JP6674248B2 - Mobile defense support system and mobile defense support method - Google Patents

Description

  The present invention relates to a mobile defense support system and a mobile defense support method.

  Regarding an attack by a threat object, a method is known in which a threat object (fighter, bomber, missile, etc.) is detected and then responded by hard kill or soft kill. In this specification, hard kill means a direct interception type correspondence method. In a hard kill, the threat object is physically destroyed by an interceptor missile or the like. Further, in the present specification, soft kill means a disturbing type corresponding method. In a soft kill, the threat is not physically destroyed. The soft kill includes, for example, disturbing by a chaff, disabling electronic devices of a threat object by irradiating electromagnetic waves, and the like.

  As a related technique, Patent Literature 1 discloses an interceptor missile. The interceptor missile described in Patent Literature 1 includes estimating means for estimating the characteristics of the radar reflection area of the opposing missile, and determining means for determining its own flight route based on information obtained by the estimating means. The flight route is a flight route that intercepts the missile from the direction in which the radar reflection area is large.

  In addition, Non-Patent Document 1 describes measuring an RCS (Radar Cross Section) of an aircraft. An aircraft having a small RCS value can be said to be an aircraft having low observability (stealth property). Note that RCS is an abbreviation of radar cross section. As used herein, RCS refers to a measure of the ability to reflect radio waves in the direction of an antenna when receiving radio waves from a radar. The RCS is, for example, a function of the geometrical cross-sectional area, reflectivity, and directivity, and is the area of an isotropic reflector (made of a perfect conductor) that can reflect a radio wave having the same intensity as the reflected wave. (The cross-sectional area of a sphere).

JP 2005-106317 A

Mitsubishi Heavy Industries Technical Report Vol. 45 No. 4 (2008) pp. 58-61

  An object of the present invention is to provide a mobile defense support system and a mobile defense support method capable of optimizing the posture of a mobile based on the characteristics of a threat object.

  These and other objects and advantages of the present invention can be easily confirmed by the following description and the accompanying drawings.

  Hereinafter, means for solving the problems will be described using numbers and reference numerals used in the embodiments for carrying out the invention. These numbers and symbols are added in parentheses for reference in order to show an example of the correspondence between the description of the claims and the embodiment for carrying out the invention. Therefore, the appended claims should not be construed as limiting the scope of the appended claims.

  A mobile defense support system according to some embodiments includes an arithmetic unit (50) and a storage device (70) that stores the stealth direction when a direction in which the mobile unit (1) is difficult to detect is defined as a stealth direction. Is provided. The arithmetic device (50) calculates the azimuth of the threat object (2) and the characteristics of the threat object (2) based on the detection data received from the detection device (30). The arithmetic device (50) is configured to determine the stealth based on the azimuth of the threat object (2), the characteristic of the threat object (2), and the stealth direction stored in the storage device (70). A steering command value (v) is calculated so that the direction faces the threat object (2). The arithmetic device (50) transmits the steering command value (v) to the steering device (80) of the moving body (1), or a user issues a steering instruction corresponding to the steering command value (v). Output to a recognizable output device (90).

  In the mobile object defense support system, the characteristic of the threat object (2) may be a characteristic that the threat object (2) has a radar, or the characteristic that the threat object (2) has an IR sensor. May be included. The stealth direction may be a first direction in which the RCS value of the mobile unit (1) is relatively small, or a second direction in which the IR radiation amount is relatively small.

  In the mobile object defense support system, the stealth direction is a first direction in which the RCS value of the mobile object (1) is relatively small, and a second direction in which the IR radiation amount is relatively small. It may be in two directions.

  In the mobile defense support system, when the characteristic of the threat object (2) includes a characteristic that the threat object (2) is equipped with a radar, the arithmetic device (50) is configured to execute the first operation. The steering command value (v) may be calculated so that the direction faces the threat object (2). When the characteristic of the threat object (2) includes a characteristic that the threat object (2) has an IR sensor, the arithmetic unit (50) determines that the second direction is the threat object (2). ) May be calculated.

  In the mobile object defense support system, the storage device (70) stores a relative orientation with respect to the mobile object (1), an operation state of the mobile object (1), and an IR radiation amount of the mobile object (1). May be stored as the first related data. The arithmetic unit (70) may calculate the operating state of the moving body based on monitoring data received from a monitoring device (95) that monitors the operating state of the moving body. The computing device (50) is configured to determine the azimuth of the threat object (2), the characteristic of the threat object (2), the operating state of the moving object, and the first related data, based on the first related data. The steering command value (v) may be calculated such that two directions face the threat object (2).

  In the mobile object defense support system, the arithmetic unit (50) determines a first stealth direction to be adopted from among the plurality of stealth directions so as not to interfere with a position or a course of another mobile object. Is also good.

  In the mobile defense support system, when N is a natural number of 2 or more, the detection data includes detection data of the first threat object (2-1) to the Nth threat object (2-N). When K is an arbitrary natural number not less than 1 and not more than N, the arithmetic unit (50) determines the K-th azimuth indicating the azimuth of the K-th threat object (2-K) based on the detection data, The K-th characteristic indicating the characteristic of the threat object (2-K) may be calculated. The arithmetic device (50) may determine a high-priority threat object (2-PR) from the plurality of threat objects (2) based on the first to Nth characteristics. The arithmetic unit (50) may calculate the steering command value (v) such that the stealth direction faces the priority threat object (2-PR).

  In the mobile defense support system, the arithmetic device (50) may include a classification based on a type of a mounted sensor of the threat object, a classification based on a type of the threat object itself, a classification based on a predicted arrival time of the threat object, or The priority threat object (2-PR) may be determined based on at least one of classifications based on approach or separation of the threat object.

  In the mobile defense support system, the arithmetic device (50) may extract a target object to be destroyed (2-DES) from the plurality of threat objects (2). The arithmetic unit (50) may determine the priority threat object (2-PR) from among the plurality of threat objects (2) excluding the destruction target object (2-DES).

  The mobile defense support method according to some embodiments is a mobile defense support method using a mobile defense support system. The mobile object defense support system (10) includes an arithmetic unit (50) and a storage device (70) that stores the stealth direction when a direction in which the mobile object (1) is difficult to detect is defined as a stealth direction. I do. In the mobile object defense support method, the arithmetic device (50) receives detection data from a detection device (30) for detecting the threat object (2); Calculating the azimuth of the threat object (2) and the characteristics of the threat object (2); and the computing device (50) calculates the azimuth of the threat object (2) and the threat object (2). A steering command value (v) based on the characteristic of (2), the stealth direction stored in the storage device (70), and a constraint that the stealth direction is directed to the threat object (2). ) And the computing device (50) transmitting the steering command value (v) to the steering device (80) of the moving body (1), or The corresponding steering instructions to the user And a step of outputting a recognizable output device (90).

  According to the present invention, it is possible to provide a mobile defense support system and a mobile defense support method capable of optimizing a posture of a mobile based on characteristics of a threat object.

