JP6879725B2 - Tracking device and multi-sensor system - Google Patents

Description

The present invention relates to a tracking device that presents information for self-defense, interferes, etc. by using the observation information of the incoming radio wave, and a multi-sensor system that includes the tracking device and uses the observation information by another device. ..

The tracking device for electronic warfare, which is also called an electronic warfare device, analyzes the result of signal processing of the radio wave received by the antenna in order to present information for self-defense, interfere, etc. using the observation information of the incoming radio wave. Therefore, "classification processing" is carried out, which is a process of classifying whether the radio wave source is an aircraft or a weapon and distinguishing whether the radio wave source is an enemy or an ally. To do. The tracking device for electronic warfare determines the correspondence, that is, the correlation between the target information of electronic warfare, which is the observation information up to the past, that is, the previous time, and the observation information of the new arrival radio wave, and the new observation information. "Tracking processing" is performed to update the past observation information determined to be the observation information of the same target with new observation information. Hereinafter, the "class identification process" and the "tracking process" are collectively referred to as "class identification and tracking process".

The conventional tracking device for electronic warfare provides information for jamming control and self-defense according to the identification and tracking processing. For example, Patent Document 1 discloses a technique for realizing classification identification and tracking processing by combining radio wave specifications and radio wave arrival directions.

Japanese Unexamined Patent Publication No. 8-129059

In the conventional technique, generally, the correlation processing in the tracking process is performed by combining the attribute correlation process based on the radio wave specifications and the position correlation process based on the arrival direction of the radio wave. In the attribute correlation processing, for example, the presence or absence of correlation is determined for each attribute of the radio wave specifications of the incoming radio wave so that it is determined that there is a correlation between the aircraft and the aircraft and there is no correlation between the aircraft and the weapon. In the position correlation, the predicted position at the current time is calculated from the position and velocity which are the observation information up to the previous time, the difference between the predicted position and the position of the new observed value is calculated, and this difference is determined to be correlated. Whether or not there is a correlation is determined based on whether or not it is within a predetermined range. Therefore, it is desirable to appropriately set the range in which there is a correlation so that the determination accuracy in the position correlation is high. On the other hand, in the conventional technique, the target, that is, the position of the radio wave source is grasped by the angle tracking process. In angle tracking, if the relative distance to the target is different, the appropriate range of the correlated range will fluctuate greatly. The tracking device for electronic warfare generally assumes a radio wave source that is far away, that is, has a relative distance of a certain value or more, and the above-mentioned range with correlation is often set for the distance.

However, if the range with correlation is set for a long distance, the accuracy of tracking processing for the observation information of a radio wave source that is not far away, that is, at a short distance may decrease, and interference control may not be properly implemented. There was a problem.

The present invention has been made in view of the above, and an object of the present invention is to obtain a tracking device capable of improving the accuracy of tracking processing.

In order to solve the above-mentioned problems and achieve the object, the tracking device according to the present invention carries out tracking processing based on the arrival direction and the first processing unit for obtaining the radio wave specifications and the arrival direction of the received radio wave. A second processing unit that determines the target of the transmission source of the radio wave and determines the interference method corresponding to the determined target, and an interference unit that performs interference based on the interference method determined by the second processing unit. To be equipped. The second processing unit determines that the determined target is a target with a high degree of threat and a short distance when the radio wave specifications meet the preset judgment criteria, and is speculative. The position correlation process in the tracking process is performed using the correlation range set assuming that the relative distance to the target is shorter than a certain distance.

According to the present invention, there is an effect that the accuracy of the tracking process can be improved.

The figure which shows the functional configuration example of the tracking device which concerns on Embodiment 1. The figure which shows the structural example of the control circuit of Embodiment 1. A flowchart showing the overall operation of the tracking device according to the first embodiment. The figure which shows the composition example of the 2nd information and the 3rd information of Embodiment 1. The figure which shows the composition example of the electronic warfare target information of Embodiment 1. A flowchart showing an example of a processing procedure in the type identification and tracking unit of the first embodiment. A flowchart showing an example of a correlation processing procedure among the type identification and tracking processing in the tracking unit of the first embodiment. Schematic diagram showing the relationship between the relative distance to the target of the first embodiment and the correlation range. The figure which shows the functional configuration example of the tracking device for electronic warfare of Embodiment 2. The figure which shows the configuration example of the avionics system including the tracking device for electronic warfare of Embodiment 3. The figure which shows the configuration example of the avionics system including the tracking device for electronic warfare of Embodiment 4.

Hereinafter, the tracking device and the multi-sensor system according to the embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to this embodiment.

Embodiment 1.
FIG. 1 is a diagram showing a functional configuration example of the tracking device according to the first embodiment of the present invention. The tracking device 100 of the present embodiment is a tracking device for electronic warfare, which is also called an electronic warfare device, and identifies and tracks a target that is a radio wave source of received radio waves, that is, a source of received radio waves. As shown in FIG. 1, the tracking device 100 of the present embodiment includes an antenna signal processing unit 1, a class identification and tracking unit 2, a setting information storage unit 3, a target information storage unit 4, an interfering unit 5, and a user interface unit 6. To be equipped.

The tracking device 100 of the present embodiment performs angle tracking processing for a short distance when the radio wave specifications of the incoming radio wave satisfy a predetermined determination criterion. The angle tracking process for a short distance is an angle tracking process assuming that the relative range between itself and the target, that is, the relative distance is a short distance, and the details will be described later. If a standard corresponding to a target that has a high threat level and is assumed to be a short distance is set as a determination standard, the tracking device 100 of the present embodiment has a high threat level short range target. On the other hand, it is possible to speculatively carry out the angle tracking process assuming that the relative range is a short distance. Therefore, the accuracy of the correlation processing described later can be improved, the interference can be efficiently performed, and the information presentation for self-defense can be appropriately performed.

The antenna signal processing unit 1 shown in FIG. 1 is a sensor that observes incoming radio waves, and has an antenna and a signal processing circuit that performs signal processing of the received signal. The antenna signal processing unit 1 is a first processing unit that obtains the radio wave specifications and the direction of arrival of the received radio wave. Specifically, the antenna signal processing unit 1 is a passive radio wave sensor that receives incoming radio waves, calculates the arrival direction and radio wave specifications of the received radio waves, and outputs them. The radio wave specifications include frequency, radio wave type, signal strength, reception level, and the like. When the antenna signal processing unit 1 receives the radio wave, the antenna signal processing unit 1 outputs the arrival direction of the radio wave and the radio wave specifications to the type identification and tracking unit 2. There are no particular restrictions on the method of calculating the arrival direction and radio wave specifications of the radio wave in the antenna signal processing unit 1, and any method used in a general passive radio wave sensor can be used.

