JPH04326083A - Tracking processing apparatus - Google Patents

Abstract

PURPOSE:To obtain accurate movement estimation and to track as many moving body targets as possible by changing over first and second estimation means in estimating the movement of a moving body. CONSTITUTION:The data of a airplane inputted from a radar sensor l is converted into digital data by a target detector 2 and the position and altitude of the airplane are transmitted to a tracking processing apparatus 3. The apparatus 3 obtains the estimate position of this time and the course/speed of the previous time. When there are the data up to the previous time, a change-over means 3c operates and, when the input position of this time is present outside the certain distance determined on the basis of a parameter from the center of radar, a simple smooth formula is used to obtain the smooth position of this time and, when said input position is present inside said distance, a precise smoothing system is used to obtain the smooth position of this time. Next, the route/speed of this time is obtained from the difference between the estimate position and input position of this time and the course/speed of the previous time.

Description

[Detailed description of the invention]

0001

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking processing device, and for example, to an air traffic control device that uses radar to support aircraft control.

0002

2. Description of the Related Art FIG. 5 is a block diagram of a system using a tracking processing device. 1 is a radar sensor, 2 is a target detection device,
3 is a tracking processing device, and 4 is a display device.

Next, the operation will be explained. Aircraft information input from the radar sensor 1 is converted from analog information to digital information by the target detection device 2, and the position, altitude, etc. of the aircraft is transmitted to the tracking processing device 3. As shown in the flowchart of FIG. 6, the tracking processing device 3 first performs S1, S
In step 2, obtain the current predicted position and previous course/speed predicted last time. If there is information up to the previous time, the current smoothed position is obtained from the current input position and the previous predicted position using a predetermined formula in S5. Next, in S6, the current course and speed are obtained from the difference between the current predicted position and the current input position, and the previous course and speed. Furthermore, in S9, the next predicted position is calculated from the current smoothed position, course, and speed. If the judgment in S3 is that there is no previous information and the aircraft information is being input for the first time, then in S7 and S8 the speed is zero and the smoothed value =
Perform calculations as input values. Finally, in S10, the input coordinates or smooth coordinates and course/speed information are sent to the display device and displayed.

0004

[Problems to be Solved by the Invention] Conventional tracking processing devices employ a single smoothing/predictive calculation method, so if you try to apply a complicated formula to obtain an accurate smoothing/predicting position, It imposes a computational processing load and limits the number of simultaneous tracking devices that can be processed. Furthermore, if an attempt is made to increase the number of moving objects to be simultaneously tracked, the calculation formula for smoothing and prediction must be simplified, resulting in problems such as the inability to obtain accurate smoothed and predicted positions.

The present invention has been made to solve the above-mentioned problems, and aims to obtain accurate movement prediction as necessary and to track as many moving targets as possible.

[0006]

[Means for Solving the Problems] A tracking processing device according to the present invention has the following elements. (a) a first prediction means for predicting the movement of the mobile object from the movement status of the mobile object;
(b) a second prediction means that predicts the movement of the moving object based on the moving situation of the moving object, with performance different from that of the first prediction means; A switching means for predicting by switching between a prediction means and a second prediction means.

[0007]

[Operation] The tracking processing device according to the present invention has a first prediction means and a second prediction means having different performances, and the switching means is controlled by conditions such as the type, distance, direction, speed, etc. of the moving object to be tracked. Since the first and second prediction means are switched by
Tracking that meets these conditions becomes possible.

[0008]

【Example】

Example 1. An embodiment of the present invention will be described below with reference to the drawings. FIG. 1 is a configuration diagram of a tracking processing device. 1 is a radar sensor, 2 is a target detection device, 3 is a tracking processing device, and 4 is a display device. The tracking processing device 3 includes an α/β tracker method as a first prediction means 3a and a second prediction means 3.
A track-oriented smoothing method is provided as b, and a switching means 3c is provided for switching between these methods.