FIG. 1A is a diagram schematically illustrating a scene in which a moving object is exposed to a threat by one threat object. FIG. 1B is a diagram schematically illustrating a scene in which an aircraft serving as a moving object is exposed to a threat by one threat object. FIG. 1C is a diagram schematically illustrating a scene in which a vehicle serving as a moving object is exposed to a threat by one threat object. FIG. 2 is a diagram schematically illustrating a scene in which a ship is exposed to a threat by two threat objects. FIG. 3 is a functional block diagram schematically illustrating functions of the ship defense support system according to the first embodiment. FIG. 4 is a diagram schematically illustrating a direction in which the RCS value of the ship is relatively small (stealth direction). FIG. 5 is a diagram schematically illustrating a direction (stealth direction) in which the IR radiation amount of the ship is relatively small. FIG. 6 is a diagram schematically illustrating the azimuth of the threat object with respect to the ship. FIG. 7 is a diagram schematically illustrating a state after the ship is steered in a direction (stealth direction) that is difficult to be detected from the threat object. FIG. 8 shows an example of an output screen on the output device. FIG. 9 is a diagram schematically illustrating a state after the ship is steered in a direction (stealth direction) that is difficult to be detected from the threat object. FIG. 10 shows an example of an output screen on the output device. FIG. 11 is a table of second related data indicating the relationship between the relative azimuth with respect to the ship and the RCS value of the ship. FIG. 12 is a table of first related data indicating a relationship between a relative azimuth with respect to a ship, an operation state of the ship, and an IR radiation amount of the ship. FIG. 13 is a functional block diagram schematically illustrating functions of the ship defense support system according to the first modified example of the first embodiment. FIG. 14 is a diagram schematically illustrating a scene where a ship is exposed to a threat by N threat objects. FIG. 15 is a functional block diagram schematically illustrating functions of the ship defense support system according to the second embodiment. FIG. 16 is a table schematically showing a correspondence relationship between a plurality of threat objects, the classification of the threat objects (in other words, the characteristics of the threat objects), and the priorities. FIG. 17 is a table schematically showing a correspondence relationship between a plurality of threat objects, a plurality of classifications of the threat objects (in other words, a plurality of characteristics of the threat object), and the priorities. FIG. 18 is a functional block diagram schematically illustrating functions of the ship defense support system according to the third embodiment. FIG. 19 is a table schematically illustrating a correspondence relationship between a plurality of threat objects, a plurality of classifications of the threat objects (in other words, a plurality of characteristics of the threat object), and the priorities. FIG. 20 is a flowchart illustrating a ship defense support method according to the fourth embodiment.

  Hereinafter, a mobile defense support system and a mobile defense support method according to an embodiment will be described with reference to the accompanying drawings.

(Matters recognized by the inventor)
First, a case assumed when defending a moving object will be described. FIG. 1 is a diagram schematically illustrating a scene in which a mobile object 1 (for example, a ship) is exposed to a threat by one threat object 2 (for example, an aircraft or a missile of the other party). The posture of the moving body that reduces the threat by the threat object 2 is a posture that is difficult to be detected by the threat object 2. However, the posture hardly detected by the threat object 2 differs depending on the type of the threat object (for example, the type of a sensor mounted on the threat object). For example, when the threat object 2 has an infrared sensor (IR sensor), a posture in which a heat source portion such as an engine is not detected from the threat object 2 is a posture that is difficult to be detected by the threat object 2. On the other hand, when the threat object 2 is equipped with a radar, the posture that reduces the RCS value when viewed from the threat object 2 is a posture that is difficult to be detected by the threat object 2 (for example, when the side of a ship that is a moving body is RCS values are generally small when not exposed to threats.) In addition, when the defense of the aircraft which is the mobile body 1 is assumed instead of the defense of the boat which is the mobile body 1, the boat in FIG. 1A is replaced with the aircraft as shown in FIG. 1B. Further, in the case where the defense of the vehicle that is the moving body 1 is assumed instead of the defense of the boat that is the moving body 1, the boat in FIG. 1A is replaced with the vehicle as illustrated in FIG. 1C.

  In consideration of the above points, the operator of the moving object or the person who issues a command to the operator (hereinafter, referred to as “user”) is in the direction of the threat object 2 (ie, the relative position of the threat object 2 with respect to the moving object 1). It is difficult to immediately determine the posture of a moving object that is difficult to be detected by the threat object 2 even when the direction is known.

  Next, another case assumed when defending a moving object will be described. FIG. 2 is a diagram schematically illustrating a scene in which a moving object is exposed to a threat by two threat objects (threat object 2 and threat object 2 ′). In the example illustrated in FIG. 2, the threat object 2 and the threat object 2 ′ fly toward the moving object 1 (for example, a ship) from different directions. In this case, it is difficult for the user to determine which of the two threat objects should take a posture that is difficult to detect.

(Coordinate system)
In the following, the description will be made using a two-dimensional coordinate system in order not to complicate the description. However, in practice, the embodiments of the present specification can be extended to a three-dimensional coordinate system and applied. Is obvious. In this specification, a coordinate system (for example, an XY coordinate system) is a coordinate system fixed to the moving body 1. As shown in FIG. 4, the Y-axis direction corresponds to the longitudinal direction of the moving body, and the X-axis direction corresponds to the width direction of the moving body. The positive direction of the Y axis corresponds to a direction from the rear of the moving body toward the front of the moving body, and the positive direction of the X axis corresponds to the direction from the left side of the moving body (for example, port) to the right side of the moving body (for example, starboard). ).

  Hereinafter, the first to fourth embodiments will be described. In the first to fourth embodiments, a description will be mainly given of an example in which the “mobile object” in the mobile object defense support system or the mobile object defense support method is a “ship”. “Vessel” in the first to fourth embodiments may be replaced with another moving object such as “aircraft”, “vehicle”, or the like. When the “mobile object” in the mobile object defense support system or the mobile object defense support method is an “aircraft”, the description of “ship” in the first to fourth embodiments and the corresponding drawings. Is read as "aircraft". For example, the description of “ship defense support system” is replaced with “aircraft defense support system”. When the “mobile object” in the mobile object defense support system or the mobile object defense support method is a “vehicle”, the “ship” in the first to fourth embodiments and the corresponding drawings is used. Is read as "vehicle". For example, the description of “ship defense support system” is read as “vehicle defense support system”.

(First embodiment)
The ship defense support system 10 according to the first embodiment will be described with reference to FIGS. FIG. 3 is a functional block diagram schematically showing the functions of the ship defense support system 10.

  In the example illustrated in FIG. 3, the ship defense support system 10 is mounted on the ship 1. However, at least a part of the ship defense support system 10 (for example, the arithmetic unit 50 or the storage device 70 described later) may be mounted on an object other than the ship 1 (for example, a consort ship such as a flagship).