The setting information storage unit 3 stores preset information which is setting information set based on the knowledge obtained in advance for radio waves that may arrive. The method of setting the preset information is not particularly limited, but it may be set by inputting information from the user via the user interface unit 6, or the tracking device 100 may receive information from another device. The preset information may be set based on the information received from other devices. The preset information is the first information which is a judgment criterion for judging whether or not to perform the angle tracking process for a short distance, and the second information which is the judgment information in the classification processing for each radio wave specification. Includes information and a third piece of information that is information about interference and information presentation for each category identification result.

The class identification and tracking unit 2 refers to the preset information stored in the setting information storage unit 3 for the arrival direction and radio wave specifications of the radio wave input from the antenna signal processing unit 1, and class identification and tracking unit 2. Perform tracking processing. This is the second processing unit that determines the target of the radio wave transmission source by performing the tracking process based on the arrival direction of the radio wave, and determines the interference method corresponding to the determined target. The category identification and tracking unit 2 includes an ID (Identifier) number which is an identification number for identifying a target, an analysis result which is a processing result by the category identification and tracking unit 2, and processing information and an antenna which are information corresponding to the category identification result. The observation time, which is the time when the signal processing unit 1 receives the radio wave, is stored in the target information storage unit 4 as electronic warfare target information. The analysis result includes the track and the classification result. The track is the result of the tracking process, and the classification result is the result of the classification process. The details of the track and the classification result will be described later. The processing information includes information indicating the tracking method, the classification result, the obstruction method, and the information presentation method that are being carried out. The information presentation method is a method of information presentation processing for self-defense. The information is not limited to this example, and may not include a part of these, and may include information other than these. Further, the class identification and tracking unit 2 outputs the ID number, the analysis result, the processing information, and the observation time to the interference unit 5 and the user interface unit 6. In the following embodiment, an example in which the class identification and tracking unit 2 in which the class identification unit that performs the class identification and the tracking unit that performs the tracking process are integrated will be used, but the class identification unit and the tracking unit will be described. The unit may be configured separately.

Electronic warfare target information is stored in the target information storage unit 4. The electronic warfare target information is information for managing the classification identification and the analysis result by the tracking unit 2 for each target, and in detail, as described above, includes the ID number, the analysis result, and the processing information.

The jamming unit 5 performs jamming processing such as transmission of jamming radio waves and ejection of jamming equipment based on the jamming method specified by the input processing information. Specifically, the obstruction unit 5 performs the obstruction based on the obstruction method determined by the class identification and tracking unit 2. The user interface unit 6 is composed of at least one of a display means which is a monitor or a display and a sound generating means such as a speaker. The user interface unit 6 performs processing such as screen display and output of an alarm sound based on the information presentation method specified by the input processing information.

The hardware of the tracking device 100 will be described. As described above, the antenna signal processing unit 1 is composed of an antenna and a signal processing circuit which is a processing circuit. The setting information storage unit 3 and the target information storage unit 4 are realized by a memory. The memory that realizes the setting information storage unit 3 and the memory that realizes the target information storage unit 4 may be different memories or the same memory. The type identification and tracking unit 2 is realized by a processing circuit. The jamming unit 5 is composed of a device according to the content of the jamming, for example, a radio wave transmitter, a device for emitting a jamming device, and a processing circuit for controlling the device. As described above, the user interface unit 6 is realized by a monitor, a display, a speaker, and the like.

The processing circuit that realizes the signal processing circuit described above, the processing circuit that realizes the identification and tracking unit 2, and the processing circuit that constitutes the interference unit 5 may be dedicated hardware, or may be a control circuit including a processor. There may be. When these processing circuits are realized by dedicated hardware, they are, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field Programmable). Gate Array), or a combination of these.

When these processing circuits are realized by a control circuit including a processor, this control circuit is, for example, a control circuit having the configuration shown in FIG. FIG. 2 is a diagram showing a configuration example of a control circuit. As shown in FIG. 2, the control circuit includes a processor 201 such as a CPU (Central Processing Unit) and a microprocessor, and a memory 202. When these processing circuits are realized by the control circuit shown in FIG. 2, it is realized by the processor 201 reading and executing a program corresponding to each processing stored in the memory 202. The memory 202 is also used as a temporary memory in each process performed by the processor 201. Although the processor and the memory are shown as one example in FIG. 2, it may be realized by the configuration of a general-purpose computer having the processor and the memory. For example, even in a computer configuration in which the number of processors is a plurality of processors, the same effect as in this embodiment is produced.

Next, the operation of this embodiment will be described. FIG. 3 is a flowchart showing the overall operation of the tracking device 100 of the present embodiment. First, the tracking device 100 starts its operation when it is activated or the like. The antenna signal processing unit 1 of the tracking device 100 determines whether or not a radio wave has arrived, that is, whether or not a radio wave has been received (step S1). When no radio wave has arrived (step S1 No), the antenna signal processing unit 1 repeats step S1.

When a radio wave arrives (step S1 Yes), the antenna signal processing unit 1 calculates the arrival direction of the arrived radio wave, that is, the arrival direction of the radio wave and the radio wave specifications, and outputs the calculation result to the identification and tracking unit 2 (step). S2). The radio wave arrival direction and radio wave specifications at each time, which are the calculation results of the antenna signal processing unit 1, are also hereinafter referred to as observation information or detection data.

The type identification and tracking unit 2 refers to the preset information stored in the setting information storage unit 3, and refers to the tracking process, that is, the process of determining the correspondence between the new detection data and the past detection data, and the received radio wave. The type identification process is performed, and the electronic warfare target information is updated (step S3).

The type identification and tracking unit 2 performs correlation processing and integration processing as tracking processing. The type identification and tracking unit 2 is newly input from the past or previous time track stored in the target information storage unit 4 as electronic warfare target information and the input detection data, that is, the antenna signal processing unit 1. Correlation processing is performed based on the detection data. A wake is a set of time-series detection data for each target. The correlation process is a process for obtaining the correlation between the input detection data and the track up to the previous time, that is, the detection data stored in the electronic warfare target information. That is, the correlation process is a process of determining which target, that is, which track the input detection data corresponds to. Specific processing methods for the correlation processing include, but are not limited to, the NN (Nearest Neighbor) method or the track type MHT (Multiple Hypothesis Tracking), and any method may be used.

