 1230 differs from the fusion processing unit 1220 in which the correlated retracking sensor trajectory is transmitted to the network in that the correlated retracking sensor trajectory is not transmitted to the network. Due to this difference, the fusion track generated by the fusion processing unit 1230 becomes a fusion track unique to the sensor system 1010A. Therefore, the fusion track generated by the fusion processing unit 1230 is also referred to as a unique fusion track.

  The fusion processing unit 1230 of the sensor system 1010A is intended to obtain a fusion track with higher accuracy than the fusion processing unit 1220. Therefore, it is assumed that the sensor device 1100 of the sensor system 1010A has higher accuracy than the sensor device 1100 of the sensor system 1010 on the other platforms 1002 and 1003.

<G. Details of sensor system>
FIG. 10 is a diagram for describing the detailed configuration of the target tracking device and the sensor system on the platform 1001 of the tracking system 1A. Referring to FIG. 10, sensor system 1010A on platform 1001 includes sensor device 1100, target tracking device 1200A, and display device 1300, as described above.

  As described above, the target tracking device 1200A includes the interface unit 1210A, the fusion processing units 1220 and 1230, and the association processing unit 1240. The interface unit 1210A includes a coordinate conversion processing unit 1211A and a fusion correlation processing unit 1212. The fusion processing unit 1230 includes a re-tracking processing unit 1231, a communication processing unit 1233, a fusion tracking processing unit 1234, a delay unit 1235, a display processing unit 1236, a fusion track DB 1237, and a fusion correlation processing unit 1239. .

  The fusion processing unit 1230 differs from the fusion processing unit 1220 in that the transmission determination processing unit 1222 is not included and the fusion correlation processing unit 1239 is included. Although details will be described later, in the platform 1001A, the fusion processing unit 1230 can obtain a fusion track with higher accuracy than the fusion track obtained by the fusion processing unit 1220. That is, the fusion processing unit 1230 generates a fusion track with higher accuracy than the fusion processing unit 1220.

(G1. Interface unit 1210A)
The coordinate conversion processing unit 1211A of the interface unit 1210A receives, from the sensor tracking processing unit 1102, the sensor track and the sensor observation value represented in the sensor-specific coordinate system in the sensor device 1100. The coordinate conversion processing unit 1211A converts the sensor track and the sensor observation value into coordinate values in the coordinate system of the target tracking device 1200.

  The coordinate conversion processing unit 1211A outputs the converted sensor wake and the sensor observation value to the fusion correlation processing unit 1212 and the retracking processing unit 1231 of the fusion processing unit 1230. That is, the coordinate conversion processing unit 1211A is different from the coordinate conversion processing unit 1211 in that the coordinate conversion processing unit 1211A outputs the converted sensor track and the sensor observation value to the retracking processing unit 1231.

(G2. Fusion processing unit 1230)
Like the retracking processing unit 1221, the retracking processing unit 1231 generates a retracking sensor track using the correlated sensor observation value. However, the generated retracking sensor track is not correlated with the fusion track. The retracking processing unit 1231 outputs the retracking sensor track to the fusion correlation processing unit 1239.

  The communication processing unit 1233 receives the retracking sensor track (correlated) from the target tracking device 1200 of the sensor system 1010 on the platforms 1002 and 1003 via the network 900. The communication processing unit 1233 outputs the received retracking sensor track (correlated) to the fusion correlation processing unit 1239.

  The fusion correlation processing unit 1239 identifies a fusion track correlating with the sensor observation value from among the fusion tracks of each of the plurality of targets, and then uses the sensor observation value and the sensor track as identification information of the identified fusion track. It associates and outputs to the fusion tracking processing unit 1234. Specifically, the fusion correlation processing unit 1239 determines the correlation between the retracking sensor trace output from the retracking processing unit 1231 and each of the plurality of fusion tracks delayed by one sampling.

  More specifically, fusion correlation processing unit 1239 correlates re-tracking track observation values input from re-tracking processing unit 1231 and communication processing unit 1233 with the fusion track generated by fusion tracking processing unit 1234 by correlating processing. Do. In the correlation processing, the fusion correlation processing unit 1239 compares the retracking sensor trace with the fusion trace, and correlates one with a high degree of coincidence. For example, the correlation coefficient between the retracking sensor track and the merged track is calculated as the degree of coincidence, and the merged track when the correlation coefficient is equal to or greater than a predetermined threshold is the fusion corresponding to the retracking sensor track It will be a wake.

  More specifically, when the fusion track with correlation is identified, the fusion correlation processing unit 1239 indicates, with respect to the retracking sensor track, correlation fusion track information (fusion track indicating the fusion track with correlation to the retracking sensor track). Identification information). The fusion correlation processing unit 1239 outputs the retracking sensor track to which the correlation fusion track information is added to the fusion tracking processing unit 1234 as a correlated retracking sensor track (that is, a retracking sensor track (correlated)). . Furthermore, the fusion correlation processing unit 1239 also outputs the retracking sensor track (correlated) output from the communication processing unit 1233 to the fusion tracking processing unit 1234.

  The fusion tracking processing unit 1234 is generated by the sensor system 1010A on the platform 1001, and the retracking sensor trace (correlated) of the target and the target tracking device 1200 of the sensor system 1010 on the platforms 1002 and 1003 are transmitted. The target retracking sensor track (correlated) is used to generate and update a fusion track of the target. Specifically, the fusion tracking processing unit 1234 specifies a fusion track having a correlation with the retracking sensor track based on the correlation fusion track information associated with the retracking sensor track, as in the fusion tracking processing unit 1224, and Update the identified fusion track. Specifically, the fusion tracking processing unit 1234 performs tracking by the Kalman filter.

  Similar to the fusion tracking processing unit 1224, the fusion tracking processing unit 1234 is configured to sequentially update the fusion track regarding a plurality of targets, and to hold the latest fusion track. Further, the fusion tracking processing unit 1234 newly registers the fusion track of the target when the fusion track of the target is not registered in the fusion track DB 1237. The fusion tracking processing unit 1234 updates the fusion track of the target when the fusion track of the target is already registered in the fusion track DB 1237. Further, the fusion tracking processing unit 1234 outputs the fusion track to the delay unit 1235. Further, the fusion tracking processing unit 1234 outputs the fusion track and the retracking sensor track to the display processing unit 1236.

  The delay unit 1225 outputs the latest fusion track generated and updated by the fusion tracking processing unit 1234 to the fusion correlation processing unit 1239. As a result, the fusion track sent to the fusion correlation processing unit 1239 is delayed by one sampling period with respect to the fusion track to be generated by the fusion tracking processing unit 1234 based on the output of the fusion correlation processing unit 1239. It will be.

  The display processing unit 1236 causes the display device 1300 to display the fusion track and the retracking sensor track (correlated) output from the fusion tracking processing unit 1234. This allows the operator of the platform 1001 to view the fusion track and retracking sensor track (correlated).

