JPH049787A - Radar device - Google Patents

Abstract

PURPOSE:To enable tracking beam to be discharged again within a radar scan when no radar response is obtained from an expected target by alternately prescribing discharge timing of a certain number of searching beams and one tracking beam. CONSTITUTION:Scheduling is made so that a discharge timing of a certain umber of searching beams and that of one tracking beam may alternate. Then, a tracking processing circuit 11a of a target tracking circuit 1 outputs current target position and speed, a track number, information regarding the target, and information whether the tracking beam is discharged again or not. A beam number change circuit 3 requests and receives control information from a beam number control circuit 4, specifies and changes the beam number, and outputs the results as change information b. Thus, a spare tracing beam is ensured previously a specified beam is changed to a spare one if there is no expected target response, and tracking beam is discharged again for enabling tracking to continue again.

Description

Detailed Description of the Invention (Industrial Application Field) The present invention relates to a radar device that scans the entire coverage area with a search beam and tracks a plurality of detected targets with corresponding tracking beams. Regarding tracking technology when there is no radar response.

(Prior art) As shown in FIG. 1, the radar device to which the present invention is directed scans the entire coverage area with a search beam (marked O in the figure) for each radar scan, and detects multiple The target is tracked with the corresponding tracking beam (marked 0 in the figure).

By the way, in a conventional radar device, regarding the firing timing of both beams, for example, as shown in FIG. Tracking beam T+
The firing timings (i=1 to n) are continuously defined, and processing related to tracking is performed by a target processing section as shown in FIG. 6, for example.

In FIG. 6, the target processing section is provided between the target detection section and the beam control section, and is the target tracking circuit 1 in the previous stage.
The target tracking circuit 1 basically includes a tracking processing circuit 11b and a tracking data management circuit 12.

The target detection unit detects the target based on the radar information received by the antenna and calculates its position information.
It is output to the tracking processing circuit 11b.

The tracking processing circuit 11b obtains the past position information of the target from the track data management circuit 12, compares it with the position information input from the target detection section, calculates the current smooth position and speed of the target, and calculates the current smooth position and velocity of the target. The calculated current target position and speed, track number (target identification number), and information related to the target are output to the predicted position calculation circuit 2. Here,
Information regarding a target is information necessary to determine whether the target is a target to continue or end tracking, or a target to newly start tracking.

The predicted position calculation circuit 2 predicts the position that the target will reach in the next radar scan based on the input current position and speed, and adds a beam number (any of T+ to TIl), track number, etc. to the position information. It is added and output to the beam control section. At the same time, this information is output to the track data management circuit 12 as the next tracking information, and the information is updated.

The beam control unit emits a tracking beam in a specified direction at the timing of a specified beam number.

(Problems to be Solved by the Invention) In the conventional radar device described above, if the firing timing of the tracking beam is scheduled near the end of one radar scan as shown in FIG. Measurement of the target position for the beam will be performed in the next radar scan. Then, if a radar response is not obtained from the expected target, an error will occur between the direction of the tracking beam directed in the next radar scan (calculated using the past target position information) and the actual direction.

This error becomes a considerable difference when the acceleration of the target is large. If this difference in direction is larger than the angle of the tracking beam that allows target detection, the target cannot be detected and tracking cannot be continued.

In order to solve this problem, it is necessary to make it possible to emit the tracking beam to the same target again within one radar scan. However, in conventional radar equipment, the fifth
As shown in the figure, the firing timing of the tracking beam is
Even if you try to fire the tracking beam again because you don't get a radar response from the expected target by temporally concentrating it on one specific point in the radar scan, the amount of energy given to the tracking beam will be reduced considering the processing time of the circuit. The above-mentioned problem may not be solved because the user must wait until the next radar scan.

The present invention was developed in view of these problems, and its purpose is to make it possible to emit a tracking beam again within the radar scan when a radar response is not obtained from the expected target, thereby improving tracking accuracy. The object of the present invention is to provide a rater device that can

(Means for Solving the Problems) In order to achieve the above object, the l/-da device of the present invention has the following configuration.

That is, the radar device of the present invention scans the entire coverage area with a search beam within one radar scan, and tracks a plurality of detected targets with corresponding tracking beams;
Within one radar scan, the firing timing of a certain number of search beams and the firing timing of one tracking beam are stipulated alternately; by referring to the obtained beam number management information, the timing of the firing of a certain number of search beams and the firing timing of one tracking beam is determined alternately. Specify a tracking beam with a firing timing that is at least one time later than the firing timing of the tracking beam you are using.If a radar response is not obtained from the expected target, the firing timing must be after the firing timing of the tracking beam specified for that target. means for specifying a change in an unused tracking beam of the radar device, and outputting beam number change information regarding the specified tracking beam; track number of a target being tracked by the radar device and tracking specified for the target; It manages combinations with beam numbers, and outputs the beam number management information in response to requests,
The present invention is characterized by comprising: means for updating management contents according to the beam number change information; and;

(Function) Next, the function of the storage device of the present invention constructed as described above will be explained.

In the radar device of the present invention, the firing timing of the search beam and the tracking beam is scheduled so that the firing timing of a certain number of search beams and the firing timing of one tracking beam are alternated, and the tracking beam is assigned to a new target. In this case, specify at least one tracking beam from the already used tracking beams. That is, a backup tracking beam is secured in advance.