After the correlation processing, the type identification and tracking unit 2 sets the track corresponding to the target determined to be correlated with the detection data input in the correlation processing, that is, the track of the target determined to correspond to the input detection data. The integrated process, which is the process of updating with the input detection data, is performed. Specifically, by adding new detection data to the track corresponding to the ID number of the target determined to have a correlation with the input detection data among the tracks stored in the electronic warfare target information, the track To update. After the correlation processing, the type identification and tracking unit 2 assigns a new ID number to the detection data when there is no target determined to have a correlation with the detection data input in the correlation processing. Then, the category identification and tracking unit 2 includes a newly assigned ID number, a track, that is, input detection data, a category identification result, an ongoing tracking method, processing information, and an observation time as a set. , Add to electronic warfare target information. FIG. 5 is a diagram showing a configuration example of electronic warfare target information. As shown in FIG. 5, the electronic warfare target information includes an ID number, a track, an ongoing tracking method, processing information, an observation time, that is, the latest observation time. The tracking method being carried out includes, for example, information indicating whether the tracking method is a tracking method when it is determined that the distance is short, or a tracking method when it is determined that the distance is not short, which will be described later.

In the type identification process of the received radio wave, the type identification and tracking unit 2 determines whether the radio wave source is an aircraft or a weapon from the radio wave specifications of the detection data with reference to the preset information. The result of this determination is the classification result. Further, the class identification and tracking unit 2 refers to the preset information and outputs the obstruction method and the information presentation method corresponding to the class identification result as processing information. In addition, although an example of performing the classification processing using radio wave specifications will be described here, items other than the radio wave specifications may be further used in the classification processing.

As described above, the preset information includes the second information which is the information for determination in the classification processing for each radio wave specification and the third information which is the information regarding interference and information presentation for each classification result. included. FIG. 4 is a diagram showing a configuration example of the second information and the third information. In FIG. 4, the second information and the third information are shown in one table format. In the table shown in FIG. 4, information indicating the classification result, the interference method, and the information presentation method corresponding to each radio wave specification is stored. In the example shown in FIG. 4, the classification result for each radio wave specification corresponds to the second information, and the interference method and the information presentation method for each classification identification result correspond to the third information. The configuration shown in FIG. 4 is an example, and the second information and the third information may be set as separate tables, and the configuration of the second information and the third information is an example shown in FIG. Not limited to. In the class identification process, the class identification and tracking unit 2 refers to the second piece of preset information to obtain the class identification result corresponding to the detection data. Then, the class identification and tracking unit 2 refers to the third information among the preset information to obtain the obstruction method and the information presentation method corresponding to the class identification result.

If there is a target determined to have a correlation with the input detection data, the category identification and tracking unit 2 will use the newly calculated category identification result and processing information as the target in the electronic warfare target information. If it is the same as the corresponding identification result and processing information, it is not necessary to update this information. If the corresponding target observation time is already stored, the observation time is updated with the latest observation time. The category identification and tracking unit 2 transfers the input detection data, that is, the input detection data, the category identification result, the processing information, and the observation time to the interference unit 5 and the user interface unit 6. input. Either the class identification process or the tracking process may be performed first.

Returning to the description of FIG. 3, after step S3, the jamming unit 5 of the tracking device 100 performs the jamming process based on the input jamming method (step S4). The user interface unit 6 of the tracking device 100 presents information to the user based on the input information presentation method (step S5). After step S5, the process returns to step S1. In this way, the processing shown in FIG. 3 is performed at each time when the radio wave arrives, that is, at each observation time. If the radio waves are continuously arriving, steps S2 to S5 shown in FIG. 3 may be periodically performed.

Next, the details of the process in the type identification and tracking unit 2 of the present embodiment, that is, the process in step S3 described above will be described. FIG. 6 is a flowchart showing an example of the processing procedure in the type identification and tracking unit 2 of the present embodiment. The type identification and tracking unit 2 first determines the correspondence between the input detection data and the track of each target in the electronic warfare target information up to the previous time as a part of the correlation processing of the tracking process (step S14). (Step S11).

In this correlation processing, the category identification and tracking unit 2 performs the attribute correlation processing using the radio wave specifications, and performs the position correlation processing using the position, that is, the radio wave arrival direction. In the attribute correlation processing, there is no attribute correlation based on the degree of matching between the radio wave specifications in each track corresponding to each target stored in the electronic warfare target information and the radio wave specifications of the input detection data. Is determined. For example, the radio wave specifications corresponding to each target stored in the electronic warfare target information and the radio wave specifications of the input detection data are compared for each item, and the difference for each item is less than or equal to a predetermined value. If so, it is determined that the items match. Then, when all the radio wave specifications match, it is determined that there is an attribute correlation. Further, in the position correlation processing, the type identification and tracking unit 2 is the position for each target at the observation time of the input detection data based on the radio wave arrival direction of the past detection data stored in the electronic warfare target information. Predict the direction of arrival of radio waves. Then, the class identification and tracking unit 2 compares the predicted radio wave arrival direction with the input radio wave arrival direction, and if the difference between the two is within a predetermined range, it is determined that there is a position correlation. This predetermined range is a range used for determining the presence or absence of positional correlation, and hereinafter this range is referred to as a correlation range. The class identification and tracking unit 2 determines that the input detection data and the track have a correlation with each other for the track determined to have the attribute correlation and the class identification.

Then, the class identification and tracking unit 2 updates the track determined to have a correlation by using the detection data as an integrated process (step S12).

Next, the class identification and tracking unit 2 performs the class identification process and determines the processing information corresponding to the class identification result, that is, the obstruction method and the information presentation method (step S13). Also, the electronic warfare target information will be updated as described above.

FIG. 7 is a flowchart showing an example of the correlation processing procedure among the classification processing and the tracking processing in the tracking unit 2. FIG. 7 corresponds to the process of step S11 shown in FIG. The type identification and tracking unit 2 first determines whether or not to determine whether or not the distance is short from the radio wave specifications of the input detection data (step S21). Specifically, the class identification and tracking unit 2 refers to the first information of the preset information of the setting information storage unit 3, and determines that the radio wave specifications of the input detection data are defined by the first information. Determine if the criteria are met. In the class identification and tracking unit 2, the distance between the radio wave source or target corresponding to the input detection data and the tracking device 100 is not actually known, but in the present embodiment, the radio wave specifications are the determination criteria. If this is done, it is speculatively determined whether the distance between the target and the tracking device 100 is a short distance. That is, in the present embodiment, the classification identification and tracking unit 2 performs the tracking process on the assumption that the distance between the target and the tracking device 100 is a short distance based on the radio wave specifications. ..

The tracking process carried out in the present embodiment is an angle tracking process because the arrival direction of the radio wave, that is, the angle is used. Generally, in the angle tracking process, when the position correlation process is performed, the distance between the target and the tracking device, that is, the relative distance is assumed, and the correlation range corresponding to the assumed relative distance is determined. In the position correlation process in the angle tracking process, if the correlation range is set appropriately, the accuracy of determining the position correlation is improved. However, in the position correlation process of the angle tracking process, the appropriate correlation range varies greatly depending on the relative distance to the target.