(G3. Association processing unit 1240)
In order to perform operations such as “assign sensors to each target based on shared track information and acquire track information with higher accuracy regarding the targets” by the fusion processing units 1220 and 1230, the target tracking device 1200A In this case, it is necessary to carry out processing to clarify the correspondence between the fusion tracks generated independently by the fusion processing units 1220 and 1230. In the target tracking device 1200A, the association processing unit 1240 executes the description of the process. Specifically, the association processing unit 1240 executes, for example, any of the following processes (i) to (iii).

  (I) Whether the same retracking sensor track is used for updating the merged track performed in the past for each of the fused track generated by the fused tracking processing unit 1234 and the fused track generated by the fused tracking processing unit 1224 Check the merged tracks where the same retracking sensor track is used as the corresponding merged track.

  (Ii) A fusion track in which the fusion track generated by the fusion tracking processing unit 1234 and the fusion track generated by the fusion tracking processing unit 1224 are calculated, and the calculated correlation coefficient is a value equal to or greater than a predetermined threshold Let each other be the corresponding fusion track.

  (Iii) The fusion track generated by the fusion tracking processing unit 1234 and the fusion track generated by the fusion tracking processing unit 1224 are simultaneously displayed on the display device 1300 and compared, and the judgment input by the operator based on the display is made The fusion tracks determined by the result are the corresponding fusion tracks.

(G4. Advantage)
As described above, in the tracking system 1A, as with the tracking system 1 according to the first embodiment, each of the plurality of target tracking devices 1200 can share the retracking sensor track (correlated) via the network 900. Furthermore, each of the plurality of target tracking devices 1200 fuses the shared re-tracking sensor track (correlated), so that the result of the fusion tracking processing becomes identical between the target tracking devices 1200. That is, in the tracking system 1A, all the target tracking devices 1200 can share the same merged track.

  Furthermore, in the sensor system 1010A of the tracking system 1A, the fusion processing unit 1230 does not have the transmission determination processing unit 1222, so the transmission determination process described in the first embodiment is not performed. Therefore, the fusion processing unit 1230 included in the target tracking device 1200A of the sensor system 1010A generates and updates a fusion track using all retracking sensor tracks (correlated) output from the fusion correlation processing unit 1239. . Therefore, the fusion processing unit 1230 can obtain a fusion track with higher accuracy than the fusion processing unit 1220. That is, in the tracking system 1A, the target tracking device 1200A merges with higher accuracy than the other target tracking devices 1200 without increasing the output frequency of the retracking sensor track (correlated) in all the target tracking devices 1200A and 1200. You can get a track.

  Also, the retracking sensor track (correlated) generated by the fusion processing unit 1230 is not transmitted to another sensor system 1010 via the network 900. Therefore, according to the target tracking device 1200A of the sensor system 1010A, even if the target tracking device 1200A requires a fusion track with higher accuracy than the other sensor systems 1010, the amount of data communication in the network 900 It is possible to reduce.

  In particular, when the sensor device 1100 of the sensor system 1010A is required to have a highly accurate fusion track when the sensor device 1100 of the sensor system 1010 has higher accuracy than the sensor device 1100 of the sensor system 1010 of the other platforms 1002 and 1003, the fusion processing unit 1230 The requirements are met at the fusion track. For this reason, it is not necessary to increase the output frequency of the retracking sensor track to improve the accuracy of the fusion track of the fusion processing unit 1220. Therefore, in the tracking system 1A having such a configuration, the communication load can be reduced.

<H. Control structure>
11A and 11B are flowcharts for explaining the flow of processing performed by the target tracking device 1200A of the sensor system 1010A of the platform 1001 of the tracking system 1A. Specifically, FIGS. 11A and 11B are flowcharts for explaining the processing performed by the interface unit 1210A and the fusion processing unit 1230. FIG. 11A shows a flow of processing for receiving sensor information and generating a retracking sensor track performed by the interface unit 1210A of the target tracking device 1200A and the fusion processing unit 1230, and FIG. 11B shows the merging of the target tracking device 1200A. A flow of a process of generating a shared merged track based on the retracking sensor track performed by the processing unit 1230 is shown. The processing performed by fusion processing unit 1220 has been described based on FIGS. 7A and 7B, and thus will not be described repeatedly here.

  As shown in FIG. 11A, in step S202, the coordinate conversion processing unit 1211A of the target tracking device 1200A receives the sensor track and the sensor observation value from the sensor device 1100. In step S204, the coordinate conversion processing unit 1211A of the target tracking device 1200A performs coordinate conversion on the sensor track and the sensor observation value output from the sensor device 1100. In step S206, the retracking processing unit 1231 of the target tracking device 1200A generates a retracking sensor track using the sensor observation value.

  As shown in FIG. 11B, in step S222, in the target tracking device 1200A, the fusion tracking processing unit 1239 (i) the retracking sensor trace newly generated by the retracking processing unit 1231, (ii) the communication processing unit 1233 is new. The processing branches depending on whether any of the re-tracking sensor tracks (correlated) received from the target tracking device 1200 of the sensor system 1010 of another platform is received or not. When any of the retracking sensor track or the retracking sensor track (correlated) is received (YES in step S222), fusion correlation processing unit 1239 receives the received retracking sensor track or retracking in step S224. Correlation processing between the tracking sensor track (correlated) and the fusion track (eigen fusion track) is performed. Subsequent to step S224, in step S226, the fusion tracking processing unit 1224 performs the correlation processing on the retracking sensor trace or the retracking sensor trace (correlated) subjected to the correlation processing by the fusion correlation processing unit 1239 (specific) Fusion and fusion). That is, the target tracking device 1200A generates or updates the unique fusion track. Further, in step S228, the fusion tracking processing unit 1234 of the target tracking device 1200A updates the fusion track DB 1227 with the fusion track generated or updated. Further, in step S230, the display processing unit 1236 of the target tracking device 1200A causes the display device 1300 to display the fusion track generated or updated by the fusion tracking processing unit 1234.

  When fusion correlation processing unit 1239 receives neither the retracking sensor track nor the retracking sensor track (correlated) (NO in step S222), target tracking device 1200A merges based on the retracking sensor track. End the series of processes for generating a track.

  The processes of steps S202 to S206 of FIG. 11A and the processes of steps S222 to S230 of FIG. 7B are executed by the processor 2100 (see FIG. 8) of the target tracking device 1200A.

<I. Summary>
In the following, regarding the retracking sensor track, one having a transmission determination flag of “1” and one received from another target tracking device will also be referred to as “shared retracking track” and “other device sensor track”. In addition, the “determined criteria” described in the first embodiment is also referred to as “sharing condition”.