  The ship defense support system 10 includes a calculation device 50 and a storage device 70. Note that the ship 1 may include the detection device 30 as a part of the ship defense support system 10 or as a related device outside the ship defense support system. Further, the ship 1 may include the steering device 80 and / or the output device 90 as a part of the ship defense support system 10 or as a related device outside the ship defense support system 10. Further, the ship 1 may include the propulsion device 85 as a part of the ship defense support system 10 or as a related device outside the ship defense support system.

(Detection device)
The detection device 30 is a device that detects the threat object 2. The threat object 2 is a flying object such as an aircraft and a missile, for example. Note that the threat object 2 does not include a flying object on our side (ally side). The detection device 30 includes, for example, a radar, an infrared detection device, a camera, or a combination thereof. The detection device 30 transmits the detection data to the arithmetic device 50. The detection device 30 may transmit the detection data to the arithmetic device 50 via the first communication interface 32 attached to the detection device 30 and the second communication interface 52 attached to the arithmetic device 50. The detection data transmitted to the arithmetic device 50 may be stored in the storage device 70.

(Storage device)
The storage device 70 stores, in advance, directions in which the ship 1 is hardly detected when viewed from the threat object. In the present specification, the direction in which the ship 1 is hard to be detected is referred to as a “stealth direction”. It is assumed that the threat object 2 transmits a radar wave. In this case, a direction in which the RCS value of the ship is relatively small (hereinafter, referred to as a “first direction”) corresponds to a stealth direction in which the ship is less likely to be detected from the threat object 2. In the example illustrated in FIG. 4, the first direction in which the RCS value of the vessel is relatively small includes the direction D1 and the direction D2, and the direction in which the RCS value of the vessel is relatively large includes the direction D3 and the direction D4. Is included. The first direction in which the RCS value of the vessel is relatively small is defined as a direction in which the RCS value is equal to or less than a predetermined first threshold value TH1, and the direction in which the RCS value of the vessel is relatively large is defined as having a predetermined RCS value. The direction may be defined to be larger than the first threshold value TH1. In addition, the first direction may include only one direction, or may include a plurality of directions as in the example illustrated in FIG.

  In order to correspond to a threat object equipped with a radar, the storage device 70 stores, in the first direction (for example, the direction D1, the direction D2, Alternatively, the direction in which the RCS value is equal to or less than the first threshold value TH1) is stored in advance.

  Alternatively or additionally, it is assumed that the threat object 2 detects the ship 1 using an infrared sensor. In this case, a direction in which the amount of IR radiation (infrared radiation) of the ship is relatively small (hereinafter, referred to as a “second direction”) corresponds to a stealth direction in which detection from the threat object 2 is difficult. In the example illustrated in FIG. 5, the second direction in which the IR radiation amount of the ship is relatively small includes the direction D5, the direction D7, and the direction D8, and in the direction in which the IR radiation amount of the ship is relatively large, The direction D6 is included. The second direction in which the IR radiation amount of the ship is relatively small is defined as a direction in which the IR radiation amount is equal to or less than a predetermined second threshold value TH2, and the direction in which the IR radiation amount of the ship is relatively large is IR radiation. The amount may be defined to be in a direction greater than a second predetermined threshold TH2. In addition, the second direction may include only one direction, or may include a plurality of directions as in the example illustrated in FIG.

  In order to correspond to a threat object equipped with an infrared sensor, the storage device 70 stores in the second direction (for example, the direction D5, the direction D5, The direction D7, the direction D8, or the direction in which the amount of IR radiation is equal to or less than a predetermined second threshold value TH2) are stored in advance. Note that the IR radiation amount corresponding to a certain direction is the IR radiation amount detected by the IR sensor when the IR sensor is arranged in the certain direction.

(Arithmetic unit)
The arithmetic device 50 includes a hardware processor such as a CPU. The calculation device 50 receives the detection data directly from the detection device 30 or indirectly via the storage device 70. Here, it is assumed that the detection data includes data of the threat object 2. The arithmetic device 50 calculates the azimuth of the threat object 2 and the characteristics of the threat object 2 based on the detection data. The arithmetic unit 50 executes a program stored in the storage device 70 to function as an azimuth calculating unit 54 for calculating the azimuth of the threat object and a characteristic calculating unit 56 for calculating characteristics of the threat object.

  The azimuth of the threat object 2 means, for example, a direction in which the threat object 2 exists in a coordinate system fixed to the ship 1. That is, the azimuth of the threat object 2 is a relative azimuth of the threat object 2 with respect to the ship 1. In the example illustrated in FIG. 6, the azimuth of the threat object 2 is the θ direction.

  The method of calculating the azimuth or characteristic of the threat object 2 from the detection data is arbitrary. For example, the azimuth or characteristic of the threat object 2 may be calculated by the azimuth calculating unit 54 and the characteristic calculating unit 56 performing data analysis or image analysis of the detection data.

  The characteristics of the threat object 2 include various characteristics. For example, when the characteristics of the threat object 2 are classified according to the type of the sensor mounted on the threat object 2, the threat object 2 having the characteristic that a radar is mounted is classified into the category B1, and an infrared sensor is mounted. May be classified into the category B2. For example, when the detection device 30 receives a radar wave from the threat object 2, the characteristic calculation unit 56 (the arithmetic device 50) classifies the threat object 2 into the category B <b> 1, and the detection device 30 uses the radar wave from the threat object 2. Is not received, the characteristic calculating unit 56 may classify the threat object 2 into the category B2.

  The arithmetic device 50 calculates the azimuth of the threat object 2, the calculated characteristics of the threat object 2, and the stealth direction stored in the storage device 70 (the direction in which a ship is hardly detected from the threat object). The steering command value v (or the steering command value v and the thrust command value t) is calculated so that the stealth direction faces the threat object. In other words, the arithmetic unit 50 performs the steering command based on the azimuth of the threat object 2, the characteristics of the threat object 2, the stealth direction of the ship, and the constraint that the stealth direction is directed to the threat object 2. A value v (or a steering command value v and a thrust command value t) is calculated. The calculated steering command value v is transmitted to the steering device 80 of the boat. Further, when the thrust command value t is calculated, the calculated thrust command value t is transmitted to the propulsion device 85 of the boat. In this case, defense support by automatic steering is realized. Alternatively or additionally, a steering command corresponding to the calculated steering command value v (or a steering command corresponding to the calculated steering command value v, and a steering command corresponding to the calculated thrust command value t). The engine output adjustment instruction) may be output to the output device 90 that can be recognized by the user. In this case, defense support by assisting manual steering is realized. The arithmetic unit 50 executes a program stored in the storage unit 70 to calculate a steering command value v (or a steering command value v and a thrust command value t), and / or a steering value calculation unit 58. It functions as an instruction determination unit 62 that determines an instruction (or a steering instruction and an engine output adjustment instruction).

