JP6556557B2 - Target detection apparatus, target detection method, and target detection program - Google Patents

Description

  The present embodiment relates to a target detection apparatus, a target detection method, and a target detection program that detect a target based on a signal detection result from a sensor that observes the target.

Conventionally, in a target detection device that detects a target based on a signal detection result from a sensor such as a radar device or a sonar device, in order to detect the target reliably, a SPRT (Sequential Probability Ratio Test) is used. : Sequential probability ratio test) target detection processing (see Non-Patent Document 1) is used. Target detecting process by the SPRT sets hypotheses H ₁ to the hypothesis H ₀ is "not a target is present,""there is a target," the hypothesis H ₁ to the "target is present" by the hypothesis test This is a method of determining “target detection” when it is adopted.

JP 2003-43132 A

Samuel S. Blackman, Multiple-Target Tracking with Radar Applications, Artech House, 1986.

  In the target detection apparatus using the conventional SPRT, an evaluation value is calculated every time a signal detection result is input without previously setting the number of observations corresponding to the sample size (same meaning as “sample size”), “Target detection” when the evaluation value is equal to or higher than the upper threshold, “No target detection” when the evaluation value is equal to or lower than the lower threshold, and “Decision pending” when the evaluation value is larger than the lower threshold and smaller than the upper threshold Is determined. According to this method, compared to the case where the number of observations corresponding to the sample size is determined in advance, the “target detection” or “target failure” is determined at the two specified points that define the model of the false target and the true target. The average number of observations required for the “detection” determination can be reduced. However, there is a problem that the average number of observations required for the determination of “target detection” or “target non-detection” increases in a region between specified points (hereinafter referred to as an intermediate region).

  The present embodiment has been made in view of the above problems, and provides a target detection device, a target detection method, and a target detection program that can reduce the average number of observations required for determination of “target detection” or “target non-detection” in an intermediate region. The purpose is to do.

  In order to solve the above-described problem, the target detection apparatus according to the present embodiment includes an evaluation value calculation unit, an evaluation value determination unit, a frequency determination unit, and a comprehensive determination unit. The evaluation value calculation unit inputs a signal detection result from a sensor that observes a target and detects a signal exceeding a threshold, and evaluates based on the signal detection result, a false target signal detection probability, and a true target signal detection probability Calculate the value. The evaluation value determination unit determines the evaluation value calculated by the evaluation value calculation unit by comparing the evaluation value with an upper threshold value and a lower threshold value of the evaluation value. The number determination unit makes a determination by comparing the signal detection number and the signal non-detection number based on the signal detection result with respective threshold values. The comprehensive determination unit makes a comprehensive determination based on the determination result by the evaluation value determination unit and the determination result by the number determination unit, and as a result of the determination, “target detection”, “target non-detection”, “ Select either “Pending judgment”.

The block diagram which shows the structure of the target detection apparatus which concerns on this embodiment. The flowchart which shows the flow of a process of the 1st Example of the target detection apparatus which concerns on this embodiment. The flowchart which shows the flow of a process of the 2nd Example of the target detection apparatus which concerns on this embodiment. The flowchart which shows the modification of the flow of a process of the 2nd Example of the target detection apparatus which concerns on this embodiment. The block diagram which shows the basic composition of the target detection apparatus using SPRT. The flowchart which shows the specific example of the flow of a process of the target detection apparatus shown in FIG.

  Hereinafter, embodiments according to the present invention will be described with reference to the drawings.

  First, prior to describing this embodiment, a basic configuration of a target detection apparatus using SPRT will be described.

  FIG. 5 is a block diagram showing a basic configuration of a target detection apparatus using SPRT. The target detection apparatus shown in FIG. 5 includes a threshold value calculation unit 21, a likelihood ratio calculation unit 22, and a determination unit 23.

The threshold calculation unit 21 calculates the upper threshold T _U and the lower threshold T _L of likelihood ratio is an evaluation value. The likelihood ratio calculation unit 22 calculates the signal detection count m at the observation count k as a signal detection result from a sensor (not shown, for example, a radar device, a sonar device, etc.) that detects a signal exceeding the threshold value by observing the target. Based on the signal detection result, the likelihood ratio ST (k) for the k-th observation is calculated. The determination unit 23, the upper threshold value from the threshold value calculation unit 21 T _U and the lower threshold T _L, based on the likelihood ratio ST (k) from the likelihood ratio calculation unit 22, determined by the following formula (1) And select one of “target detection”, “target non-detection”, and “determination pending” as the determination result.