FIG. 8 is a schematic diagram showing the relationship between the relative distance to the target and the correlation range. FIG. 8 shows an example in which the tracking device 100 of the present embodiment is mounted on an aircraft, and an aircraft equipped with the tracking device 100, that is, an aircraft equipped with an electronic warfare tracking device is shown at the left end. Consider the case where the tracking device 100 receives the radio wave from the target A and the case where the tracking device 100 receives the radio wave from the target B. The distance between the tracking device 100 and the target A is shorter than the distance between the tracking device 100 and the target B. That is, the target A is in a short distance and the target B is in a distant distance for the tracking device 100. In FIG. 8, the correlation range is indicated by an arrow. When the target A and the target B are moving in the direction of the lower side of the paper surface as viewed from the tracking device 100 at the same speed, the angle change of the target A as seen from the tracking device 100 is larger. Therefore, when performing the position correlation processing of the target A, it is desirable to set a larger correlation range than when performing the position correlation processing of the target B.

On the other hand, a tracking device for electronic warfare is a device that receives incoming radio waves, and may be premised on observing a distant target compared to a sensor that observes by transmitting and receiving radio waves, such as an active radar. There are many. For this reason, in a general electronic warfare tracking device, the correlation range is determined in consideration of correctly performing the position correlation determination with respect to a distant target. Therefore, when dealing with a target with a short relative distance, the correlation range is not appropriate, the accuracy of position correlation processing is lowered, incorrect information is presented to the user, and the user's situational awareness may be misleading. .. In addition, there is a problem that the ability as a tracking device for electronic warfare is lowered, such as wasting resources for interference by performing inappropriate interference processing.

For example, one of the goals addressed by electronic warfare tracking devices is the radio waves transmitted by the threat weapon Seeker. The seeker is used as a sensor for transmission and reception. Since weapons are smaller in size than aircraft, the transmission power of radio waves transmitted by seekers is generally smaller than that of aircraft. For this reason, the seeker often transmits radio waves when the weapon approaches the tracking device, that is, a short distance between the tracking device and the target. Therefore, since the transmission power of the seeker is small and the seeker starts emitting radio waves near the tracking device, when the tracking device receives the radio wave transmitted from the seeker of the weapon, the threat weapon is own. It is likely to be near. Since the tracking device for electronic warfare aims at self-defense by interference, it is important to deal with threat weapons, and the priority of dealing with them is high. However, as described above, in a general tracking device, as described above, the accuracy of correlation processing is poor for targets with a short relative distance, so the accuracy of tracking processing for threat weapons is poor, and tracking for electronic warfare is performed. The capacity as a device is reduced.

In the tracking device 100 of the present embodiment, a radio wave source that is likely to exist at a short distance and has a high threat level, such as a threat weapon seeker, is selected and selected in advance so as to be able to deal with the above-mentioned problems. The radio wave specifications corresponding to the radio wave source are defined as the above-mentioned judgment criteria. The judgment criteria may be defined in a range. For example, when the frequency of the radio wave specifications is used as the judgment criterion, if the frequency of the selected radio wave source is f, f−Δf ₁ or more and f + Δf ₂ or less may be set as the judgment criterion. .. f, Δf _{1, and} Δf ₂ are positive real numbers.

Returning to the explanation of FIG. 7, when it is determined that the distance is short (step S21 Yes), the category identification and tracking unit 2 performs the tracking process by the angle tracking assuming the short distance (step S22). Specifically, in step S22, the correlation range is set to the first range in the position correlation process in the tracking process. The first range is wider than the second range, which is the correlation range used when it is not determined to be a short distance, that is, for a long distance.

When it is determined that the distance is not short (step S21 No), the category identification and tracking unit 2 performs tracking processing by angle tracking assuming that the distance is not short (step S23). Specifically, in step S23, the correlation range is set to the second range in the position correlation process in the tracking process. As described above, the class identification and tracking unit 2 has a short relative distance from the target that is the source of the radio wave based on whether or not the radio wave specifications satisfy the preset judgment criteria. If it is determined whether or not it is assumed that it is shorter than a certain distance, and it is determined that the relative distance is shorter than a certain distance, the relative distance to the target is assumed to be shorter than a certain distance. The tracking process is performed using the first range described above, which is the parameter obtained. In other words, in the tracking process, the class identification and tracking unit 2 determines whether or not the difference between the newly calculated arrival direction and the arrival direction corresponding to the previously determined target is within the set range, that is, the correlation range. Based on, it is determined whether or not the target, which is the source of the newly received radio wave, is the same as the target determined in the past.

Further, also in step S12, the integrated process may be performed according to the determination result of step S21. Specifically, in the integrated process of step S12, when the smoothing calculation or the like is performed assuming the movement of the target with respect to the track, if it is determined in step S21 that the distance is short, the movement with respect to the target at a short distance is assumed. Perform smoothing calculation, etc. If it is determined in step S21 that the distance is not short, smoothing calculation or the like is performed assuming motion with respect to the target at a long distance.

As described above, the tracking device 100 of the present embodiment speculatively determines whether the distance is short using radio wave specifications, and if it is determined that the distance is short, the correlation range for short distance is used. As a result, even if the actual relative distance is unknown, the determination accuracy can be improved for a radio wave source that is likely to exist at a short distance and has a high threat level. As a result, it is possible to suppress the occurrence of false alarms in the information presentation of the user interface unit 6, and it is possible to obtain an electronic warfare tracking device that is advantageous for the user's situational awareness. In addition, the jamming unit 5 can select countermeasures such as injection of jamming devices based on the correct target number, and can carry out appropriate jamming.

In this embodiment, as a target that speculatively determines a short distance using radio wave specifications, a target that is likely to exist at a short distance and has a high degree of threat, such as a threat weapon, is assumed. doing. Since the tracking device for electronic warfare aims at self-defense by obstruction, it is important to deal with threat weapons, and the priority of dealing with it is high. The above-mentioned problem regarding the correlation range in angle tracking is a serious problem that causes a decrease in the ability of the electronic warfare device, that is, the tracking device for electronic warfare, for a high-priority target. In the present embodiment, such a serious problem can be solved by the above-mentioned method.