(When the threat object is a radar wave transmission threat object)
For example, the calculated azimuth of the threat object 2 is the θ direction, and the calculated characteristic of the threat object 2 is a characteristic that a radar is mounted (in other words, a characteristic that a radar wave is transmitted). It is assumed that the stealth direction stored in the storage device 70 is the direction D1 or the direction D2. In this case, the arithmetic unit 50 calculates the steering command value v (or the steering command value v and the thrust command value t) such that the stealth direction (direction D1 or direction D2) faces the threat object 2. The steering command value v is transmitted to the steering device 80. Further, when the thrust command value t is calculated, the calculated thrust command value t is transmitted to the propulsion device 85 of the boat. Then, the attitude of the boat is changed by the steering device 80 (or the steering device 80 and the propulsion device 85). FIG. 7 shows that the steering command value v and the thrust command value t corresponding to the angle between the θ direction and the direction D1 in FIG. 6 are transmitted to the steering device 80 and the propulsion device 85, respectively. An example is shown in which the attitude of the marine vessel 1 has been changed so that the (direction) faces the threat object 2.

  In addition, when there are a plurality of stealth directions (direction D1 or direction D2) in which the ship 1 is difficult to be detected, the arithmetic device 50 determines, from among the plurality of stealth directions, a stealth direction in which the amount of change in the attitude of the ship is relatively small. , The first stealth direction to be adopted. For example, in the example shown in FIG. 6, the amount of posture change required when matching the direction D1 with the θ direction is smaller than the amount of posture change required when matching the direction D2 with the θ direction. For this reason, the arithmetic unit 50 calculates the steering command value v (or the steering command value v and the thrust command value t) such that the direction D1 and the azimuth (θ direction) of the threat object 2 match. Alternatively, when there are a plurality of stealth directions (direction D1 or direction D2) in which the ship is difficult to be detected, the arithmetic unit 50 determines the position, the direction, or the speed of the ship 1 and another moving body (for example, the consort ship 100). The first stealth direction to be adopted by the ship 1 may be determined from a plurality of stealth directions in consideration of the position, the direction, or the speed of the ship. For example, if the position of the consort ship 100 is at the position indicated by the broken line in FIG. There is a possibility that the course of 100 may interfere (or that the ship 1 and the consort ship 100 may collide). In such a case, a stealth direction (for example, the direction D2) that does not interfere with the position or course of the consignment ship 100 is determined as the first stealth direction from among the plurality of stealth directions (the directions D1 and D2). Note that the first stealth direction is preferably a direction in which the ship 1 does not interfere with obstacles other than the consort ship 100.

  In the case where the mobile defense support system is an aircraft defense support system, when determining the first stealth direction to be adopted by the aircraft from among a plurality of stealth directions, when the first stealth direction to be adopted by the aircraft is determined by the aircraft and the threat object 2. The direction in which the distance between them becomes longer (the direction in which the subject escapes from the threat object 2) may be determined as the first stealth direction. Alternatively or additionally, when determining the first stealth direction to be adopted by the aircraft from among the plurality of stealth directions, the direction in which the speed and / or altitude of the aircraft is less likely to decrease is determined by the first stealth direction. It may be determined as a stealth direction. Alternatively or additionally, when determining the first stealth direction to be adopted by the aircraft from among the plurality of stealth directions, the aircraft may determine the first stealth direction of another mobile object (for example, a convoy aircraft or a commercial aircraft). A direction that does not interfere with the position or the course may be determined as the first stealth direction.

  In the case where the mobile defense support system is a vehicle defense support system, when determining the first stealth direction to be adopted by the vehicle from among a plurality of stealth directions, the direction in which a river and a valley do not exist is determined. , The first stealth direction. Alternatively or additionally, in determining a first stealth direction to be adopted by the vehicle from among a plurality of stealth directions, a direction in which the vehicle can travel (for example, a direction in which a road or level ground exists). May be determined as the first stealth direction. Alternatively or additionally, when determining the first stealth direction to be adopted by the vehicle from among the plurality of stealth directions, the vehicle may determine the first stealth direction of another vehicle (eg, another vehicle). A direction that does not interfere with the position or the course may be determined as the first stealth direction.

  FIG. 8 shows an example of the manual operation assist. FIG. 8 shows an example of an output screen on the output device 90. In the example illustrated in FIG. 8, the azimuth (the θ direction) of the threat object 2 and the stealth directions (the direction D1 and the direction D2) where the ship 1 is difficult to be detected are displayed. Therefore, the user can refer to the output screen and steer the marine vessel 1 so that the stealth direction in which the marine vessel is difficult to be detected is directed toward the threat object 2. Alternatively or additionally, a guide (such as an arrow R1) for steering the boat 1 in a posture direction in which the boat 1 is difficult to detect may be displayed on the output screen. Alternatively or additionally, a voice instruction for steering the boat 1 in a posture direction in which the boat 1 is hardly detected may be output from the output device 90. The display, guide (arrow R1, etc.) or voice instruction indicating the azimuth (θ direction) and stealth direction (direction D1) of the threat object 2 is a steering instruction (or steering instruction value) corresponding to the steering instruction value v. v), and an engine output adjustment instruction corresponding to the thrust command value t).

(When the threat object is a threat object other than radar wave transmission threat object)
Alternatively, the calculated azimuth of the threat object 2 is the θ direction, the calculated characteristic of the threat object 2 is a characteristic that the infrared sensor is mounted, and the stealth direction stored in the storage device 70 is , Direction D5, direction D7 or direction D8. In this case, the arithmetic unit 50 calculates the steering command value v (or the steering command value v and the thrust command value t) such that the stealth direction (direction D5, direction D7 or direction D8) faces the threat object 2. . The steering command value v is transmitted to the steering device 80. Further, when the thrust command value t is calculated, the calculated thrust command value t is transmitted to the propulsion device 85 of the boat. Then, the attitude of the boat is changed by the steering device 80 (or the steering device 80 and the propulsion device 85). 9, the steering command value v and the thrust command value t corresponding to the angle between the θ direction and the direction D5 in FIG. 5 are transmitted to the steering device 80 and the propulsion device 85, respectively. An example is shown in which the attitude of the marine vessel 1 has been changed so that the (direction) faces the threat object 2.

  When there are a plurality of stealth directions (direction D5, direction D7, or direction D8) in which a ship is hard to be detected, the arithmetic device 50 sets the stealth direction in which the amount of change in the attitude of the ship is relatively small from among the plurality of stealth directions. The direction may be determined as the first stealth direction to be adopted. Alternatively, when there are a plurality of stealth directions (direction D5, direction D7, or direction D8) in which the ship is difficult to be detected, the arithmetic device 50 determines the position, the direction, or the speed of the ship 1 and other moving objects (for example, The first stealth direction to be adopted by the ship 1 may be determined from a plurality of stealth directions in consideration of the position, the direction, or the speed of the consort ship 100). For example, if the position of the consort ship 100 is at the position indicated by the broken line in FIG. There is a possibility that the course of 100 may interfere (or that the ship 1 and the consort ship 100 may collide). In such a case, a stealth direction (for example, the direction D7) that does not interfere with the position or the course of the consignment ship 100 is determined as the first stealth direction from the plurality of stealth directions (the directions D5, D7, or D8). You. Note that the first stealth direction is preferably a direction in which the ship 1 does not interfere with obstacles other than the consort ship 100.

