JPH03282387A - Tracking processor - Google Patents

Abstract

PURPOSE:To prevent mistracking and accurately track a real target by tracking a clutter with clutter position information obtained by comparing target position information with clutter prediction position information in a clutter area. CONSTITUTION:A clutter area decision part 5 outputs target position data Ri and thetai, received from a target data buffer 3, to a wake target correlation pat 4 when the target position data Ri and thetai are outside the preset clutter area or to a clutter tracking part 7 when they are inside the clutter area. A tracking part 7 compares the data Ri and thetai with clutter prediction positions Rcpi-1 and thetacpi-1 from a clutter tracking buffer 10, and outputs target position data Xi and Yi as a clutter to a clutter prediction part 9 when the difference is less than a reference value or the data Ri and thetai as a real target to the correlation part 4 when not. The prediction part 9 outputs a clutter prediction position, etc., obtained next according to the data Xi and Yi to the buffer 10. Consequently, even when the real target enters the clutter area, the clutter is accurately tracked in the clutter area and removed.

Description

[Detailed Description of the Invention] (Industrial Application Field) The present invention relates to a target tracking device based on target position information obtained from a radar device, and in particular to an actual target and unnecessary images generated by various reflections. The present invention relates to a tracking processing device that enables accurate tracking by identifying clutter.

[Conventional technology]

Conventionally, this type of tracking processing device in a radar device performs tracking processing on target position information obtained from the radar device, but at this time, tracking processing is performed without distinguishing between the actual target and clutter. It is configured to be implemented. This process is performed in the same way even when an actual target enters a clutter area where clutter is generated. FIG. 3 shows an example of a state in which an actual target enters the clutter/work area 100 and is tracked. In the figure, the solid line is the course of the actual target, Δ is the position of the actual target, and . is the position of the clutter.

[Problems to be Solved by the Invention] The conventional tracking processing device described above performs tracking processing without distinguishing between the actual target and clutter. When a real target enters the vehicle, the position information of the clutter may be determined to be the position information of the real target, and the real target may be lost and the clutter may be incorrectly tracked as shown by the broken line in the figure.

An object of the present invention is to provide a tracking processing device that can prevent such erroneous tracking and accurately track an actual target.

[Means to solve the problem]

The tracking processing device of the present invention includes a clutter area determination unit that determines whether target position information is in or out of a manually set clutter area, and a clutter area determination unit that determines whether target position information is in or out of a manually set clutter area; and a clutter tracking unit that tracks the clutter based on the clutter position information obtained from this comparison, and a clutter tracking unit that predicts the position of the next obtained clutter based on the position information of the tracked clutter, and uses this predicted position as the clutter tracking unit. The system also includes a cluster prediction unit that outputs data to the cluster.

A preferred embodiment of the present invention includes, in addition to the above configuration, a track target correlation section, a track prediction section, and an initial acquisition section. The track target correlation unit compares the target position information and the predicted target position information, and outputs the target position information to the track prediction unit or the initial acquisition unit based on the comparison result, and the track prediction unit also outputs the target smoothing information. The initial acquisition unit outputs initial target position information using the previous target position information.

[Effect]

According to the present invention, tracking of the clutter is performed by determining that the clutter is within the clutter area and then comparing the predicted clutter position information obtained from the clutter position information with the target position information. This makes it possible to distinguish between a real target and clutter, remove the clutter, and continue tracking the real target.

〔Example] Next, the present invention will be explained with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. Position data obtained from radar device l (R8, θi
) is input to the target data buffer 3. The clutter area determination unit 5 determines whether the target position data (R,,θ,) is in or out of the clutter area set by the operator in advance, and if it is outside, it is sent to the track target correlation unit 4, and if it is inside, it is sent to the track target correlation unit 4. Each target position data (R8, θ,) is output to the clutter tracking unit 7. The clutter tracking unit 7 receives target position data (R1,
θ8) and the predicted clutter position (Rcpi−+, θcpi−1) output from the clutter tracking buffer 10 to determine the difference, and if this difference is within the reference value, it is treated as clutter and the clutter prediction unit 9 The target position data (x,,y,) is output to. If it is outside the reference value, target position data (R8, θ,) is output to the track target correlation unit 4 as an actual target.

The comparison performed by the clutter tracking unit 7 is shown in the following relational expression (1).

(1) In the case of the clutter detection standard in the clutter tracking section, the target of the target position data (R1, θ,) is set as clutter.

In this case, the target of the target position data (R8, θ□) is set as the actual target.

Furthermore, target position data (R8, θi) and (X.

The relationship between Y, ) is shown in the following relational expression (2).

(2) Target position data (R1, θ,) and (X8°Y,)
The clutter prediction unit 9 calculates the target position data (X, .