For example, according to the speculative determination of the present embodiment, a long-distance target is determined to be a short distance and position correlation processing is performed, or a low-threat target that is not a weapon is a high-threat short-distance target. There is a possibility that the position correlation process will be performed after being determined as the target. However, even if a long-distance target is regarded as a short-distance target and position correlation processing is performed and a false alarm occurs, it can be corrected because there is time to actually deal with it. On the other hand, a false alarm that determines a short-distance target as a long-distance target is fatal. Therefore, according to the tracking device 100 of the present embodiment, such a fatal false alarm can be avoided, and electronic warfare can be avoided. It is useful as a tracking device for.

In addition, for the purpose of self-defense, safety first is the basis, so implementation that guarantees the response to targets with a high degree of threat is desired. Therefore, even if the radio wave arrives from a low-threat target that is not a weapon, if it is a radio wave specification that may be a weapon, it is an appropriate implementation to judge it as a weapon.

In the present embodiment, the user interface unit 6 is included in the tracking device 100, but the user interface unit 6 may not be included in the tracking device 100 and the user interface unit 6 may be an external device. .. In this case as well, the same effect as that of the present embodiment can be obtained.

Further, even if the user interface unit 6 is replaced with an external processing mechanism that utilizes observation information having a target according to the received radio wave, the same effect as that of the present embodiment is exhibited. Therefore, even when the tracking device 100 is realized as a partial function of a mobile mounting system or a large-scale observation system, the same effect as that of the present embodiment can be obtained. Further, the tracking device 100 of the present embodiment can be applied to a fixed site other than the mobile mounting system, and the same effect is produced.

In the present embodiment, the example in which the class identification and tracking unit 2 is performed in the order of the tracking process and the class identification process has been described, but the class identification process and the tracking process may be performed in the order of the class identification process and the class identification process. It may be executed in parallel with the processing and the tracking processing.

Further, in the present embodiment, the track is used as a set of time-series detection data having a correlation, but the method of retaining the information corresponding to the track is not limited to this example, and the correlation processing and the integration processing are used. Any form can be used.

Embodiment 2.
FIG. 9 is a diagram showing a functional configuration example of the tracking device 100a for electronic warfare according to the second embodiment of the present invention. The tracking device 100a of the present embodiment is mounted on an aircraft. The tracking device 100a is the same as that of the first embodiment, except that the own machine motion change detection unit 7 is added to the tracking device 100 of the first embodiment and the class identification and the tracking unit 2a are provided instead of the class identification and the tracking unit 2. This is the same as the tracking device 100. Components having the same functions as those in the first embodiment are designated by the same reference numerals as those in the first embodiment, and duplicate description will be omitted. Hereinafter, the points different from those of the first embodiment will be mainly described.

The own-machine motion change detection unit 7, which is a detection unit, detects the movement of the own aircraft, that is, the aircraft on which the tracking device 100a is mounted, and uses the angle tracking information recorded in the electronic warfare target information to detect the movement of the own aircraft. It is verified by using, and the change of the tracking method is notified to the identification and tracking unit 2a according to the verification result. For example, even when the position where the angle is observed, that is, the observation axis moves due to the maneuver of the own aircraft, it is desirable to change the correlation range in the position correlation processing according to the movement of the observation axis. The own-machine motion change detection unit 7 instructs the tracking method, that is, the change of the correlation range, according to the movement of the observation axis. Further, when the movement change detection unit 7 of the own machine should stop the position correlation processing determined to be a speculative short distance described in the first embodiment, such as when the movement of the own machine changes suddenly. Instructs the identification and tracking unit 2a to that effect.

The type identification and tracking unit 2a has a function of changing the tracking method in response to the notification of the own machine motion change detection unit 7. That is, the type identification and tracking unit 2a, which is the second processing unit of the present embodiment, verifies whether the correlation range, which is a parameter used in the tracking processing, is appropriate by using the detection result by the own machine motion change detection unit 7. If it is determined that the correlation range will be changed based on the verification result, the correlation range will be changed. Other functions of the classification and tracking unit 2a are the same as those of the classification and tracking unit 2 of the first embodiment. The own machine motion change detection unit 7 and the type identification and tracking unit 2a are realized by a processing circuit. The processing circuit may be dedicated hardware as in the first embodiment, or may be a control circuit including a processor.

As described above, in the present embodiment, the angle tracking can be performed more appropriately by making it possible to change the tracking method in conjunction with the maneuver of the own machine. By adding a mechanism for reviewing speculative judgments using the maneuver of the own aircraft during tracking execution, it is possible to correct when speculative judgments are incorrect.

In the present embodiment, the case where the tracking device 100a is mounted on an aircraft has been described, but even if the tracking device 100a for electronic warfare is mounted on a moving body other than the aircraft, the same effect as that of the present embodiment can be obtained. Can be done.

Embodiment 3.
FIG. 10 is a diagram showing a configuration example of an avionics system including the tracking device 100b for electronic warfare according to the third embodiment of the present invention. The tracking device 100b of the third embodiment is a part of the avionics system 700 mounted on the aircraft 900. FIG. 10 shows the wide area system 960 and the wingmen 950-1 and 950-2 together with the aircraft 900.

The avionics system 700, which is a multi-sensor system, includes another on-board sensor device 970, an avionics system data fusion unit 710, a storage unit 720, a pilot interface unit 911, a communication unit 930, and a weapon control unit 940, in addition to the tracking device 100b. .. Other on-board sensor devices 970 include RF (Radio Frequency) Active sensor device 921 for firearm control, RF Passive sensor device 922 for firearm control, EO sensor device 923 for firearm control, EO sensor device 924 for self-defense, and enemy / ally identification. There is a sensor device 925. The other on-board sensor device 970 shown in FIG. 10 is an example, and the sensor device is not limited thereto. That is, the tracking device 100b of the present embodiment is mounted on a multi-sensor system including one or more sensor devices other than itself.

The storage unit 720 stores target information, which is information output from the avionics system data fusion unit 710. The tracking device 100b is the tracking device 100 of the first embodiment, except that the electronic warfare target updating unit 8 is added to the tracking device 100 of the first embodiment and the class identification and tracking unit 2b is provided instead of the class identification and tracking unit 2. This is the same as the tracking device 100. The electronic warfare target update unit 8 and the class identification and tracking unit 2b are realized by a processing circuit. The processing circuit may be dedicated hardware as in the first embodiment, or may be a control circuit including a processor.

The avionics system 700 can transmit and receive data to and from the wide area system 960 and the wingmen 950-1, 950-2, respectively, via the communication unit 930.

The RF Active sensor device 921 for fire control is an active radio wave sensor for fire control, and receives radio waves transmitted by itself to perform observation. The RF Passive sensor device 922 for fire control is a passive radio sensor for fire control, and receives radio waves transmitted by other equipment or reflected waves from an object to perform observation. The RF Passive sensor device 922 for fire control is the same as the tracking device 100 in observing received radio waves, but since the operation purpose is different, the tracking device 100b is mounted on a separate device.