  FIG. 6 is a flowchart showing a specific example of the processing flow of the target detection apparatus shown in FIG. The process flow of the target detection apparatus will be described with reference to FIG.

The threshold calculation unit 21, based on the type I error rate α and type II error rates beta, calculates the upper threshold T _U and the lower threshold T _L for the likelihood ratio (step S201). Upper threshold _{T U} and the lower threshold _{T L} is calculated by the following equation (2).

The likelihood ratio calculation unit 22 performs the observation k-th time based on the false target signal detection probability P _F , the true target signal detection probability P _D , the number of observations k as the signal detection result from the sensor, and the number of signal detections m. Likelihood ratio ST (k) is calculated (step S202). The likelihood ratio ST (k) for the k-th observation is calculated by the following equation (3).

The determination unit 23 compares the upper threshold _{T U} from observation k-th likelihood ratio ST (k) and the threshold value calculation unit 21 from the likelihood ratio calculation unit 22 (step S203), the likelihood ratio ST ( k) is the determination result to the case of more than the upper threshold _{T U} will be referred to as a "target detection" (step S204). Further, when the likelihood ratio ST (k) is smaller than the upper threshold _{T U} compares the lower threshold _{T L} from the threshold calculator 21 and the likelihood ratio ST (k) (step S205), likelihood When the degree ratio ST (k) is equal to or lower than the lower threshold value _TL , the determination result is “target non-detection” (step S206). Otherwise (likelihood ratio ST (k) is greater than the lower threshold T _L, is smaller than the upper threshold T _U), the determination result is "indeterminant" (step S207). Then, the above determination result is output (step S208). If the determination unit 23 determines “determination pending”, the processing from step S201 is repeated based on the observation k + 1th signal detection result.

  Here, in the target detection device having the above configuration, average observation required for determination of “target detection” or “target non-detection” in an intermediate region (a region between two specified points that define a model of a false target and a true target). The number of times increases.

Therefore, in the embodiment described below, the signal detection count m at the observation count k is input as the signal detection result from the sensor, and the signal detection result, the false target signal detection probability P _F , and the true target signal detection probability P _D are input. Based on this, the k-th likelihood ratio ST (k) is calculated as an evaluation value. Then, with a determination of the likelihood ratio ST (k) based on the upper threshold T _U and the lower threshold T _L of the likelihood ratio ST (k), the signal detection number m and the signal not detected number n (the 1) or based on the number of signal detections m and the number of observations k (second example), and based on these determinations, “target detection” and “target non-detection” are comprehensively performed. And “determination pending” is determined. In this way, the average number of observations required for determination of “target detection” or “target non-detection” is reduced in the intermediate region.

(Embodiment)
Hereinafter, the present embodiment will be described with reference to FIGS. 1 and 2.

  FIG. 1 is a block diagram showing the configuration of the target detection apparatus according to this embodiment. This target detection apparatus includes a likelihood ratio threshold calculation unit 11, a likelihood ratio calculation unit 12, a likelihood ratio determination unit 13, a frequency threshold selection unit 14, a frequency determination unit 15, and a comprehensive determination unit 16.

The likelihood ratio threshold calculation unit 11, based on the type I error rate α and type II error rates beta, calculates the upper threshold T _U and the lower threshold T _L of an evaluation value likelihood ratio . The likelihood ratio calculation unit 12 receives the signal detection frequency m at the number of observations k as a signal detection result from the sensor, the false target signal detection probability P _F , the true target signal detection probability P _D , and the signal from the sensor Based on the number of observations k and the number of signal detections m that are detection results, the likelihood ratio ST (k) for the k-th observation is calculated as an evaluation value. The likelihood ratio determining unit 13, based on the upper threshold T _U and the lower threshold T _L from the likelihood ratio threshold calculating unit _11, the likelihood ratio from the likelihood ratio calculation unit 12 ST (k), below A determination is made using equation (4) (same as equation (1)), and “target detection”, “target non-detection”, or “determination pending” is selected as the likelihood ratio determination result.

The frequency threshold selection unit 14 selects a signal detection frequency threshold T _m and a signal non-detection frequency threshold T _n (or an observation frequency threshold T _k ). The number determination unit 15 receives a signal detection number m at the observation number k as a signal detection result from the sensor, and calculates a signal non-detection number n (= k−m) from the observation number k and the signal detection number m. Then, based on the signal detection frequency threshold T _m and the signal non-detection frequency threshold T _n selected by the frequency threshold selection unit 14, determination is performed by the following equation (5), and “target detection”, Select either “Target not detected” or “Decision pending”.