  (1) As described above, the target tracking device 1200A is connected to the network 900 while tracking the target with the observation value output from the sensor device 1100. The target tracking device 1200A performs tracking processing on the observed values output from the sensor device 1100 (i) retracking processing units 1221 and 1231 that generate a retracking sensor trajectory, and (ii) another tracking sensor trajectory is another A transmission determination processing unit (determination processing unit) 1222 that determines whether a sharing condition determined in common with the target tracking device is satisfied, and (iii) a shared retracking that is a retracking sensor track that satisfies the sharing condition Communication processing unit 1223 for transmitting and receiving sensor tracks to and from other target tracking devices, (iv) Shared re-tracking sensor tracks, and other device sensor tracks that are shared re-tracking sensor traces transmitted from other target tracking devices And a fusion tracking processing unit (sharing fusion tracking processing unit) 1224 that generates a shared fusion track, (v) a retracking sensor track, and a shared retracking sensor track transmitted from another target tracking device. Comprising a fusion of a certain other device sensor track, fusion tracking processing unit for generating a unique fusion track (the unique fusion tracking processing unit) 1234, a.

  According to the above configuration, the fusion tracking processing unit 1224 uses the shared retracking sensor track, whereas the fusion tracking processing unit 1234 uses the retracking sensor track. In addition, the shared retracking sensor track is a retracking sensor track that satisfies the shared condition. That is, in addition to the fusion tracking processing unit 1224 that generates the same shared fusion track as other target tracking devices, the target tracking device 1200A performs fusion tracking processing that generates a fusion track with high accuracy that is updated by the retracking sensor track at high frequency. A unit 1234 is provided. Therefore, according to the target tracking device 1200A, it is possible to obtain a highly accurate merged track without increasing the load on the network 900 due to the increase in the output frequency of the retracking sensor track in all the target tracking devices.

  (2) The target tracking device 1200A compares (i) the observed value output from the sensor device 1100 with the predicted value of the observed value predicted from the shared fusion track, and shares the shared fusion track associated with the observed value. Fusion correlation processing unit (shared fusion correlation processing unit) 1212 that generates shared fusion track correspondence attached information that is information in which no shared fusion track to be associated exists or (ii) re-tracking sensor track and other device sensor track The unique fusion track which is the information of the unique fusion track to be matched or the information in which the unique fusion track to be matched does not exist, for each of the re-tracking sensor track and the other device sensor track Fusion correlation processing unit (eigen fusion correlation processing unit) 1239 for generating association information, and (iii) association processing for correlating shared fusion track and unique fusion track And a management unit 1240.

  The retracking processing unit 1221 generates a retracking sensor track including the shared fused track correspondence attached information. The fusion tracking processor (shared fusion tracking processor) 1224 updates the shared fusion track associated with the shared fusion track correspondence information for each of the shared retracking sensor track and the other apparatus sensor track, and shares the shared fusion track. If there is no shared fusion track associated with the association information, a new shared fusion track is created. The fusion tracking processing unit (eigen fusion tracking processing unit) 1234 updates the unique fusion track associated with the unique fusion track correspondence information for each of the re-tracking sensor track and the other device sensor track, and supports the unique fusion track. In the case of the re-tracking sensor track where there is no unique fusion track associated with the additional information, a unique fusion track is newly created.

  As described above, the target tracking device 1200A updates the shared fusion track and the unique fusion track according to the correlation result independently performed by the fusion correlation processing unit 1212 and the fusion correlation processing unit 1239, respectively, and the association processing unit 1240. The association between the shared fusion track and the unique fusion track is performed by Therefore, according to the tracking system 1A including the target tracking device 1200A, it is possible to update the shared merged track of all the target tracking devices based on the result of the correlation performed by one target tracking device.

Third Embodiment
<J. System configuration>
FIG. 12 is a diagram showing an outline of a target tracking device, a sensor system, and a tracking system according to the present embodiment. Referring to FIG. 12, tracking system 1 </ b> B includes sensor group 100 </ b> B and network 900. The sensor group 100B includes a sensor system 1010B on the platform 1001 and a sensor system 1010C on each of the plurality of platforms 1002 and 1003.

  Tracking system 1B differs from tracking system 1A of the second embodiment in that tracking system 1B includes sensor system 1010A on platform 1001 and includes sensor system 1010C instead of sensor system 1010 on platforms 1002 and 1003. The following describes the tracking system 1B according to the present embodiment, focusing on the difference from the tracking system 1A according to the second embodiment. Although FIG. 12 exemplifies a configuration including the sensor systems 1010B and 1010C in which the sensor group 100B is on three platforms, the number of platforms and the number of sensor systems 1010B and 1010C are limited to three. It is not something to be done.

  The sensor system 1010 B on each platform 1001 and the sensor system 1010 C on each platform 1002 and 1003 are communicably connected to the network 900. This allows sensor system 1010 B and sensor system 1010 C on each platform 1002, 1003 to communicate with one another.

  Similar to the sensor system 1010A described in the second embodiment, the sensor system 1010B on the platform 1001 is a device requiring a highly accurate fusion track as compared to the sensor system 1010C on the platforms 1002 and 1003. The sensor system 1010B includes a sensor device 1100, a target tracking device 1200B, and a display device 1300. The target tracking device 1200B includes an interface unit 1210B, a plurality of fusion processing units 1220B and 1230B, and an association processing unit 1240. The fusion processing units 1220B and 1230B are connected to the network 900 and the display device 1300. On the other hand, the sensor system 1010C includes a sensor device 1100, a target tracking device 1200C, and a display device 1300. The target tracking device 1200B includes an interface unit 1210C and a fusion processing unit 1220B. A different point from the interface unit 1210B included in the target tracking device 1200B of the sensor system 1010B is that the sensor track after coordinate conversion of the interface unit 1210B included in the target tracking device 1200C of the sensor system 1010C is transmitted to the fusion processing unit 1220B. That is, the target tracking device 1200B is equivalent to the target tracking device 1200C plus the fusion processing unit 1230B and the association processing unit 1240. Therefore, the detailed configuration of the tracking system 1B will be described for the sensor system 1010B having the target tracking device 1200B and the target tracking device 1200B, and the description of the target tracking device 1200C and the sensor system 1010C will be omitted.

  The target tracking device 1200B includes the interface unit 1210B and the fusion processing units 1220B and 1230B, the target tracking device 1200A according to the second embodiment including the interface unit 1210A and the fusion processing units 1220 and 1230 (see FIG. 9). It is different from

  The fusion processing unit 1220B of the target tracking device 1200B generates a track (specifically, a retracking sensor track) generated based on data output from the sensor device 1100 of the sensor system 1010B on the platform 1001 via the network 900. Send to platforms 1002 and 1003. Also, the fusion processing unit 1220 B, like the fusion processing unit 1220 of the target tracking device 1200, tracks transmitted from the fusion processing unit 1220 of the sensor system 1010 in each of the platforms 1002 and 1003 via the network 900 (details Receive the retracking sensor track). Further, the fusion processing unit 1220 B is a fusion processing unit of the wake generated based on the data output from the sensor device 1100 of the sensor system 1010 B on the platform 1001 and the fusion processing unit of the sensor system 1010 in each of the platforms 1002 and 1003. A fused track is generated by fusing the track transmitted from 1220 via the network 900.