In the configuration example shown in FIG. 10, the RF Active sensor device 921 for fire control and the RF Passive sensor device 922 for fire control are configured as separate devices, but these can be combined by sharing the antenna opening surface. It may be realized as a body-shaped device.

The fire control EO sensor device 923 is an EO sensor for fire control, and observes infrared rays emitted by a target such as aerodynamic heating of an aircraft and engine exhaust. The self-defense EO sensor device 924 is a self-defense EO sensor that observes infrared rays emitted by a target such as a missile plume. The identification friend or foe sensor device 925 carries out the observation of the ally confirmation through the inquiry and the response of the ally confirmation signal. The tracking device 100b is one of the sensor devices mounted on the avionics system 700, and is a passive radio wave sensor device for self-defense.

The avionics system data fusion unit 710 is, for example, via the observation information of each sensor device mounted on the avionics system 700 and the communication unit 930 in the same manner as the techniques described in Japanese Patent No. 4925845 and Japanese Patent No. 5697734. The observation information received by the consort aircraft 950-1, 950-2, etc., the information from the weapon system, etc. are integrated and operated as a multi-sensor in the entire avionics system.

Also in this embodiment, the on-board sensor device, the tracking device 100b, the RF Active sensor device 921 for firearm control, the RF Passive sensor device 922 for firearm control, the EO sensor device 923 for firearm control, the EO sensor device 924 for self-defense, And the enemy / ally identification sensor device 925 reports the observation information to the avionics system data fusion unit 710 as a subordinate partial function of the avionics system data fusion unit 710.

The avionics system data fusion unit 710 combines the observation information of the sensor device with the information via the network, the information from the weapon system (not shown), and the like, generates the target information, and stores it in the storage unit 720. The avionics system data fusion unit 710 determines a control method for each on-board sensor device based on the target information, and instructs each sensor device of the determined control method.

Each on-board sensor device carries out observation according to the instruction of the avionics system data fusion unit 710, and reports the result of the observation, that is, the observation information to the abionics system data fusion unit 710 according to the instruction of the avionics system data fusion unit 710.

The avionics system data fusion unit 710 utilizes the information acquired via the network. The communication unit 930 is a device that realizes information exchange via a network. The wingmen 950-1 and 950-2 are equipped with the avionics system 700, for example, like the aircraft 900. Between the wingmen, the avionics system data fusion unit 710 mounted on both aircraft realizes a means of cooperation by exchanging information. The Avionics System Data Fusion Department 710 exchanges information such as command and control information, tactical information such as the number of remaining ammunition, and wide area target information with wide area assets in cooperation with information processing applications of other assets. It will be implemented.

The avionics system data fusion unit 710 cooperates with the weapon system to control the operation of the weapon in the entire multi-sensor system according to the observation information of the sensor. The avionics system data fusion unit 710 exchanges information with the weapon system that flies separately from the aircraft through the weapon control unit 940. Information exchange includes not only the state of being mounted on the airframe before launch, but also information exchange via communication with the weapon after launch.

The avionics system data fusion unit 710 combines the observation information of the on-board sensor device and the information via the network, and gives the weapon system the information necessary for launching and guiding the weapon in the weapon system, determining whether or not to guide the weapon, and launching and guiding the weapon. In addition, the avionics system data fusion unit 710 acquires target observation information captured by the weapon system, status information of the weapon system, and the like, and manages information necessary for weapon control in the entire avionics system.

The pilot interface unit 911 presents information to the pilot based on the target information. In addition, the operation of the pilot's equipment is transmitted to the equipment inside the aircraft. The communication unit 930 exchanges observation information and the like with external assets such as wingmen 950-1, 950-2 and ground equipment.

Although not shown in FIG. 10, the aircraft 900 is equipped with a weapon system. The weapon control unit 940 controls the launch and guidance of the mounted weapon. The weapon control unit 940 can exchange information such as observation information and weapon status with the mounted weapon. Information exchange with the weapon by the weapon control unit 940 can be carried out not only during the installation of the aircraft but also after the launch. The weapon control unit 940 can also exchange information by communication with respect to the weapons launched by the wingmen 950-1 and 950-2.

The weapon control unit 940 reports the information obtained from the weapon to the avionics system data fusion unit 710, and executes a command and information transmission to the weapon based on the target information output from the avionics system data fusion unit 710.

Although FIG. 10 shows two wingmen 950-1 and 950-2, the number of wingmen is arbitrary. The wide area system 960 is a group of other assets such as ground equipment, ships, and vehicles. The wide area system 960 exchanges observation information and the like with the avionics system 700 mounted on the aircraft 900 through the communication unit 930.

The electronic warfare target update unit 8 compares the target information with the electronic warfare target information, sets the target information as a reference, that is, the target information is positive, and adds information on relative distance, speed, and identification friend or foe to the electronic warfare target information. To do. In addition, the electronic warfare target update unit 8 corrects the track of the electronic warfare target information based on the target information.

Further, the electronic warfare target update unit 8 outputs the target information of the target not observed by the tracking device 100b to the type identification and tracking unit 2b. The class identification and tracking unit 2b has the same functions as the class identification and tracking unit 2 of the first embodiment, and further, a method of class identification processing and a tracking method are provided according to an instruction from the electronic warfare target update unit 8. Has the ability to change. Further, the electronic warfare target updating unit 8 performs the classification processing and the tracking processing by using the target information of the target not observed by the tracking device 100b input from the electronic warfare target updating unit 8. That is, the type identification and tracking unit 2b, which is the second processing unit of the present embodiment, has the same function as the type identification and tracking unit 2 of the first embodiment, and further, one or more other sensor devices. Tracking processing is performed based on the observation results of.

In this way, by mounting the tracking device 100b on the avionics system 700, which is a multi-sensor system equipped with a plurality of sensor devices, the observation results are comprehensively judged by combining information via other mounted sensor devices and the network. It is possible to correct the track of the electronic warfare target information based on. In addition, information on relative distance, speed, and identification friend or foe can be added to the electronic warfare target information described in the first embodiment. By correcting the track of the electronic warfare target information and adding the information, the jamming unit 5 of the tracking device 100b can perform the jamming based on the determination result more accurate than that of the first embodiment. Therefore, the disturbing ability can be enhanced as compared with the first embodiment.

Further, by incorporating the tracking device 100b having improved angle tracking similar to the tracking device 100 of the first embodiment into the multi-sensor system, there is an effect of improving the accuracy of the observation information input to the multi-sensor system. In addition, by improving the accuracy of the electronic warfare target information based on the observation results that are comprehensively judged by combining the information via other on-board sensors and the network, the observation information that is input to the multi-sensor system is synergistic. Has the effect of improving.