Based on the likelihood ratio determination result from the likelihood ratio determination unit 13 and the number determination result from the number determination unit 15, the total determination unit 16 performs “target detection”, “target non-detection”, “ Select either “Pending judgment”. A specific example of comprehensive determination is shown in Table 1.

  In the specific example shown in Table 1, one of the likelihood ratio determination result from the likelihood ratio determination unit 13 and the number determination result from the number determination unit 15 is “target detection”, and the other is “target non-detection”. In this case, the comprehensive determination result is “target detection”. However, the comprehensive determination result may be “target non-detection”. It is also possible to set a correspondence other than the above.

(First embodiment)
FIG. 2 is a flowchart showing the flow of processing in the first example of the target detection apparatus according to the embodiment. A processing flow of the target detection apparatus according to the first embodiment will be described with reference to FIG.

The likelihood ratio threshold calculation unit 11, based on the errors rate of the type I error rate α and the second type beta, calculates the upper threshold T _U and the lower threshold T _L (step S101). Approximate value of the upper threshold T _U and the lower threshold T _L is calculated by the following equation (6).

The likelihood ratio calculation unit 12 performs the k-th observation based on the false target signal detection probability P _F , the true target signal detection probability P _D , the number of observations k as the signal detection result from the sensor, and the number of signal detections m. Likelihood ratio ST (k) is calculated (step S102). The likelihood ratio ST (k) for the k-th observation is calculated by the following equation (7).

In addition, the likelihood ratio ST (k) of the observation k-th time can be input as the signal detection result from the sensor, whether or not the observation k-th signal detection can be input, or the observation k-1th signal detection result and the observation k-th time. Based on the difference between the signal detection results, the following equation (8) may be used for calculation.

Here, when the signal detection probability of the false target changes for each observation, the likelihood ratio ST (k) of the k-th observation uses the signal detection probability P _F (k) of the false target of the observation k. Further, it can be configured to calculate by the following equation (9).

The likelihood ratio determination unit 13 compares the likelihood ratio from the likelihood ratio calculation unit 12 ST (k) and an upper threshold value _{T U} from likelihood ratio threshold value calculation unit 11 (step S103), the likelihood ratio ST (k) is the likelihood ratio determination result in the case of more than the upper threshold _{T U} will be referred to as a "target detection" (step S104). When the likelihood ratio ST (k) is smaller than the upper threshold _{T U} compares the lower threshold _{T L} from the likelihood ratio threshold calculating unit 11 and the likelihood ratio ST (k) (step S105), When the likelihood ratio ST (k) is equal to or lower than the lower threshold _TL , the likelihood ratio determination result is set as “target not detected” (step S106). Otherwise (likelihood ratio ST (k) is greater than the lower threshold T _L, is smaller than the upper threshold T _U), the likelihood ratio determination result is "indeterminant" (Step S107) .

The frequency threshold selection unit 14 selects the signal detection frequency threshold T _m and the signal non-detection frequency threshold T _n (step S108). The number determination unit 15 compares the signal detection number m, which is the signal detection result from the sensor, with the signal detection number threshold T _m (step S109), and when the signal detection number m is equal to or greater than the signal detection number threshold T _m. The number determination result is “target detection” (step S110). When the signal detection frequency m is smaller than the signal detection frequency threshold T _m , the signal non-detection frequency n (= k−m) calculated from the observation frequency k and the signal detection frequency m, and the signal non-detection frequency threshold T _n (Step S111), and when the signal non-detection frequency n is _{equal to} or greater than the signal non-detection frequency threshold Tn, the frequency determination result is “target non-detection” (step S112). In cases other than the above, the number determination result is set to “determination pending” (step S113).

  Based on the likelihood ratio determination result from the likelihood ratio determination unit 13 and the number determination result from the number determination unit 15, the total determination unit 16 performs “target detection”, “target non-detection”, “ One of “determination pending” is selected (step S114), and the selected comprehensive determination result is output (step S115). When the comprehensive determination unit 16 determines “determination pending”, the processing from step S101 is repeated based on the observation k + 1th signal detection result.

(Second embodiment)
FIG. 3 is a flowchart showing the flow of processing in the second example of the target detection apparatus according to the embodiment. FIG. 3 is the same as FIG. 2 except that step S108 of FIG. 2 is changed to S116 and S111 is changed to step S117. Further, in this embodiment, the number of times the threshold value calculation unit 14, and calculates a number of observations threshold T _k in place of the signal non-detection count threshold T _n.