  The fusion processing unit 1230B of the target tracking device 1200B receives the retracking sensor trajectory (correlated) at the point of receiving the retracking sensor trajectory without correlation processing from the network 900 according to the second embodiment. Different from unit 1230.

<K. Details of sensor system>
FIG. 13 is a diagram for describing the detailed configurations of the target tracking device 1200B and the sensor system 1010B on the platform 1001 of the tracking system 1B. Referring to FIG. 13, sensor system 1010B includes sensor device 1100, target tracking device 1200B, and display device 1300, as described above.

  As described above, the target tracking device 1200B includes the interface unit 1210B, the fusion processing units 1220B and 1230, and the association processing unit 1240. The interface unit 1210B includes a coordinate conversion processing unit 1211B. Fusion processing unit 1220B combines retracking processing unit 1221B, transmission determination processing unit 1222B, communication processing unit 1233B, fusion tracking processing unit 1224, delay unit 1225, display processing unit 1226, and fusion track DB 1227. And a correlation processing unit 1229.

  The interface unit 1210B differs from the interface unit 1210A (see FIG. 10) in the second embodiment in that the interface unit 1210B does not have the fusion correlation processing unit 1212. Fusion processing unit 1220B differs from fusion processing unit 1220 (see FIG. 10) in the second embodiment in that fusion processing unit 1220B includes fusion correlation processing unit 1239B.

(K1. Interface unit 1210 B)
The coordinate conversion processing unit 1211 B of the interface unit 1210 B receives, from the sensor tracking processing unit 110 2, the sensor track and the sensor observation value represented in the coordinate system unique to the sensor in the sensor device 1100. The coordinate conversion processing unit 1211B converts the sensor track and the sensor observation value into coordinate values in the coordinate system of the target tracking device 1200B.

  The coordinate conversion processing unit 1211B outputs the converted sensor track and the sensor observation value to the retracking processing unit 1221 of the fusion processing unit 1220B and the retracking processing unit 1231 of the fusion processing unit 1230B.

(K2. Fusion processing unit 1230B)
As described above, the communication processing unit 1233B of the fusion processing unit 1230B receives the retracking sensor track from the target tracking device 1200C of the sensor system 1010C of each of the platforms 1002 and 1003 via the network 900. The communication processing unit 1233B outputs the received retracking sensor track to the fusion correlation processing unit 1239B.

  The fusion correlation processing unit 1239B identifies the fusion track having a correlation with the sensor observation value from the fusion tracks of each of the plurality of targets, and then uses the sensor observation value and the sensor track as identification information of the identified fusion track. It associates and outputs to the fusion tracking processing unit 1234. Specifically, fusion correlation processing unit 1239B determines the correlation between the retracking sensor trace output from retracking processing unit 1231 and each of the plurality of fusion tracks delayed by one sampling. Furthermore, fusion correlation processing unit 1239B also correlates the retracking sensor trajectory output from communication processing unit 1233B in the same manner as the retracking sensor trajectory output from retracking processing unit 1231.

  The processing of each unit other than the communication processing unit 1233B and the fusion correlation processing unit 1239B in the fusion processing unit 1230B is not repeated here because it has already been described.

(K3. Fusion processing unit 1220B)
Like the retracking processing unit 1221, the retracking processing unit 1221B of the fusion processing unit 1220B generates a retracking sensor track using the sensor observation value. However, the generated retracking sensor track is not correlated with the fusion track. The retracking processing unit 1221B outputs the generated retracking sensor track to the transmission determination processing unit 1222B.

  When the fusion tracking processing unit 1224 newly registers a fusion track, an error vector having errors of the position, velocity, and acceleration included in the retracking sensor track (correlated) based on the retracking sensor track as elements. From (e), an error vector (E) is calculated, which has errors of the position, velocity and acceleration of the fusion track as each element. In addition, when the fusion tracking processing unit 1224 updates the fusion track with the retracking sensor track, the fusion tracking process unit 1224 generates the fusion track from the error vector (E) of the fusion track before updating and the error vector (e) of the retracking sensor track. Calculate and update the error vector (E). The identification number of the re-tracking sensor track (correlated) used in generating the fusion track is stored in the fusion track DB 1227 for each fusion track.

  When a new retracking sensor track is input, the transmission determination processing unit 1222B acquires, from the fusion track DB 1227, information on the merged track updated by the retracking sensor track having the same identification number as the retracking sensor track. The determination is performed as follows in the case where the merged track updated by the retracking sensor track having the same identification number as the input retracking sensor track and the case where it does not exist.

  (I) If a merged track updated by the retracking sensor track of the same identification number exists, the transmission judgment processing unit 1222B re-reads the merged track with the error vector E or error vector (E) of this merged track. It is determined whether or not the difference vector D (= E−E ′) with the error vector (E ′) after update when it is assumed that the tracking sensor track is updated, satisfies the determined criteria. The determined criteria are the same as the transmission determination processing unit 1222 of the first and second embodiments.

  (Ii) If the merged track updated by the re-tracking sensor track of the same identification number does not exist, the transmission determination processing unit 1222B can transmit the re-tracking sensor track of this merged track (that is, target tracking the re-tracking track) It is determined that the devices are shared).

  The communication processing unit 1223 B receives the retracking sensor track from the target tracking device 1200 of the platforms 1002 and 1003 via the network 900. Also, the communication processing unit 1233B transmits the retracking sensor track to the target tracking device 1200C of the sensor system 1010C of each of the platforms 1002 and 1003 via the network 900. Further, the communication processing unit 1233B outputs the received retracking sensor track to the fusion correlation processing unit 1229. As described above, the communication processing unit 1223B is different from the communication processing unit 1223 (see FIG. 10) of the second embodiment in that the communication processing unit 1223B performs transmission / reception and output of the retracking sensor track not subjected to the correlation processing.

  The fusion correlation processing unit 1229 identifies a fusion track correlating with the sensor observation value from the fusion tracks of each of the plurality of targets, and then uses the sensor observation value and the sensor track as identification information of the identified fusion track. It associates and outputs to the fusion tracking processing unit 1224. Specifically, fusion correlation processing unit 1229 determines the correlation between the retracking sensor trace output from communication processing unit 1223 B and each of the plurality of fusion tracks delayed by one sampling.