Improving the accuracy of observation information that is input to the multi-sensor system leads to improving the accuracy of target information used in many equipment of the multi-sensor system that is generated by combining observation information. By improving the accuracy of target information, it is expected that the pilot's SA (Situation Awareness) will be improved, and that the fighting ability as a fighter will also be improved. In particular, by improving the information from the tracking device 100b, which is a self-defense sensor, it can be expected that the survivability of the fighter aircraft will be improved. In addition, as compared with the first embodiment, more information about the target is used as compared with the first embodiment so that the information on the relative distance, the speed, and the identification friend or foe can be referred to, and the implementation of the interference is determined. Will be possible. As a result, effects can be expected in the allocation of jamming resources, selection of jamming methods, and the like, and it is possible to obtain a tracking device 100b for electronic warfare having a high jamming ability.

In the present embodiment, the case where the avionics system 700 mounted on an aircraft is used as a higher-level system including the tracking device 100b has been described. However, even if the tracking device 100b is mounted on a mobile system such as a ship or an automobile other than an aircraft, the tracking device 100b may be mounted. If it is mounted on a system having a data fusion unit similar to the avionics system data fusion unit 710, the same effect as that of the present embodiment can be obtained. Further, even in the ground equipment other than the mobile body, if the system has the same data fusion unit as the avionics system data fusion unit 710, the same effect as that of the present embodiment can be obtained. Further, the tracking device 100b can be applied to a fixed site other than the moving body, and in this case as well, the same effect as that of the present embodiment can be obtained.

In the present embodiment, an example in which the electronic warfare target updating unit 8 is added to the tracking device 100 of the first embodiment and the category identification and tracking unit 2b is provided instead of the category identification and tracking unit 2 has been described. Even if the same function is added to the tracking device 100a described in the second embodiment and mounted on the same system as the present embodiment, the same effect as that of the present embodiment can be obtained.

When the function of the present embodiment is added to the tracking device 100a of the second embodiment, the electronic warfare target update unit 8 is added to the tracking device 100a, and the own machine motion change detection unit is added to the classification identification and tracking unit 2a. A function for changing the type identification process and the tracking method according to the notification of 7 may be added. In this case, in addition to the same effect as that of the present embodiment, the effect of improving the angle tracking by utilizing the maneuver of the own machine described in the second embodiment can be obtained together.

Since some targets can only observe the direction of arrival of radio waves, a tracking device for electronic warfare that tracks the target based on the direction of arrival of radio waves may be used in a multi-sensor system. In such a multi-sensor system, when a conventional tracking device is used, there is a possibility that a target may be misidentified due to a problem in angle tracking. On the other hand, in the tracking device 100b of the present embodiment, as described above, since the function of performing angle tracking assuming that the distance is speculatively short is added, misidentification of the target is suppressed. Therefore, it is possible to suppress misidentification of the target number of the multi-sensor system as a whole, and it is possible to carry out appropriate interference in the multi-sensor system.

Embodiment 4.
FIG. 11 is a diagram showing a configuration example of an avionics system including the tracking device 100c for electronic warfare according to the fourth embodiment of the present invention. The tracking device 100c of the fourth embodiment is a part of the avionics system 700a mounted on the aircraft 900a. That is, the tracking device 100c is mounted on the avionics system 700a, which is a multi-sensor system including one or more sensor devices other than itself. Components having the same functions as those of the first embodiment or the third embodiment are designated by the same reference numerals as those of the first embodiment or the third embodiment, and the duplicate description will be omitted.

The avionics system 700a is the same as the avionics system 700 of the third embodiment except that the tracking device 100c is provided instead of the tracking device 100b. The tracking device 100c is different from the tracking device 100b except that the electronic warfare target updating unit 8 of the tracking device 100b of the third embodiment is changed to the electronic warfare target updating unit 9 and the electronic warfare tracking information learning result recording unit 10 is added. The same is true. The electronic warfare target update unit 9 is realized by a processing circuit. The processing circuit may be dedicated hardware as in the first embodiment, or may be a control circuit including a processor. The electronic warfare tracking information learning result recording unit 10 is realized by a memory.

The electronic warfare target update unit 9 has the following functions added to the electronic warfare target update unit 8 of the third embodiment. The electronic warfare target update unit 9 compares the target information with the electronic warfare target information, evaluates the generated electronic warfare target based on the target information, that is, determines whether the output is good or bad. That is, the electronic warfare target update unit 9 is an update unit that updates the determination criterion, which is the first information of the preset information, based on the observation result by one or more other sensor devices. The electronic warfare target updating unit 9 updates the preset information of the setting information storage unit 3 according to the evaluation result. Further, the electronic warfare target updating unit 9 outputs the updated contents of the evaluation result and the preset information to the electronic warfare tracking information learning result recording unit 10.

The electronic warfare tracking information learning result recording unit 10 records the evaluation result output from the electronic warfare target update unit 9 and the update content of the preset information.

The tracking device 100c mounted on the multi-sensor system evaluates the generated electronic warfare target using information obtained via other mounted sensor devices and the network, and changes the preset information according to the evaluation result. It has the effect of improving the accuracy of classification and tracking processing during operation. For example, using information obtained via other on-board sensor devices and networks, the first information of the preset information, that is, the radio waves of the radio wave source to which the angle tracking at a short distance is carried out speculatively. By adding or deleting the source, there is an effect that the target to be tracked at a short distance can be learned from the information at the time of operation and appropriate angle tracking can be performed. For example, it is assumed that the electronic warfare target update unit 9 determines that the target corresponding to the determination criterion included in the first information is far away according to the information obtained via other on-board sensor devices and the network. In this case, the electronic warfare target update unit 9 deletes the determination criterion. Further, for example, on the contrary, when the electronic warfare target update unit 9 has a relative distance to itself of a target whose first information does not include a judgment criterion is a certain distance or less, a radio wave corresponding to this target is used. Specifications can be added to the first piece of information.

In the tracking device 100c mounted on the multi-sensor system, by recording the result of evaluating the generated electronic warfare target with the information via other mounted sensors and the network, the recorded information is utilized and referred to by the tracking device 100c. The preset information to be set can be set appropriately according to the actual situation. Further, there is an effect that the tracking device 100c can be added as an acquisition source of the preset information.