  In the case where the mobile defense support system is an aircraft defense support system, when determining the first stealth direction to be adopted by the aircraft from among a plurality of stealth directions, when the first stealth direction to be adopted by the aircraft is determined by the aircraft and the threat object 2. The direction in which the distance between them becomes longer (the direction in which the subject escapes from the threat object 2) may be determined as the first stealth direction. Alternatively or additionally, when determining the first stealth direction to be adopted by the aircraft from among the plurality of stealth directions, the direction in which the speed and / or altitude of the aircraft is less likely to decrease is determined by the first stealth direction. It may be determined as a stealth direction. Alternatively or additionally, when determining the first stealth direction to be adopted by the aircraft from among the plurality of stealth directions, the aircraft may determine the first stealth direction of another mobile object (for example, a convoy aircraft or a commercial aircraft). A direction that does not interfere with the position or the course may be determined as the first stealth direction.

  In the case where the mobile defense support system is a vehicle defense support system, when determining the first stealth direction to be adopted by the vehicle from among a plurality of stealth directions, the direction in which a river and a valley do not exist is determined. , The first stealth direction. Alternatively or additionally, in determining a first stealth direction to be adopted by the vehicle from among a plurality of stealth directions, a direction in which the vehicle can travel (for example, a direction in which a road or level ground exists). May be determined as the first stealth direction. Alternatively or additionally, when determining the first stealth direction to be adopted by the vehicle from among the plurality of stealth directions, the vehicle may determine the first stealth direction of another vehicle (eg, another vehicle). A direction that does not interfere with the position or the course may be determined as the first stealth direction.

  FIG. 10 shows an example of the manual operation assist. FIG. 10 shows an example of an output screen on the output device 90. In the example illustrated in FIG. 10, the azimuth (θ direction) of the threat object 2 and the stealth directions (D5, D7, D8) in which the ship 1 is difficult to detect are displayed. Therefore, the user can refer to the output screen and steer the marine vessel 1 so that the stealth direction in which the marine vessel is hard to be detected faces the threat object 2. Alternatively or additionally, a guide (such as an arrow R2) for steering the boat 1 in a posture direction in which the boat is difficult to detect may be displayed on the output screen. Alternatively or additionally, a voice instruction for steering the boat 1 in a posture direction in which the boat 1 is hardly detected may be output from the output device 90.

  The third direction (the direction D1 in FIG. 4 and the direction in FIG. 5) in which the RCS value is a relatively small direction (first direction) and the IR radiation amount is also a relatively small direction (second direction). If the direction D1 and the direction D5 correspond to the third direction because there is a match with D5), the third direction is preferentially determined as the first stealth direction to be adopted. May be performed. That is, for example, when there is a relatively long time until the threat object 2 reaches the ship 1, the arithmetic device 50 sets the third direction as the first stealth direction to be preferentially adopted. Then, the steering command value v (or the steering command value v and the thrust command value t) may be calculated so that the first stealth direction (the direction D1 that is the third direction) faces the threat object 2.

  As described above, in the first embodiment, based on the azimuth of the threat object, the characteristics of the threat object, and the stealth direction of the ship, the arithmetic device steers the ship so that the stealth direction faces the threat object. The steering command value (or the steering command value v and the thrust command value t) is transmitted to the device, or the steering command (or the steering command and the engine output adjustment command) is output to an output device that can be recognized by the user. As a result, a ship defense support system that can take an optimal posture based on the characteristics of the threat object is realized. Thus, damage to the ship is effectively avoided or reduced.

(First Modification)
A modification of the first embodiment will be described with reference to FIGS. In the modification, the content of the data stored in the storage device 70 (the content of the data indicating the stealth direction in which the ship 1 is difficult to be detected) is different. In the first modified example, the ship 1 includes a monitoring device 95 that monitors the operation state of the ship 1 as a part of the ship defense support system 10 or as a related device outside the ship defense support system. In other respects, the configuration of the ship (or the ship defense support system 10) of the first modification is the same as the configuration of the ship (or the ship defense support system 10) of the first embodiment.

  As illustrated in FIG. 11, the storage device 70 according to the first modification stores the relative azimuth with respect to the ship 1 (more specifically, the azimuth θ corresponding to the relative azimuth viewed from the ship) and the RCS value of the ship. They are stored in association with each other. In other words, the storage device 70 stores related data (hereinafter, referred to as “second related data”) in which the relative azimuth with respect to the ship 1 and the RCS value of the ship are associated. Note that each RCS value in FIG. 11 corresponds to a value obtained by normalizing the RCS value in the corresponding azimuth, with the RCS value corresponding to the azimuth angle of 0 degrees being 100. For example, when the above-described first threshold value TH1 used to determine whether or not the RCS value of a ship is a relatively small value is 40, based on FIG. It is understood that the direction corresponds to an azimuth angle of 80 to 100 degrees and an azimuth angle of 260 to 280 degrees. The above-mentioned second related data may be data measured in advance using an actual ship or a model, or may be data obtained by simulation.

  As shown in FIG. 12, the storage device 70 according to the first modification stores the relative azimuth with respect to the boat 1 (more specifically, the azimuth θ corresponding to the relative azimuth viewed from the boat 1) and the operation state of the boat 1. And the IR radiation amount of the ship 1 are stored in association with each other. In other words, the storage device 70 stores related data (hereinafter, referred to as “first related data”) in which the relative orientation with respect to the ship 1, the operation state of the ship 1, and the IR radiation amount of the ship 1 are associated. doing. Note that the IR radiation amount in FIG. 12 is a value when the operation of the ship 1 is completely stopped, and the IR radiation amount in the corresponding azimuth is assumed to be 100, with the IR radiation amount corresponding to the azimuth angle of 0 degree being 100. Corresponding to the digitized value. Note that the above-described first related data may be data measured in advance using an actual ship or a model, or may be data obtained by simulation.

  For example, when the above-mentioned second threshold value TH2 used to determine whether or not the IR radiation amount of the ship is a relatively small value is 250, the stealth direction in which the ship 1 is difficult to be detected based on FIG. When all the operations of the ship 1 are stopped, it is understood that the azimuth is in all directions (that is, the azimuth angle is 0 degree or more and 360 degrees or less). Also, when the engine output of the ship 1 is 50%, it is understood that the stealth direction in which the ship 1 is hard to be detected is a direction corresponding to an azimuth angle of 0 to 260 degrees and 280 to 360 degrees. You. Further, when the engine output of the ship 1 is 100%, it is understood that the stealth direction in which the ship 1 is hard to be detected is a direction corresponding to an azimuth angle of 0 to 250 degrees and 290 to 360 degrees. You. Note that the operation state of the boat 1 is not limited to the output state of the engine. For example, the speed or the like of the marine vessel 1 can be used as an index indicating the operation state of the marine vessel 1.