  More specifically, the fusion correlation processing unit 1229, when the fusion track having a correlation is identified, indicates, with respect to the retracking sensor track, correlation fusion track information indicating a fusion track having a correlation with the retracking sensor track (fusion track Identification information). The fusion correlation processing unit 1229 outputs the retracking sensor trace to which the correlated fusion track information is added to the fusion tracking processing unit 1224 as a correlated retracking sensor trace (that is, a retracking sensor trace (correlated)). . Furthermore, the fusion correlation processing unit 1229 adds correlation fusion track information (identification information of the fusion track) indicating the fusion track having a correlation with the retracking sensor track also with respect to the retracking sensor track output from the communication processing unit 1233B. Then, it is output to the fusion tracking processing unit 1224 as a correlated retracking sensor track (that is, a retracking sensor track (correlated)).

  The processes in delay unit 1225 and display processing unit 1226 have already been described and will not be repeated here.

(K4. Association processing unit 1240)
In order to perform operations such as “assign sensors to each target based on shared track information and acquire more accurate track information on targets” by fusion processing units 1220 B and 1230 B, target tracking device 1200 B In this case, it is necessary to carry out processing to clarify the correspondence between the fusion tracks generated independently by the fusion processing units 1220B and 1230B. In the target tracking device 1200B, the association processing unit 1240 executes the description of the process. Specifically, the association processing unit 1240 executes, for example, any of the processes (i) to (iii) described above (the description in the column of “(g3. Association processing unit 1240” in the second embodiment) reference).

(K5. Advantage)
The tracking system 1B according to the present embodiment has the same effect as the tracking system 1A according to the second embodiment.

<L. Control structure>
FIGS. 14A and 14B are flowcharts for explaining the flow of processing performed by the target tracking device 1200B of the sensor system 1010B of the platform 1001 of the tracking system 1B. Specifically, FIGS. 14A and 14B are flowcharts for explaining the processing performed by the interface unit 1210B and the fusion processing unit 1220B. FIG. 14A shows a flow of processing for receiving sensor information, generating a retracking sensor track, and distributing it performed by the target tracking device 1200B, and FIG. 14B shows a retracking sensor track performed by the target tracking device 1200B. The flow of processing to generate fusion track is shown below.

  As shown in FIG. 14A, in step S302, the coordinate conversion processing unit 1211B of the target tracking device 1200B receives the sensor track and the sensor observation value from the sensor device 1100. In step S304, the coordinate conversion processing unit 1211B of the target tracking device 1200B performs coordinate conversion on the sensor track and the sensor observation value output from the sensor device 1100. In step S306, the retracking processing unit 1221B of the target tracking device 1200B generates a retracking sensor track using the sensor observation value.

  In step S308, the transmission determination processing unit 1222B of the target tracking device 1200B merges the fusion track error vector (E) or the fusion track error vector (E) and the retracking sensor track into the fusion track. It is determined whether the difference vector (D) (D = E−E ′) with the error vector (E ′) of the pixel satisfies the predetermined criterion.

  If it is determined that the determined criteria are satisfied (YES in step S308), the transmission determination processing unit 1222B determines in step S310 that the retracking sensor track (correlated) is transmittable. Also, in step S312, the communication processing unit 1223B of the target tracking device 1200B transmits the retracking sensor track determined to be transmittable by the transmission determination processing unit 1222B to the sensor system 1010C of the other platforms 1002 and 1003. Do. On the other hand, when it is determined that the determined reference is not satisfied (NO in step S308), the target tracking device 1200B receives the sensor information, generates a retracking sensor track, and ends the series of processing for distribution.

  14B, in step S322, in target tracking device 1200B, re-tracking sensor trajectory that fusion correlation processing unit 1229 (i) transmission determination processing unit 1222B newly determines that transmission is possible (shared), (B) The processing branches depending on whether the communication processing unit 1223B newly receives any or all of the re-tracking sensor tracks received from the target tracking device 1200C of the sensor system 1010C of another platform. When any re-tracking sensor track has been received (YES in step S322), in step S324, fusion correlation processing unit 1229 correlates the received re-tracking sensor track with the fusion track (shared fusion track). I do. Further, in step S326, the fusion tracking processing unit 1224 executes fusion tracking processing in which the retracking sensor trace subjected to the correlation processing by the fusion correlation processing unit 1229 is fused to the fusion track having correlation. That is, the target tracking device 1200 generates or updates a fusion track.

  Further, following step S326, in step S328, the fusion tracking processing unit 1224 of the target tracking device 1200B updates the fusion track DB 1227 with the fusion track generated or updated. Further, in step S330, the display processing unit 1226 of the target tracking device 1200B causes the display device 1300 to display the fusion track generated or updated by the fusion tracking processing unit 1224.

  If fusion correlation processing unit 1229 has not received any retracking sensor track (NO in step S322), target tracking device 1200B ends a series of processes for generating a fusion track based on retracking sensor track. Do.

  The processes of steps S302 to S312 in FIG. 14A and the processes of steps S324 to S330 in FIG. 14B are executed by the processor 2100 (see FIG. 8) of the target tracking device 1200B.

<M. Summary>
As described above, the target tracking device 1200B compares (i) each of the shared re-tracking sensor track and the other-device sensor track with the shared fusion track, and for each of the shared re-tracking sensor track and the other-device sensor track. A fusion correlation processing unit (shared fusion correlation processing unit) 1229 that generates shared fusion track correspondence information that is information of the shared fusion track to be associated or information that the shared fusion track to be associated does not exist; (ii) retracking Each of the sensor track and the other apparatus sensor track is compared with the unique fusion track, and the information of the unique fusion track or the corresponding unique fusion track to be associated with each of the re-tracking sensor track and the other apparatus sensor track is Fusion correlation processing unit (eigen fusion correlation processing unit) 1239B for generating unique fusion track correspondence attached information which is information which does not exist, (iii) Further comprising a correlation processor 1240 for associating the chromatic fusion track and a unique fusion track.

  The fusion tracking processor (shared fusion tracking processor) 1224 updates the shared fusion track associated with the shared fusion track correspondence information for each of the shared retracking sensor track and the other apparatus sensor track, and shares the shared fusion track. If there is no shared fusion track associated with the association information, a new shared fusion track is created. The fusion tracking processing unit (eigen fusion tracking processing unit) 1234 updates the unique fusion track associated with the unique fusion track correspondence information for each of the re-tracking sensor track and the other device sensor track, and supports the unique fusion track. In the case of the re-tracking sensor track where there is no unique fusion track associated with the additional information, a unique fusion track is newly created.

  As described above, the target tracking device 1200A updates the shared fusion track and the unique fusion track according to the correlation result independently performed by the fusion correlation processing unit 1212 and the fusion correlation processing unit 1239B, and the association processing unit 1240. The association between the shared fusion track and the unique fusion track is performed by Therefore, according to the tracking system 1B provided with the target tracking device 1200B, it is possible to perform correlation in each target tracking device and to update the fusion track based on the result.

Fourth Embodiment
In the present embodiment, a sensor system 1010D which is a modification of the sensor system 1010A (see FIG. 10) of the second embodiment will be described. That is, sensor system 1010D is used instead of sensor system 1010A in tracking system 1A.