In the present embodiment, the case where the avionics system 700 mounted on an aircraft is used as a higher-level system including the tracking device 100c has been described. However, even if the tracking device 100c is mounted on a moving body system such as a ship or an automobile other than an aircraft, If it is mounted on a system having a data fusion unit similar to the avionics system data fusion unit 710, the same effect as that of the present embodiment can be obtained. Further, even in the ground equipment other than the mobile body, if the system has the same data fusion unit as the avionics system data fusion unit 710, the same effect as that of the present embodiment can be obtained. Further, the tracking device 100c can be applied to a fixed site other than the moving body, and in this case as well, the same effect as that of the present embodiment can be obtained.

In the present embodiment, an example has been described in which the electronic warfare target updating unit 8 of the tracking device 100b of the third embodiment is changed to the electronic warfare target updating unit 9 and the electronic warfare tracking information learning result recording unit 10 is added. Even if the same function is added to the tracking device 100a described in the second embodiment and mounted on the same system as the present embodiment, the same effect as that of the present embodiment can be obtained.

When the function of the present embodiment is added to the tracking device 100a of the second embodiment, the electronic warfare target updating unit 9 and the electronic warfare tracking information learning result recording unit 10 are added to the tracking device 100a to identify and identify the type. A function for changing the type identification process and the tracking method according to the notification of the own machine motion change detection unit 7 may be added to the tracking unit 2a. In this case, in addition to the same effect as that of the present embodiment, the effect of improving the angle tracking by utilizing the maneuver of the own machine described in the second embodiment can be obtained together.

The configuration shown in the above-described embodiment shows an example of the content of the present invention, can be combined with another known technique, and is one of the configurations without departing from the gist of the present invention. It is also possible to omit or change the part.

1 Antenna signal processing unit, 2,2a, 2b type identification and tracking unit, 3 Setting information storage unit, 4 Target information storage unit, 5 Interference unit, 6 User interface unit, 7 Aircraft motion change detection unit, 8,9 Electronics Battle target update unit, 10 electronic battle tracking information learning result recording unit, 100, 100a, 100b, 100c tracking device, 700, 700a avionics system, 710 avionics system data fusion unit, 720 storage unit, 900, 900a aircraft, 911 pilot interface Unit, 930 communication unit, 940 weapon control unit, 970 and other on-board sensor devices.

Claims (7)

The first processing unit that obtains the radio wave specifications and arrival direction of the received radio wave,
A second processing unit that determines the target of the transmission source of the radio wave by performing the tracking process based on the arrival direction, and determines the interference method corresponding to the determined target.
An obstruction unit that performs obstruction based on the obstruction method determined by the second processing unit, and
With
When the radio wave specifications satisfy the preset determination criteria, the second processing unit determines that the determined target is a target that is assumed to have a high threat level and a short distance. , A tracking device characterized in that position correlation processing in the tracking processing is performed using a correlation range set assuming that the relative distance to the target is speculatively shorter than a certain distance. The first processing unit that obtains the radio wave specifications and arrival direction of the received radio wave,
A second processing unit that determines the target of the transmission source of the radio wave by performing the tracking process based on the arrival direction, and determines the interference method corresponding to the determined target.
An obstruction unit that performs obstruction based on the obstruction method determined by the second processing unit, and
With
The second processing unit determines whether or not the relative distance to the target is assumed to be shorter than a certain distance based on whether or not the radio wave specifications satisfy the preset determination criteria, and the above-mentioned If it is determined that the relative distance is shorter than the fixed distance, the tracking process is performed using the parameters set assuming that the relative distance to the target is shorter than the fixed distance.
The second processing unit is based on whether or not the difference between the newly calculated arrival direction and the arrival direction corresponding to the previously determined target in the tracking process is within a set range. , It is determined whether or not the target that is the source of the newly received radio wave is the same as the target determined in the past.
The tracking device, wherein the parameter is in the above range. When the second processing unit determines that the relative distance is shorter than the fixed distance, the second processing unit uses the first range as the range and determines that the relative distance is equal to or greater than the fixed distance. In addition, using the second range as the above range,
The tracking device according to claim 2, wherein the first range is wider than the second range. The first processing unit that obtains the radio wave specifications and arrival direction of the received radio wave,
A second processing unit that determines the target of the transmission source of the radio wave by performing the tracking process based on the arrival direction, and determines the interference method corresponding to the determined target.
An obstruction unit that performs obstruction based on the obstruction method determined by the second processing unit, and
A detector that detects the maneuver of the mobile device on which it is mounted,
With
The second processing unit determines whether or not the relative distance to the target is assumed to be shorter than a certain distance based on whether or not the radio wave specifications satisfy the preset determination criteria, and the above-mentioned If it is determined that the relative distance is shorter than the fixed distance, the tracking process is performed using the parameters set assuming that the relative distance to the target is shorter than the fixed distance.
The second processing unit verifies the parameter used in the tracking process using the detection result by the detection unit, and if it is determined to change the parameter based on the verification result, the second processing unit changes the parameter. A featured tracking device. The first processing unit that obtains the radio wave specifications and arrival direction of the received radio wave,
A second processing unit that determines the target of the transmission source of the radio wave by performing the tracking process based on the arrival direction, and determines the interference method corresponding to the determined target.
An obstruction unit that performs obstruction based on the obstruction method determined by the second processing unit, and
With
Installed in a multi-sensor system with one or more sensor devices other than itself
The second processing unit determines whether or not the relative distance to the target is assumed to be shorter than a certain distance based on whether or not the radio wave specifications satisfy the preset determination criteria, and the above-mentioned When it is determined that the relative distance is shorter than the fixed distance, the position correlation processing in the tracking process is performed using the correlation range set assuming that the relative distance to the target is shorter than the fixed distance.
The second processing unit is a tracking device that further performs the tracking process based on the observation results of the one or more sensor devices. The first processing unit that obtains the radio wave specifications and arrival direction of the received radio wave,
A second processing unit that determines the target of the transmission source of the radio wave by performing the tracking process based on the arrival direction, and determines the interference method corresponding to the determined target.
An obstruction unit that performs obstruction based on the obstruction method determined by the second processing unit, and
With
Installed in a multi-sensor system with one or more sensor devices other than itself
The second processing unit determines whether or not the relative distance to the target is assumed to be shorter than a certain distance based on whether or not the radio wave specifications satisfy the preset determination criteria, and the above-mentioned If it is determined that the relative distance is shorter than the fixed distance, the tracking process is performed using the parameters set assuming that the relative distance to the target is shorter than the fixed distance.
An update unit that updates the judgment criteria based on the observation results of the one or more sensor devices.
A tracking device characterized by further providing. The tracking device according to claim 5 or 6,
With one or more sensor devices other than the tracking device,
A communication unit that receives observation results observed by the other device from another device,
A multi-sensor system characterized by being equipped with.

Images