  As shown in FIG. 13, the ship defense support system 10 according to the first modification includes a monitoring device 95 that monitors the operation state of the ship 1. The monitoring data detected by the monitoring device 95 is transmitted to the arithmetic device 50. The arithmetic device 50 calculates the operation state of the boat 1 based on the received monitoring data. The arithmetic unit 50 detects the ship 1 based on the azimuth (θ direction) of the threat object 2, characteristics of the threat object 2 (for example, characteristics of including the IR sensor), and first related data. The steering command value v (or the steering command value v and the thrust command value t) is calculated so that the hard stealth direction faces the threat object 2. The steering command value v is transmitted to the steering device 80. Further, when the thrust command value t is calculated, the calculated thrust command value t is transmitted to the propulsion device 85 of the boat. Alternatively or additionally, a steering instruction corresponding to the steering command value v is output to the output device 90. Additionally, an engine output adjustment instruction corresponding to the thrust command value t may be output to the output device 90. For example, the arithmetic unit 50 determines that the azimuth of the threat object 2 is in the θ = 270 degree direction, the threat object 2 is a threat object having an IR sensor, and the operation state of the ship is 100% engine output. Then, the steering command value v is transmitted to the steering device 80 so that the boat 1 changes its posture by 20 degrees clockwise (or so that the boat 1 changes its posture by 20 degrees counterclockwise).

  The first modified example has the same effects as the first embodiment. In the first modification, the stealth direction that is hard to be detected from the threat object is determined in consideration of the operation state of the ship, so that the defense support performance for the ship is further improved.

(Second embodiment)
A ship defense support system 10 according to the second embodiment will be described with reference to FIGS. The second embodiment is an embodiment corresponding to a case where a plurality of threat objects exist, for example. In the ship defense support system 10 of the second embodiment, components having the same functions as the components of the ship defense support system 10 of the first embodiment (or a first modification of the first embodiment) Assigns the same figure number, and the repeated explanation is omitted.

  FIG. 14 illustrates an example in which N threat objects including the first threat object 2-1 and the Nth threat object 2-N exist around the ship 1. Note that “N” is a natural number of 2 or more, and “K” described later is an arbitrary natural number of 1 or more and N or less. In the example illustrated in FIG. 14, the first threat object 2-1 is an aircraft, and the Nth threat object 2-N is a missile.

  FIG. 15 is a functional block diagram schematically showing the functions of the ship defense support system 10. In the example illustrated in FIG. 15, the ship defense support system 10 is mounted on the ship 1. However, at least a part of the ship defense support system 10 (for example, the computing device 50 and the storage device 70 or the detection device 30) may be mounted on an object other than the ship 1 (for example, a consort ship such as a flagship). .

  The detection device 30 detects a plurality of threat objects including the first to Nth threat objects. The detection device 30 transmits the detection data to the arithmetic device 50. The detection data transmitted to the arithmetic device 50 may be stored in the storage device 70.

  The arithmetic device 50 calculates a K-th azimuth indicating the azimuth of the K-th threat object 2-K and a K-th characteristic indicating the characteristics of the K-th threat object 2-K based on the received detection data. The K-th azimuth and the K-th characteristic are calculated for all natural numbers from K = 1 to K = N. In addition, the arithmetic device 50 determines a “priority” described later for each threat object based on the first to Nth characteristics. In other words, the arithmetic unit 50 functions as the priority determining unit 64 by executing the program stored in the storage unit 70.

  The characteristics of the threat object include various characteristics except for the orientation of the threat object. For example, when classifying the characteristics of a threat object according to the type of a sensor mounted on the threat object, the first threat object 2-1 on which a radar is mounted is classified into category B1, and the Nth threat object 2 on which an infrared sensor is mounted is classified. -N may be classified into category B2.

  Alternatively or additionally, when the characteristics of the threat object are classified according to the type of the threat object itself, for example, the aircraft may be classified into category C1, and the missile may be classified into category C2. Alternatively or additionally, when the destructive power of the threat object is relatively small, the threat object is classified into category C1-1 (or C2-1), and the destructive power of the threat object is relatively large. In this case, the threat object may be classified into the category C1-2 (or C2-2). The classification of the characteristic based on the type of the threat object itself may be performed using, for example, template matching between a portion corresponding to the threat object in the detection data and a template stored in the storage device 70 in advance.

  FIG. 16 shows an example in which a characteristic based on the type of the threat object itself is used as the characteristic of the threat object. In the example illustrated in FIG. 16, the threat objects are classified according to the type of the threat object itself. The first threat object 2-1 is classified into a category C1 (aircraft), and the Nth threat object 2-N is classified into a category C2 (missile). The priority determining means 64 (the arithmetic device 50) determines that, for example, the category C2 threat object (missile) has a higher priority than the category C1 threat object (aircraft). In addition, the priority determination unit 64 determines that, for example, a threat object of category C2-2 (a missile with a high destructive power) has a higher priority than a threat object of the category C2-1 (a missile with a low destructive power). judge. As a result, in the example illustrated in FIG. 16, the priority determination unit 64 determines that the Mth threat object 2-M has the highest priority, the Nth threat object 2-N has the highest priority, It is determined that the priority of the threat object 2-1 is low. In FIG. 16, the smaller the number, the higher the priority.

  The priority determining means 64 determines the Mth threat object 2-M having the highest priority as the priority threat object 2-PR. The arithmetic device 50 transmits the steering command value v to the steering device 80 or outputs a steering instruction to the output device 90 so that the stealth direction faces the priority threat object 2-PR. In addition, the arithmetic device 50 transmits the thrust command value t to the propulsion device 85 or outputs an engine output adjustment instruction to the output device 90 so that the stealth direction faces the priority threat object 2-PR. Is also good. That is, when “threat object 2” in the first embodiment is read as “priority threat object 2-PR” in the second embodiment, the operation of the command value calculation unit 58 in the second embodiment and / or The operation of the instruction determining means 62 is the same as the operation of the instruction value calculating means 58 and / or the operation of the instruction determining means 62 in the first embodiment.

  Alternatively or additionally, other classifications (other characteristics of the threat object) may be used when determining the priority threat object 2-PR. For example, the threat object is classified based on a characteristic indicating whether or not the predicted arrival time until the threat object reaches the ship 1 is relatively short, and the priority threat object 2-PR is determined in consideration of the classification. May be done. When the threat object is classified based on the predicted arrival time, for example, when the predicted arrival time is greater than the third threshold Th3, the threat object is classified into the category E1, and the predicted arrival time is equal to or less than the third threshold Th3. At this time, the threat objects may be classified into category E2. The predicted arrival time may be calculated based on, for example, the current distance between the threat object and the ship 1 and the current speed of the threat object. The priority determining means 64 (the arithmetic device 50) determines whether the threat object of the category E2 (threat object whose arrival prediction time is relatively short) is higher than the threat object of the category E1 (threat object whose arrival prediction time is relatively long). It is determined that the priority is higher.

  Alternatively or additionally, when the threat object is an object moving away from the ship 1, the threat object is classified into a category F1, and when the threat object is an object approaching the ship 1, the threat object is classified. It may be classified into category F2. The priority determining unit 64 determines that the priority of the threat object of the category F2 (threating approaching threat object) is higher than the priority of the threat object of the category F1 (threat object approaching).