Yi), the clutter smoothing position (Xe5i-1+YC3x-1) input from the clutter tracking buffer 10, and the clutter smoothing speed (X'cs・-1・Y'cs・-
I), the next obtained clutter predicted position (Xc9,.

Yc9, ), clutter smoothing position (Xc, , Yc
,, ) and clutter smoothing rate (X' csi +
Y′ csi ) and outputs the result to the clutter tracking buffer 10. The relational expressions used in this calculation are shown in the following relational expressions (3) and (4).

(3) Clutter smoothing position (Xc, 8.Yc,, )
and clutter smoothing rate (L, , 'i'c, ,
) Calculation However, (Xe1llf-1+ YCPi-1
) is the predicted clutter position (RClli-1+RCg
This is the value obtained by coordinate transformation of li-1). Also, αχ, αY
, β wing, β7 is a smoothing constant, and T is the antenna rotation period.

(4) Calculation of predicted clutter position (X(,,Y,,,). On the other hand, the track target correlation unit 4 calculates the target position data (R3, θ
) and the predicted target position (R
p, -+, θpi-1) to determine the difference, and if this difference is within the standard value, the target position data (Xi,
Yl) is output to the track prediction unit 6, and if it is outside the reference value, target position data (R2, θ,) is output to the initial acquisition unit 8.

The track prediction unit 6 receives the target position data (X,, Y,) and the target smoothed position data (X-
i-+, Y-=-+) and target smoothed velocity data (X'
5t-1+Y' 5i-1), target smoothed position data (X, , Y, ,), target smoothed velocity data (X
′, positive, y′ si), and target predicted position data (
x, , y, ,) are output to the track buffer 2.

The initial acquisition unit collects the target position data (R3, θ,) and the target position data (R3, θ,) that has not been correlated with the target position data (R3, θ,) before the rotation of the radar device 1.
R, .

The clutter tracking buffer 10 stores the predicted clutter position (X c
pi-1+ Ycpi-1) is output to the clutter tracking unit 7, and the clutter smoothing position (X c s i -1+ Y
c s i -1) and clutter smoothing rate (X'
csi-11Y' C51-1) is output to the clutter prediction unit 9.

The data control section 11 receives an azimuth signal from the radar device 1 and outputs processing timing to each section.

According to this tracking processing device, as shown in FIG. 2, even if an actual target enters the clutter area 100, it is possible to accurately track and remove clutter within the clutter area. It becomes possible to accurately track the actual target as shown by the broken line in the same figure with respect to the course of the actual target shown by the solid line in the same figure. Note that the shaded area in the figure is the clutter tracking area.

[Effects of the Invention] As explained above, the present invention makes it possible to track clutter within a clutter area by comparing predicted clutter position information and target position information. This has the effect of identifying and removing clutter and accurately tracking the actual target.

[Brief explanation of drawings]

FIG. 1 is a block diagram of an embodiment of the tracking processing device of the present invention, FIG. 2 is a diagram of a clutter area showing a tracking state in the tracking processing device of the present invention, and FIG. 3 is a diagram of a clutter area in a conventional tracking state. It is a diagram of an area. 1... Radar device, 2... Track buffer, 3...
Target data buffer, 4... Track target correlation unit, 5...
・Clutter area determination section, 6... Track prediction section, 7.
... Clutter tracking unit, 8... Initial capture unit, 9... Clutter prediction unit, 10... Clutter tracking buffer, 11
...Data control section. Figure 2 Mu Toro #Ryu Takumi, 79ai! 2 U, 72] Pi [Rei 艷熾 fig.mu 11 ≧ [] 1 U 2 in, 1 Kura, evening I stand

Claims (1)

[Claims] 1. In a processing device that tracks a target using radar, a clutter area determination unit that determines whether or not a clutter area is located between target position information and a manually set clutter area; The target position information and the predicted clutter position information are compared with each other, and the clutter tracking unit tracks the clutter using the clutter position information obtained from this comparison, and the clutter tracking unit that uses the clutter position information obtained from this comparison to predict the next clutter position based on the tracked clutter position information. A tracking processing device comprising: a clutter prediction unit configured to detect a target and output the predicted position to the clutter tracking unit, and to identify an actual target and clutter and remove the clutter. 2. The track target correlation unit includes a track target correlation unit, a track prediction unit, and an initial acquisition unit, and the track target correlation unit compares the target position information and the predicted target position information, and calculates the target position information based on the comparison result. output to a prediction unit or an initial acquisition unit, the track prediction unit outputs predicted target position information using the target smoothed information, and the initial acquisition unit outputs initial target position information using the previous target position information. A tracking processing device according to claim 1.