In the second embodiment, selects the number of observations threshold T _k with the signal detection number threshold T _m in step S116, in step S109, when the signal detection number m is smaller than the signal detection number threshold T _m, from the sensor comparing the observed number k is a signal detection result and the observed count threshold T _k (step S116), and the "target not detected" the number of times the determination results when the number of observations k is not less than the number of observations threshold T _k (step S112 ). In cases other than the above, the number determination result is set to “determination pending” (step S113).

  FIG. 4 is a flowchart showing a modification of the processing flow of the second embodiment. FIG. 4 is the same as FIG. 3 except that step S117 in FIG. 3 is changed to step S118 and the order is changed from step S109.

In this modification, the number of observations _k is compared with the number of observations threshold Tk (step S118), and if the number of observations _k is smaller than the number of observations threshold Tk, the number determination result is “determination pending” (step S113). ). If the number of observations k is not less than the number of observations threshold T _k compares the signal detection number m and the signal detection number threshold T _m (step S110), when the signal detection number m is equal to or higher than the signal detection number threshold T _m The number determination result is “target detection” (step S110). In cases other than the above, the number determination result is “target not detected” (step S112).

  In each of the above embodiments, an example is shown in which the likelihood ratio is used as the evaluation value. However, as the name of SPRT (Sequential Probability Ratio Test), a probability ratio can be used as the evaluation value.

Further, as shown in the basic configuration of the target detection apparatus, it is possible to perform processing using a log likelihood ratio (or log probability ratio) obtained by logarithmically converting each value. In this case, an approximate value of the upper threshold T _U and the lower threshold T _L is calculated by the following equation (10).

Corresponding k-th likelihood ratio ST (k) is calculated by the following equation (11).

  Furthermore, instead of inputting the signal detection result from the sensor, the signal detection result processed by the correlation means and the temporary target registration update means described in Patent Document 1 can be input. Accordingly, it is possible to make a determination by inputting a signal detection result with few errors under a false alarm environment, a multi-target environment, or a complex environment thereof. On the contrary, when only the presence / absence of signal detection of the k-th observation can be input as a signal detection result from the sensor, a number counting means for counting each of the number of observations and the number of signal detections can be added to the configuration.

  In addition to the sequential processing that is performed each time a signal detection result is input, the above processing is performed for a plurality of times (for example, three times from observation kth to observation k + 2). It can comprise so that it may implement by the mini batch process which processes collectively. Further, the mini-batch processing can be configured to calculate a likelihood ratio as an evaluation value using a plurality of signal detection results, and to make a determination on the calculated likelihood ratio.

As described above, according to the target detection apparatus according to the present embodiment, the signal detection result from the sensor is input, and the signal detection result, the false target signal detection probability P _F , and the true target signal detection probability P _D are obtained. Based on this, the k-th likelihood ratio ST (k) is calculated as an evaluation value. The upper threshold T _U and on the basis of the lower threshold T _L performs determination about the likelihood ratio ST (k), the signal detection number m and the signal not detected number n or signals of the likelihood ratio ST (k) Based on the number of detections m and the number of observations k, the number of times is determined. Based on these determinations, “target detection”, “target non-detection”, and “determination pending” are comprehensively determined. By doing in this way, the average number of observations required for the determination of “target detection” or “target non-detection” can be reduced in the intermediate region. In the intermediate region, instead of reducing the average number of observations required for determination of “target detection” or “target non-detection”, the first type error rate α and the second type error rate β are kept low. You can also. Further, according to the target detection apparatus according to the present embodiment, since the determination is performed based on the number of times, the maximum value of the number of observations required for the determination of “target detection” or “target non-detection” can be controlled. As a result, it is possible to prevent the occurrence of a case that requires a very large number of observations for the determination of “target detection” or “target non-detection”.

  The target detection process according to the above embodiment includes the likelihood ratio threshold calculation unit 11, the likelihood ratio calculation unit 12, the likelihood ratio determination unit 13, the number threshold selection unit 14, the number determination unit 15, and the comprehensive determination unit 16, respectively. This processing function can be configured as a program that causes a computer to execute the processing function.

  All of the above embodiments can be applied to a target detection device that detects a target based on a signal detection result from a sensor such as a radar device or a sonar device.

  In addition, the present embodiment is not limited to the above-described embodiment as it is, and can be embodied by modifying the components without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

11 ... Likelihood ratio threshold value calculation part,
12 ... Likelihood ratio calculation unit,
13 ... Likelihood ratio determination unit,
14: Number of times threshold selection unit,
15 ... Number determination section,
16: Comprehensive determination unit.