  FIG. 17 illustrates an example in which threat objects are classified according to a plurality of types of characteristics, and the priority of each threat object is determined based on the plurality of types of characteristics. In the example illustrated in FIG. 17, the priority determination unit 64 determines that the Mth threat object 2-M has the highest priority, the Jth threat object 2-J has the highest priority, and then the Nth threat object 2-J has the highest priority. It is determined that the priority of the threat object 2-N is high and the priority of the first threat object 2-1 is low.

  The priority determining means 64 determines the threat object having the highest priority (the Mth threat object 2-M) as the priority threat object 2-PR. The operation after the priority threat object 2-PR is determined is the same as the above-described example described with reference to FIG. In addition, the threat object of the category F1 (a threat object that moves away) may be automatically excluded from the candidates of the priority threat object. Further, for example, when a certain threat object is determined as the priority threat object 2-PR and steering is performed, if interference between the ship 1 and the consort ship 100 or other obstacles cannot be avoided, the threat object is given priority. You may make it exclude automatically from a threat object candidate.

  Note that FIG. 16 shows a classification B (a classification based on the type of the threat object mounted sensor), a classification C (a classification based on the type of the threat object itself), a classification E (a classification based on the estimated arrival time of the threat object), a classification F (classification based on approach or separation of a threat object) is described. However, the priority determination unit 64 may determine the priority threat object 2-PR using only one of the classes B, C, E, and F. Alternatively, the priority determination unit 64 may determine the priority threat object 2-PR using a combination of any two or more of the classes B, C, E, and F. For example, the priority determining means 64 may determine the priority threat object 2-PR using the classes B and C.

  In addition, in addition to the above-described classification (Class B, Class C, Class E, or Class F), the priority determining means 64 considers the relative orientation of each threat object with respect to the ship 1 and 2-PR may be determined. For example, the steering amount when changing the posture in a posture direction hard to be detected from a certain threat object (for example, the threat object 2-J) is the steering amount when changing the posture in a posture direction hard to be detected from another threat object. If smaller than this, the threat object 2-J may be preferentially determined as the priority threat object 2-PR.

  The second embodiment has the same effects as the first embodiment. Further, in the second embodiment, even when a plurality of threat objects are present, a ship defense support system capable of determining an optimum attitude of a ship based on the characteristics of the threat objects is realized.

(Third embodiment)
The ship defense support system 10 according to the third embodiment will be described with reference to FIGS. The arithmetic device 50 according to the third embodiment is different from the arithmetic device 50 according to the second embodiment in that a destruction target object that is a threat object to be physically destroyed is extracted from a plurality of threat objects. . In the ship defense support system 10 according to the third embodiment, components having the same functions as the components of the ship defense support system 10 according to the second embodiment are given the same reference numerals, and repeated description is omitted.

  FIG. 18 is a functional block diagram schematically illustrating functions of the ship defense support system 10 according to the third embodiment. The arithmetic unit 50 of the ship defense support system 10 functions as a destruction target extraction unit 66 by executing a program stored in the storage device 70.

  The destruction target extraction unit 66 (the arithmetic device 50) selects a destruction target object from among a plurality of threat objects based on the first characteristic of the first threat object 2-1 to the Nth characteristic of the Nth threat object 2-N. Extract 2-DES. For example, when the undesired threat object and the manned threat object are included in the plurality of threat objects, the destruction target extraction unit 66 may extract the unmanned threat object as the destruction target object 2-DES. Good. Human life is respected by destroying unmanned threat objects. The destruction target extraction unit 66 may extract a threat object that is difficult to defend by steering as the destruction target object 2-DES. For example, when the predicted arrival time of a certain threat object is shorter than the time required to change the direction of the ship to a posture direction that is difficult to be detected from the threat object, the threat object may be extracted as the destruction target object 2-DES. Good. Alternatively or additionally, if a certain threat object is determined as the priority threat object 2-PR and steered, interference between the ship 1 and the consort ship 100 or other obstacles cannot be avoided. The threat object may be extracted as the destruction target object 2-DES.

  FIG. 19 is a table showing an example in which the Mth threat object 2-M is extracted as the destruction target object 2-DES in the table shown in FIG. In the example illustrated in FIG. 19, as a result of extracting the Mth threat object 2-M as the destruction target object, the arithmetic device 50 excludes the Mth threat object 2-M from the candidates of the priority threat object. Then, in the example illustrated in FIG. 19, the arithmetic device 50 determines the Jth threat object 2-J that is not the destruction target object as the priority threat object 2-PR.

  The third embodiment has the same effect as the second embodiment. In the third embodiment, a certain threat object is dealt with by hard kill (physical destruction), and another threat object is dealt with by soft kill (steering in a direction hard to detect from the threat object). This provides more defense options and more effectively avoids vessel damage.

  It should be noted that steering in a direction hard to be detected from the threat object (one soft kill unit) may be executed in combination with another soft kill unit (for example, release of chaff). By performing the steering in the direction that is difficult to be detected from the threat object and the release of the chaff in combination, the ship becomes more difficult to be detected from the threat object. In this case, the ship 1 (or the ship defense support system 10) needs to be provided with a chief releasing means 97 for releasing a chiff in response to a command from the arithmetic unit 50.

(Fourth embodiment)
A ship defense support method according to the fourth embodiment will be described with reference to FIG. The ship defense support method according to the fourth embodiment is a ship defense support method using the ship defense support system according to any of the above-described embodiments or modifications.

  FIG. 20 is a flowchart illustrating a ship defense support method according to the fourth embodiment.

  In the first step S1, the detection device 30 that detects a threat object detects the threat object 2.

  In the second step S2, the detection device 30 transmits the detection data to the arithmetic device 50 of the ship defense support system 10.

  In the third step S3, the arithmetic device 50 calculates the azimuth of the threat object 2 and the characteristics of the threat object 2 based on the detection data. When the detection data includes a plurality of threat objects including the first threat object 2-1 to the Nth threat object 2-N, the arithmetic unit 50 determines the threat object 2K for each threat object 2-K. -K and the characteristics of the threat object 2-K are calculated.

  In the fourth step S4, the computing device 50 determines a priority threat object. When only one threat object 2 is included in the detection data, the computing device 50 determines the threat object 2 as the priority threat object 2-PR. When the detection data includes a plurality of threat objects including the first threat object 2-1 to the Nth threat object 2-N, the arithmetic device 50 considers the characteristics of each threat object 2-K ( Alternatively, the priority threat object 2-PR is determined from a plurality of threat objects, taking into account the direction of each threat object 2-K and the characteristics of each threat object 2-K. The procedure for determining the priority threat object 2-PR may be the same as the procedure described in the above-described second and third embodiments. In the fourth step S4, when the arithmetic device 50 extracts the destruction target object 2-DES from the plurality of threat objects, the destruction target object 2-DES is extracted from the candidates of the priority threat object 2-PR. It may be excluded. Note that the procedure for extracting the destruction target object 2-DES may be similar to the procedure described in the third embodiment.