<N. Platform Details>
FIG. 15 is a diagram for describing the detailed configuration of the sensor system 1010D. Referring to FIG. 15, sensor system 1010D includes a sensor device 1100, a target tracking device 1200D, and a display device 1300. That is, the sensor system 1010D is different from the sensor system 1010A including the target tracking device 1200A in that the target tracking device 1200D is provided on the platform 1001.

  The target tracking device 1200D includes an interface unit 1210B, fusion processing units 1220C and 1230, and an association processing unit 1240. That is, the target tracking device 1200D differs from the target tracking device 1200A including the interface unit 1210A and the fusion processing unit 1220 in that the target tracking device 1200D includes the interface unit 1210B and the fusion processing unit 1220C.

  Further, interface unit 1210 B differs from interface unit 1210 A (see FIG. 10) in the second embodiment in that it does not have fusion correlation processing unit 1212. Fusion processing unit 1220C differs from fusion processing unit 1220 (see FIG. 10) in the second embodiment in that fusion processing unit 1220C includes fusion correlation processing unit 1229C.

(N1. Interface unit 1210B)
The coordinate conversion processing unit 1211 B of the interface unit 1210 B receives, from the sensor tracking processing unit 110 2, the sensor track and the sensor observation value represented in the coordinate system unique to the sensor in the sensor device 1100. The coordinate conversion processing unit 1211B converts the sensor track and the sensor observation value into coordinate values in the coordinate system of the target tracking device 1200D.

  The coordinate conversion processing unit 1211 B outputs the converted sensor track and the sensor observation value to the retracking processing unit 1221 B of the fusion processing unit 1220 C and the retracking processing unit 1231 of the fusion processing unit 1230.

(N2. Fusion processing unit 1220C)
Fusion processing unit 1220C includes retracking processing unit 1221B, fusion correlation processing unit 1229C, transmission determination processing unit 1222, communication processing unit 1223, fusion tracking processing unit 1224, delay unit 1225, and display processing unit 1226. , Fusion track DB (Data Base) 1227.

  Fusion processor 1220C differs from the layout of Embodiment 2 (see FIG. 10) in the arrangement of shared fusion correlation processor 1229C and retracking processor 1221B. Specifically, fusion correlation processing unit 1220D includes fusion correlation processing unit 1229C between retracking processing unit 1221B and transmission determination processing unit 1222. The delay unit 1225 transmits the fusion track to the fusion correlation processing unit 1229C and the transmission determination processing unit 1222.

  That is, in the configuration of the second embodiment, the present embodiment is different from the case where the re-tracking processing is performed on the result of the correlation processing performed by the fusion correlation processing unit 1221 in order to generate the re-tracking sensor track (correlated). In the above configuration, fusion correlation processing is performed by the fusion correlation processing unit 1229C on the retracking sensor track after the retracking processing is performed by the retracking processing unit 1221B.

<O. Summary>
As described above, the target tracking device 1200D compares (i) the re-tracking sensor track with the shared fusion track, and the information of the shared fusion track associated with the re-tracking sensor track or the shared fusion track associated with the re-tracking sensor track. Fusion correlation processing unit (shared fusion correlation processing unit) 1229C that generates shared fusion track correspondence information that is non-existent information, and (ii) comparing each of the re-tracking sensor track and other apparatus sensor track with the unique fusion track A fusion correlation processing unit that generates unique fusion track correspondence information, which is information on the unique fusion track to be associated or information on which the unique fusion track to be associated does not exist, for each of the retracking sensor track and the other apparatus sensor track (Eigen fusion correlation processing unit) 1239, and (iii) a matching processing unit 1240 for correlating the shared fusion track and the unique fusion track .

  The communication processing unit 1223 transmits / receives a shared retracking sensor trace, which is a retracking sensor trace that satisfies the sharing condition and includes shared fusion track correspondence information, with another target tracking device. The fusion tracking processor (shared fusion tracking processor) 1224 updates the shared fusion track associated with the shared fusion track correspondence information for each of the shared retracking sensor track and the other apparatus sensor track, and shares the shared fusion track. If there is no shared fusion track associated with the association information, a new shared fusion track is created. The fusion tracking processing unit (eigen fusion tracking processing unit) 1234 updates the unique fusion track associated with the unique fusion track correspondence information for each of the re-tracking sensor track and the other device sensor track, and supports the unique fusion track. In the case of the re-tracking sensor track where there is no unique fusion track associated with the additional information, a unique fusion track is newly created.

  As described above, the target tracking device 1200D updates each of the shared fusion track and the unique fusion track according to the correlation result independently performed by the fusion correlation processing unit 1229C and the fusion correlation processing unit 1239, and the association processing unit 1240. The association between the shared fusion track and the unique fusion track is performed by Therefore, according to tracking system 1A including target tracking device 1200D, as in the second embodiment, the shared fusion track of all target tracking devices is updated based on the result of the correlation performed by one target tracking device. be able to.

  The embodiment disclosed this time is an example, and the present invention is not limited to the above content. The scope of the present invention is shown by the claim, and it is intended that the meaning of a claim and equality and all the changes within the range are included.

  1, 1A, 1B tracking system, 100, 100A, 100B sensor group, 700 memory card, 900 network, 1001, 1002, 1003 platform, 1010, 1010A, 1010B, 1010C, 1010D sensor system, 1100 sensor device, 1101 signal processing unit , 1102 sensor tracking processing unit, 1200, 1200A, 1200B, 1200C, 1200D target tracking device, 1210, 1210A, 1210B, 1210C interface unit, 1211, 1211A, 1211B coordinate conversion processing unit, 1212, 1229, 1229C, 1239B fusion Correlation processing unit, 1220, 1220B, 1220C, 1230, 1230B Fusion processing unit, 1221, 1221 B, 1231 retracking processing unit 1222, 1222 B transmission judgment processing unit, 1223, 1223 B, 1233, 1233 B communication processing unit, 1224, 1234 fusion tracking processing unit, 1225, 1235 delay unit, 1226, 1236 display processing unit, 1240 association processing unit, 1300 display device, 2100 processor, 2200 memory, 2210 ROM, 2220 RAM, 2300, 2400, 2500 Communication IF, 1227, 1237 Fusion track DB.