Next, the operation will be explained. The aircraft information input from the radar sensor 1 is converted from analog information to digital information by the target detection device 2, and the position altitude of the aircraft, etc. is transmitted to the tracking processing device 3. The tracking processing device 3 performs S1, S2 as shown in the flowchart of FIG.
Get the current predicted position and previous course/speed predicted last time. Then, if there is information up to the previous time in S3, S4
Then, the switching means 3c works, and if the current input position is outside a certain distance determined by the parameter from the center of the radar, the current smoothed position is changed using a simple smoothing formula based on the α/β tracker method shown in Fig. 3. obtain (S5a, S5b)
. If it is inside, the track oriented
The current smoothed position is obtained using a precise smoothing formula based on the smoothing method (S6a, S6b). Next, in S9, the current course and speed are obtained from the difference between the current predicted position and the current input position and the previous course and speed. The formula used at this time is the simple speed calculation formula shown in Figure 3 when a simple smoothing formula is used.
When a precise smoothing formula is used, the precise speed calculation formula shown in FIG. 4 is used. If it is determined in S3 that there is no previous information and this is the aircraft information being input for the first time, proceed to S7 and S.
8, the speed is zero, and the calculation is performed with the smoothed value = input value. Finally, in S10, the input coordinates or smooth coordinates and course/speed information are sent to the display device 4 and displayed.

As described above, in this embodiment, in target tracking by a single radar, tracking is performed by combining a complex and precise smoothing/prediction method and a simple smoothing/prediction method depending on the coordinates of the target. The processing device has been described. This takes advantage of the fact that the area around the airport, where aircraft are densely populated, requires accurate smoothing and predicted positioning, while the area outside the airport is sparsely populated, making it relatively easy to calculate the position of the airspace. Accordingly, methods for calculating smoothed and predicted positions are determined separately, and tracking is performed by using these methods in combination.

Example 2. In the above embodiment, a method called α/β tracker is shown as a simple smoothing/prediction method, and a method called track-oriented smoothing is used as a precise smoothing/prediction method.
Similar effects can be achieved using other methods.

Example 3. Further, in the above embodiment, a case of an aircraft tracking processing device is shown, but the tracking processing device does not need to be an aircraft, and may be any moving object such as a ship, a car, a rocket, or a bird, that is, a moving object.

Further, in the above embodiment, an example was shown in which the smoothing/prediction method is divided depending on the distance of the target from the center position of the radar, but a method of determining whether or not it enters a specific area may also be used. For example, smoothing in the north-south direction and east-west direction
The prediction methods may be separated. Alternatively, it may be divided by altitude.

Example 4. Further, in the above embodiment, the prediction method is divided according to distance and direction, but it may be divided according to the type of moving object. For example, it may be possible to accurately predict fast speeds and simply predict slow speeds. Alternatively, a simple method may be used for a mobile object that can be contacted and whose identity is known, and a more precise prediction may be made for an unconfirmed mobile object that cannot be contacted.

Further, in the above embodiment, a case is shown in which two types of prediction means are switched, but three or more types of prediction means may be switched.

Furthermore, in the above embodiment, a case where the calculation times are different is shown as an example of performance, but other performance may be different.

[0017]

[Effects of the Invention] As described above, according to the present invention, highly accurate tracking results can be obtained for the necessary moving objects, and the effect is that a large number of aircraft can be tracked compared to the calculation capacity of the tracking processing device. There is.

[Brief explanation of drawings]

FIG. 1 is a configuration diagram of a system using a tracking processing device according to the present invention.

FIG. 2 is a control flowchart diagram according to the present invention.

FIG. 3 is a diagram showing an example of a simple smoothing formula.

FIG. 4 is a diagram showing an example of a precise smoothing formula.

FIG. 5 is a configuration diagram of a system using a conventional tracking processing device.

FIG. 6 is a control flowchart according to a conventional method.

[Explanation of symbols]

1 Radar sensor 2 Target detection device 3 Tracking processing device 3a First prediction means 3b Second prediction means 3c Switching means 4 Display device

Claims (1)

[Claims] Claim 1: A tracking processing device (a
(b) a second prediction means that predicts the movement of the mobile body from the movement situation of the mobile body, with performance different from the first prediction means; (c) a switching means for switching between the first prediction means and the second prediction means when predicting the movement of the moving body;