  In the fifth step S5, the arithmetic unit 50 determines the azimuth of the priority threat object 2-PR, the characteristics of the priority threat object 2-PR, and the stealth direction (the direction in which the ship 1 is not easily detected) stored in the storage device 70. , The steering command value v is calculated based on the constraint condition that the stealth direction is directed to the priority threat object 2-PR. In addition, the arithmetic unit 50 further includes an azimuth of the priority threat object 2-PR, characteristics of the priority threat object 2-PR, a stealth direction stored in the storage device 70 (a direction in which the ship 1 is hard to be detected), and a stealth direction. The thrust command value t may be calculated based on the constraint that the direction is directed to the priority threat object 2-PR. If the priority threat object 2-PR is a threat object equipped with a radar, the above stealth direction corresponds to a direction in which the RCS value of the ship is relatively small (first direction), and When the 2-PR is a threat object equipped with an infrared sensor, the stealth direction described above corresponds to a direction in which the IR radiation amount of the ship is relatively small (second direction).

  In the sixth step S6, the arithmetic device 50 transmits the calculated steering command value v to the steering device 80. In addition, the arithmetic device 50 may transmit the calculated thrust command value t to the propulsion device 85. Alternatively or additionally, in the sixth step S6, the arithmetic unit 50 sets the steering instruction corresponding to the steering instruction value v (or the engine instruction corresponding to the steering instruction and the thrust instruction value corresponding to the steering instruction value v). The output adjustment instruction) may be output to the output device 90 that can be recognized by the user.

  As described above, in the fourth embodiment, based on the azimuth of the threat object, the characteristics of the threat object, and the stealth direction that is hardly detected from the threat object, the arithmetic device causes the stealth direction to move toward the threat object. , A steering command value (or a steering command value and a thrust command value) are calculated. As a result, a ship defense support method that can take an optimal posture based on the characteristics of the threat object is realized. Thus, damage to the ship is effectively avoided or reduced.

  The present invention is not limited to the above embodiments, and it is apparent that the embodiments can be appropriately modified or changed within the scope of the technical idea of the present invention. In addition, various techniques used in each embodiment or modified example can be applied to other embodiments or modified examples as long as no technical contradiction occurs.

1: Moving object (ship, aircraft, vehicle, etc.)
2: Threat object 2 ': Threat object 2-1: First threat object 2-K: Kth threat object 2-N: Nth threat object 10: Ship defense support system 30: Detecting device 32: First communication interface 50 : Arithmetic unit 52: second communication interface 54: azimuth calculation means 56: characteristic calculation means 58: command value calculation means 62: instruction determination means 64: priority determination means 66: destruction target extraction means 70: storage device 80: steering device 85: propulsion device 90: output device 95: monitoring device 97: chaff discharging means 100: consort ship

Claims (10)

An arithmetic unit;
A storage device that stores the stealth direction when defining a direction in which the moving object is hard to be detected as a stealth direction;
The arithmetic device, based on the detection data received from the detection device, calculates the direction of the threat object and the characteristics of the threat object,
The arithmetic device is configured to perform a steering command based on the azimuth of the threat object, the characteristic of the threat object, and the stealth direction stored in the storage device such that the stealth direction faces the threat object. Is calculated,
The mobile device defense support system, wherein the arithmetic device transmits the steering command value to a steering device of the moving body, or outputs a steering command corresponding to the steering command value to an output device that can be recognized by a user. The characteristics of the threat object include characteristics that the threat object is equipped with a radar, or characteristics that the threat object is equipped with an IR sensor,
The mobile object defense according to claim 1, wherein the stealth direction is a first direction indicating a direction in which the RCS value of the mobile unit is relatively small, or a second direction indicating a direction in which an IR radiation amount is relatively small. Support system. The movement according to claim 2, wherein the stealth direction is a first direction indicating a direction in which the RCS value of the moving body is relatively small, and a second direction indicating a direction in which the IR radiation amount is relatively small. Body defense support system. When the characteristic of the threat object includes a characteristic that the threat object is equipped with a radar, the arithmetic device calculates the steering command value so that the first direction faces the threat object. ,
When the characteristic of the threat object includes a characteristic that the threat object has an IR sensor, the arithmetic device calculates the steering command value so that the second direction faces the threat object. The mobile defense support system according to claim 2 or 3. The storage device stores first relative data in which a relative orientation with respect to the moving object, an operation state of the moving object, and the IR radiation amount of the moving object are associated with each other,
The arithmetic device, based on monitoring data received from a monitoring device that monitors the operating state of the moving object, calculates the operating state of the moving object,
The arithmetic device may be configured such that the second direction faces the threat object based on the azimuth of the threat object, the characteristic of the threat object, an operation state of the moving object, and the first related data. The mobile defense support system according to any one of claims 2 to 4, wherein the steering command value is calculated. The said arithmetic device determines the 1st stealth direction which should be employ | adopted from several said stealth directions so that it may not interfere with the position of another moving body, or a course. Mobile defense support system. When N is a natural number of 2 or more, the detection data includes detection data of the first to Nth threat objects,
When K is an arbitrary natural number not less than 1 and not more than N, the arithmetic unit calculates a K-th azimuth indicating the azimuth of the K-th threat object and a K-th azimuth indicating the characteristic of the K-th threat object based on the detection data. Calculate the characteristics and
The arithmetic device determines a high-priority priority threat object from among the plurality of threat objects based on the first characteristic to the N-th characteristic,
The mobile object defense support system according to any one of claims 1 to 6, wherein the arithmetic device calculates the steering command value so that the stealth direction faces the priority threat object. The computing device is configured to classify the threat object based on a type of a mounted sensor, classify the threat object itself based on a type, classify the threat object based on a predicted arrival time of the threat object, or classify the threat object based on approach or separation. The mobile defense support system according to claim 7, wherein the priority threat object is determined based on at least one of the categories. The computing device, from among the plurality of threat objects, extracts a destruction target object,
The mobile object defense support system according to claim 7 or 8, wherein the arithmetic device determines the priority threat object from a plurality of the threat objects except the destruction target object. A mobile defense support method using a mobile defense support system,
The mobile defense support system,
An arithmetic unit;
A storage device that stores the stealth direction when defining a direction in which the moving object is hard to be detected as a stealth direction;
The mobile body defense support method comprises:
The computing device receives detection data from a detection device that detects a threat object,
The arithmetic device, based on the detection data, the direction of the threat object, the step of calculating the characteristics of the threat object,
The azimuth of the threat object, the characteristic of the threat object, the stealth direction stored in the storage device, and a constraint condition that the stealth direction faces the threat object. Calculating a steering command value based on the
The arithmetic device includes a step of transmitting the steering command value to a steering device of the moving body, or a step of outputting a steering instruction corresponding to the steering command value to an output device that can be recognized by a user. Defense support methods.

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