Claims (9)

A target tracking device connected to a network, which tracks a target by an observation value output from a sensor,
A tracking processing unit that generates a tracking sensor track by performing tracking processing on the observed value output from the sensor;
By further tracking processing line of the Ukoto to the observations, and sharing re tracking processing unit for generating a first re-tracking sensor track,
A unique re-tracking processing unit that generates a second re-tracking sensor track by further performing tracking processing on the observed value;
A determination processing unit that determines whether or not the first retracking sensor track satisfies a sharing condition determined in common with other target tracking devices;
A communication processing unit that transmits and receives a shared re-tracking sensor track, which is the first re-tracking sensor track that satisfies the sharing condition, to and from another target tracking device;
A shared fusion tracking processing unit that generates a shared fusion track, which fuses the shared retracking sensor trace and another device sensor trace that is the shared retracking sensor trace transmitted from another target tracking device;
An eigen fusion tracking processing unit that generates an eigen fusion track in which the second retracking sensor wake and the other device sensor wake are merged;
The observation value output from the sensor is compared with the prediction value of the observation value predicted from the shared fusion track, and identification information of the shared fusion track associated with the observation value is associated with the observation value A shared fusion correlation processing unit that generates shared fusion track correspondence information, which is any one of the information indicating that the shared fusion track to be
Each of the second retracking sensor track and the other apparatus sensor track is compared with the unique fusion track, and the specific fusion track associated with each of the second retracking sensor track and the other apparatus sensor track Unique fusion track correspondence information which is any one of identification information of the second retracking sensor and information indicating that the unique fusion track associated with each other device sensor track does not exist An intrinsic fusion correlation processing unit to generate
An association processing unit that associates the shared fusion track with the unique fusion track;
The shared retracking processing unit generates the first retracking sensor track including the shared fused track correspondence information.
The shared fusion tracking processing unit updates the shared fusion track associated with the shared retrack sensor track and the other device sensor track by the shared fusion track association information, and uses the shared fusion track association information. If the shared fusion track to be associated does not exist, the shared fusion track is newly created.
The unique fusion tracking processing unit updates the unique fusion track associated with the unique fusion track correspondence information to each of the second retracking sensor track and the other device sensor track, and adds the unique fusion track correspondence. In the case of the second retracking sensor track in which the unique fusion track associated with information does not exist, a target tracking device that newly creates the unique fusion track. A target tracking device connected to a network, which tracks a target by an observation value output from a sensor,
A tracking processing unit that generates a tracking sensor track by performing tracking processing on the observed value output from the sensor;
By further tracking processing line of the Ukoto to the observations, and sharing re tracking processing unit for generating a first re-tracking sensor track,
A unique re-tracking processing unit that generates a second re-tracking sensor track by further performing tracking processing on the observed value;
A determination processing unit that determines whether or not the first retracking sensor track satisfies a sharing condition determined in common with other target tracking devices;
A communication processing unit that transmits and receives a shared re-tracking sensor track, which is the first re-tracking sensor track that satisfies the sharing condition, to and from another target tracking device;
A shared fusion tracking processing unit that generates a shared fusion track, which fuses the shared retracking sensor trace and another device sensor trace that is the shared retracking sensor trace transmitted from another target tracking device;
An eigen fusion tracking processing unit that generates an eigen fusion track in which the second retracking sensor wake and the other device sensor wake are merged;
The first re-tracking sensor track is compared with the shared fusion track, and identification information of the shared fusion track associated with the first re-tracking sensor track is associated with the first re-tracking sensor track A shared fusion correlation processing unit that generates shared fusion track correspondence information that is any one of information indicating that the shared fusion track does not exist;
Each of the second retracking sensor track and the other apparatus sensor track is compared with the unique fusion track, and the specific fusion track associated with each of the second retracking sensor track and the other apparatus sensor track Unique fusion track correspondence information which is any one of identification information of the second retracking sensor and information indicating that the unique fusion track associated with each other device sensor track does not exist An intrinsic fusion correlation processing unit to generate
A correspondence processing unit that associates the shared fusion track with the unique fusion track, and the communication processing unit is the first retracking sensor track that satisfies the sharing condition and includes the shared fusion track correspondence information The shared retracking sensor track is transmitted to and received from another target tracking device,
The shared fusion tracking processing unit updates the shared fusion track associated with the shared retrack sensor track and the other device sensor track by the shared fusion track association information, and uses the shared fusion track association information. If the shared fusion track to be associated does not exist, the shared fusion track is newly created.
The unique fusion tracking processing unit updates the unique fusion track associated with the unique fusion track correspondence information to each of the second retracking sensor track and the other device sensor track, and adds the unique fusion track correspondence. In the case of the second retracking sensor track in which the unique fusion track associated with information does not exist, a target tracking device that newly creates the unique fusion track. A target tracking device connected to a network, which tracks a target by an observation value output from a sensor,
A tracking processing unit that generates a tracking sensor track by performing tracking processing on the observed value output from the sensor;
By further tracking processing line of the Ukoto to the observations, and sharing re tracking processing unit for generating a first re-tracking sensor track,
A unique re-tracking processing unit that generates a second re-tracking sensor track by further performing tracking processing on the observed value;
A determination processing unit that determines whether or not the first retracking sensor track satisfies a sharing condition determined in common with other target tracking devices;
A communication processing unit that transmits and receives a shared re-tracking sensor track, which is the first re-tracking sensor track that satisfies the sharing condition, to and from another target tracking device;
A shared fusion tracking processing unit that generates a shared fusion track, which fuses the shared retracking sensor trace and another device sensor trace that is the shared retracking sensor trace transmitted from another target tracking device;
An eigen fusion tracking processing unit that generates an eigen fusion track in which the second retracking sensor wake and the other device sensor wake are merged;
Each of the shared retracking sensor track and the other apparatus sensor track is compared with the shared fusion track, and identification information of the shared merged track associated with each of the shared retracking sensor track and the other apparatus sensor track Shared fusion correlation processing for generating shared fusion track correspondence information which is any one of information indicating that the shared fusion track corresponding to each of the shared re-tracking sensor track and the other apparatus sensor track does not exist Department,
Each of the second retracking sensor track and the other apparatus sensor track is compared with the unique fusion track, and the specific fusion track associated with each of the second retracking sensor track and the other apparatus sensor track Unique fusion track correspondence information which is any one of identification information of the second retracking sensor and information indicating that the unique fusion track associated with each other device sensor track does not exist An intrinsic fusion correlation processing unit to generate
An association processing unit that associates the shared fusion track with the unique fusion track;
The shared fusion tracking processing unit updates the shared fusion track associated with the shared retrack sensor track and the other device sensor track by the shared fusion track association information, and uses the shared fusion track association information. If the shared fusion track to be associated does not exist, the shared fusion track is newly created.
The unique fusion tracking processing unit updates the unique fusion track associated with the unique fusion track correspondence information to each of the second retracking sensor track and the other device sensor track, and adds the unique fusion track correspondence. In the case of the second retracking sensor track in which the unique fusion track associated with information does not exist, a target tracking device that newly creates the unique fusion track. The shared fusion track and the first retracking sensor track are generated periodically,