Claims (6)

An evaluation value that inputs a signal detection result from a sensor that detects a signal exceeding a threshold by observing the target and calculates an evaluation value based on the signal detection result, a false target signal detection probability, and a true target signal detection probability A calculation unit;
About the evaluation value calculated by the evaluation value calculation unit, an evaluation value determination unit that performs determination by comparing the upper threshold value and the lower threshold value of the evaluation value, respectively,
A number determination unit that performs determination by comparing the number of signal detections and the number of signal non-detections based on the signal detection results with respective threshold values;
Comprehensive determination is performed based on the determination result by the evaluation value determination unit and the determination result by the number determination unit, and any of “target detection”, “target non-detection”, and “determination pending” is determined as the determination result. The target detection apparatus which comprises the comprehensive determination part which selects these. An evaluation value that inputs a signal detection result from a sensor that detects a signal exceeding a threshold by observing the target and calculates an evaluation value based on the signal detection result, a false target signal detection probability, and a true target signal detection probability A calculation unit;
About the evaluation value calculated by the evaluation value calculation unit, an evaluation value determination unit that performs determination by comparing the upper threshold value and the lower threshold value of the evaluation value, respectively,
A number determination unit that performs determination by comparing the number of signal detections and the number of observations based on the signal detection results with respective threshold values;
Comprehensive determination is performed based on the determination result by the evaluation value determination unit and the determination result by the number determination unit, and any of “target detection”, “target non-detection”, and “determination pending” is determined as the determination result. The target detection apparatus which comprises the comprehensive determination part which selects these. Input a signal detection result from a sensor that detects a signal exceeding a threshold by observing the target, and calculates an evaluation value based on the signal detection result, a false target signal detection probability, a true target signal detection probability,
The evaluation value is determined by comparing with the upper threshold value and the lower threshold value of the evaluation value,
Make a determination by comparing the number of signal detections and the number of signal non-detections based on the signal detection results with respective threshold values,
A comprehensive determination is made based on the result of determination on the evaluation value and the determination result on the signal detection count and signal non-detection count . As a result of the determination, “target detection”, “target non-detection” , A target detection method for selecting one of “determination pending”. Input a signal detection result from a sensor that detects a signal exceeding a threshold by observing the target, and calculates an evaluation value based on the signal detection result, a false target signal detection probability, a true target signal detection probability,
The evaluation value is determined by comparing with the upper threshold value and the lower threshold value of the evaluation value,
A judgment by a number of observations and the signal detection count based on the signal detection results compared to the respective threshold,
Comprehensive determination is made based on the result of determination on the evaluation value and the result of determination on the number of observations. As a result of the determination, “target detection”, “target non-detection”, “determination pending” Target detection method to select one. A target detection program for causing a computer to execute processing for detecting a target,
An evaluation value that inputs a signal detection result from a sensor that detects a signal exceeding a threshold by observing the target and calculates an evaluation value based on the signal detection result, a false target signal detection probability, and a true target signal detection probability A calculation step;
About the evaluation value calculated in the evaluation value calculation step, an evaluation value determination step for performing determination by comparing the upper threshold value and the lower threshold value of the evaluation value, respectively,
Number of times determination step of performing determination by comparing the number of signal detection and the number of signal non-detection based on the signal detection result with respective threshold values;
Comprehensive determination is performed based on the determination result in the evaluation value determination step and the determination result in the number determination step, and any one of “target detection”, “target non-detection”, and “determination pending” is determined as the determination result. A target detection program comprising a comprehensive determination step for selecting whether or not. A target detection program for causing a computer to execute processing for detecting a target,
An evaluation value that inputs a signal detection result from a sensor that detects a signal exceeding a threshold by observing the target and calculates an evaluation value based on the signal detection result, a false target signal detection probability, and a true target signal detection probability A calculation step;
About the evaluation value calculated in the evaluation value calculation step, an evaluation value determination step for performing determination by comparing the upper threshold value and the lower threshold value of the evaluation value, respectively,
Number of times determination step of performing determination by comparing the number of signal detections and the number of observations based on the signal detection results with respective threshold values;
Comprehensive determination is performed based on the determination result in the evaluation value determination step and the determination result in the number determination step, and any one of “target detection”, “target non-detection”, and “determination pending” is determined as the determination result. A target detection program comprising a comprehensive determination step for selecting whether or not.

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