The sharing condition is an error of the shared fusion track one cycle earlier, or an error of the shared fusion track one cycle earlier and the first re-tracking sensor track one cycle earlier merged with the shared fusion track. The target tracking device according to any one of claims 1 to 3, wherein the difference between the common fusion track error and the error is equal to or greater than a predetermined threshold value.   The sensor system provided with the target tracking apparatus of any one of Claims 1-4, and the sensor which outputs the said observation value.   A tracking system comprising a plurality of sensor systems according to claim 5. A program for controlling a target tracking device connected to a network, which tracks a target according to an observation value output from a sensor.
Generating a tracking sensor track by performing tracking processing on the observation value output from the sensor ;
By further tracking processing line of the Ukoto before Symbol observations, and generating a first re-tracking sensor track,
Generating a second retracking sensor track by further performing tracking processing on the observed value;
Determining whether the first retracking sensor track meets a sharing condition determined in common with the other target tracking devices;
Transmitting and receiving a shared re-tracking sensor track, which is the first re-tracking sensor track that satisfies the sharing condition, to and from another target tracking device;
Generating a shared merged track by fusing the shared retracking sensor track and another apparatus sensor track which is the shared retracking sensor track transmitted from another target tracking apparatus;
Generating a unique fusion track combining the second retracking sensor track and the other device sensor track;
The observation value output from the sensor is compared with the prediction value of the observation value predicted from the shared fusion track, and identification information of the shared fusion track associated with the observation value is associated with the observation value Generating shared fusion track correspondence information which is any one of information indicating that the shared fusion track does not exist.
Each of the second retracking sensor track and the other apparatus sensor track is compared with the unique fusion track, and the specific fusion track associated with each of the second retracking sensor track and the other apparatus sensor track Unique fusion track correspondence information which is any one of identification information of the second retracking sensor and information indicating that the unique fusion track associated with each other device sensor track does not exist Generating steps,
Causing the processor of the target tracking device to execute the step of correlating the shared fusion track with the unique fusion track;
The step of generating the first retracking sensor track includes the shared fused track correspondence information to generate the first retracking sensor track.
In the step of generating the shared fusion track, the shared fusion track associated with the shared fusion track correspondence information to each of the shared re-tracking sensor track and the other device sensor track is updated, and the shared fusion track correspondence is added. If the shared fusion track associated with information does not exist, the shared fusion track is newly created;
The step of generating the unique fusion track updates the unique fusion track which is associated with the unique fusion track correspondence information to each of the second retracking sensor track and the other device sensor track, and the unique fusion track In the case of the second retracking sensor track in which the unique fusion track associated with the mapping information does not exist, a program for newly creating the unique fusion track. A program for controlling a target tracking device connected to a network, which tracks a target according to an observation value output from a sensor.
Generating a tracking sensor track by performing tracking processing on the observation value output from the sensor ;
By further tracking processing line of the Ukoto before Symbol observations, and generating a first re-tracking sensor track,
Generating a second retracking sensor track by further performing tracking processing on the observed value;
Determining whether the first retracking sensor track meets a sharing condition determined in common with the other target tracking devices;
Transmitting and receiving a shared re-tracking sensor track, which is the first re-tracking sensor track that satisfies the sharing condition, to and from another target tracking device;
Generating a shared merged track by fusing the shared retracking sensor track and another apparatus sensor track which is the shared retracking sensor track transmitted from another target tracking apparatus;
Generating a unique fusion track combining the second retracking sensor track and the other device sensor track;
The first re-tracking sensor track is compared with the shared fusion track, and identification information of the shared fusion track associated with the first re-tracking sensor track is associated with the first re-tracking sensor track Generating shared fusion track correspondence information which is any one of the information indicating that the shared fusion track does not exist;
Each of the second retracking sensor track and the other apparatus sensor track is compared with the unique fusion track, and the specific fusion track associated with each of the second retracking sensor track and the other apparatus sensor track Unique fusion track correspondence information which is any one of identification information of the second retracking sensor and information indicating that the unique fusion track associated with each other device sensor track does not exist Generating steps,
Causing the processor of the target tracking device to execute the step of correlating the shared fusion track with the unique fusion track;
The step of transmitting / receiving the shared retracking sensor track to / from another target tracking device, the shared retracking being the first retracking sensor track that satisfies the sharing condition and includes the shared fusion track correspondence attached information Send and receive sensor wakes with other target tracking devices;
In the step of generating the shared fusion track, the shared fusion track associated with the shared fusion track correspondence information to each of the shared re-tracking sensor track and the other device sensor track is updated, and the shared fusion track correspondence is added. If the shared fusion track associated with information does not exist, the shared fusion track is newly created;
The step of generating the unique fusion track updates the unique fusion track which is associated with the unique fusion track correspondence information to each of the second retracking sensor track and the other device sensor track, and the unique fusion track In the case of the second retracking sensor track in which the unique fusion track associated with the mapping information does not exist, a program for newly creating the unique fusion track. A program for controlling a target tracking device connected to a network, which tracks a target according to an observation value output from a sensor.
Generating a tracking sensor track by performing tracking processing on the observation value output from the sensor ;
By further tracking processing line of the Ukoto before Symbol observations, and generating a first re-tracking sensor track,
Generating a second retracking sensor track by further performing tracking processing on the observed value;
Determining whether the first retracking sensor track meets a sharing condition determined in common with the other target tracking devices;
Transmitting and receiving a shared re-tracking sensor track, which is the first re-tracking sensor track that satisfies the sharing condition, to and from another target tracking device;
Generating a shared merged track by fusing the shared retracking sensor track and another apparatus sensor track which is the shared retracking sensor track transmitted from another target tracking apparatus;
Generating a unique fusion track combining the second retracking sensor track and the other device sensor track;
Each of the shared retracking sensor track and the other apparatus sensor track is compared with the shared fusion track, and identification information of the shared merged track associated with each of the shared retracking sensor track and the other apparatus sensor track Generating shared fusion track correspondence information which is any one of information indicating that the shared fusion track corresponding to each of the shared re-tracking sensor track and the other device sensor track does not exist;
Each of the second retracking sensor track and the other apparatus sensor track is compared with the unique fusion track, and the specific fusion track associated with each of the second retracking sensor track and the other apparatus sensor track Unique fusion track correspondence information which is any one of identification information of the second retracking sensor and information indicating that the unique fusion track associated with each other device sensor track does not exist Generating steps,
Causing the processor of the target tracking device to execute the step of correlating the shared fusion track with the unique fusion track;
In the step of generating the shared fusion track, the shared fusion track associated with the shared fusion track correspondence information to each of the shared re-tracking sensor track and the other device sensor track is updated, and the shared fusion track correspondence is added. If the shared fusion track associated with information does not exist, the shared fusion track is newly created;
The step of generating the unique fusion track updates the unique fusion track which is associated with the unique fusion track correspondence information to each of the second retracking sensor track and the other device sensor track, and the unique fusion track In the case of the second retracking sensor track in which the unique fusion track associated with the mapping information does not exist, a program for newly creating the unique fusion track.