As a result, if a radar response is not obtained from the expected target, the tracking beam designated for that target can be changed to a backup tracking beam, and the tracking beam can be emitted again within the corader scan.

(Example) Embodiments of the present invention will be described below with reference to the drawings.

In the radar device of the present invention, as the firing timing of the search beam and the tracking beam, for example, as shown in FIG. 2, the firing timing of a certain number of search beams S and the firing timing of one tracking beam T1 are alternated. At the same time, as shown in FIG. 3, for example, as shown in FIG. 3 and a beam number management port IFr 4, and some functions have been added to the tracking processing circuit 11a accordingly.

That is, the tracking processing circuit 11a is different from the conventional tracking processing circuit 11.
Similar to b, the current target position and speed, track number,
Information regarding the target is output, and in the present invention, the information regarding the target includes, in addition to the above-mentioned three pieces of information, information on "whether or not to emit a tracking beam to the same target again."

When the beam number changing circuit 3 receives the output from the tracking processing circuit 11a, it requests and obtains the beam number management information a from the beam number management circuit 4, and specifies and changes the beam number as follows. The result is output to the beam number management circuit 4 as beam number change information.

For example, if this radar device is capable of tracking a maximum of 10 targets, the number is n-10 in FIG. 2, and the number of tracking beams is 10 from T1 to T1o. Figure 4 shows these 10 tracking beams extracted and shown in order from the leading side within one radar scan.
beam number).

When the output of the tracking processing circuit 11a is "Start tracking J for a new target," the ideal beam number and track number are specified by referring to the obtained beam number management information a. Specify so that it is evenly distributed within the scan.

For example, if you are already tracking one aircraft using the tracking beam with beam number rlr, and you want to add one more aircraft, use beam number ``6'' instead of beam number ``2''.
”. Also, when beam numbers "1" and "6" are in use, if you want to add three more aircraft to track a total of five aircraft, use every other beam number (135 in Figure 4). .7.9).

Then, when the output of the tracking processing circuit 11a indicates that "there is no radar response, direct the beam again",
Refer to the obtained beam number management information a to determine the beam number to which the beam can be directed again before the next radar scan.2 For example, if the number of tracking aircraft is 5, and as shown in Figure 4, ”, “3”, r5. , "7" and r9. When tracking with the beam number ``3'', if there is no radar response from the target with beam number ``3'', the unused beam number ``6'' is tracked.
”, and for the target with beam number “5”, beam number “8” is specified. As a result, even if there is no radar response, it is possible to redirect the beam and supplement tracking information before the next radar scan.

Note that when the output of the tracking processing circuit HM 11a is "continue", the specified beam number is checked by referring to the obtained beam number management information a.

The beam number management circuit 4 manages the combination of the track number of the tracked target and the specified beam number, and outputs the beam number management information a in response to a request, and also outputs the beam number management information a in response to a request. The management contents are updated according to the changed information, so that the latest beam number management information a can be output at all times.

In addition, after specifying and changing the beam number mentioned above, the beam number change circuit 3 calculates the difference between the time when the beam is directed this time and the time when the beam is directed next time, and uses that value and the current smooth position and speed. information, a beam number, and a track number, and sends it to the predicted value W7L output circuit 2.
Output to. This tracking information C is the same as the output content of the conventional tracking processing circuit 11b except for "the value". In other words, in the conventional radar device, the value J corresponds to the period of one radar scan, and calculation is not necessary.However, in the radar device of the present invention, the beam is respecified, so the value J is calculated over a short period of time within one radar scan. This may be calculated by the beam number changing circuit 3.

Therefore, the predicted position calculation circuit 2 predicts the position that the target will reach using the same procedure as in the past, and outputs the position information, beam number, track number, etc. to the beam control unit and the rack data management circuit 12. do.

Note that the predicted position can be calculated using, for example, the following equations (1) to (3).
) is used.

x=x(,+Vx−t
(1) y=yo+Vy-t
(2) Z=ZO+Vz-t
(3) Here, x, y, z are the predicted three-dimensional positions to which the next beam will be directed, Xo, 3'o, and Zo are the three-dimensional positions to which the current beam will be directed, vx, vy,
vz is the three-dimensional velocity when the current beam is directed, and t is the time from this time until the next beam is directed, ie, the above-mentioned "value."

(Effects of the Invention) As explained below, 1. According to the radar device of the present invention, the firing timings of the search beam and the tracking beam are the firing timing of a certain number of search beams and the firing timing of one tracking beam. scheduled so that they alternate,
When assigning tracking beams to a new target, at least 61 tracking beams from among the tracking beams for several flights are designated.

In other words, since a backup tracking beam is secured in advance, if a radar response is not obtained from the expected target, the tracking beam designated for that target is changed to the backup tracking beam, and the tracking beam is set within one radar scan. The tracking beam can be emitted again to supplement the tracking information, which has the effect of making it possible to continue reliable tracking of targets for which it is difficult to obtain a response.6 In particular, because the acceleration is large, the predicted position changes in proportion to the elapsed time. For targets with a large difference between the actual position and the target with a small reflection area, it is difficult to obtain a slanted radar response.
The effect is great because it allows for reliable tracking on par with other targets.

[Brief explanation of drawings]

FIG. 1 is a diagram showing the relationship between the search beam and the tracking beam within the coverage area of the radar device targeted by the present invention, FIG. 2 is a diagram showing an example of the beam emission timing schedule in the rake device of the present invention, and FIG. A block diagram of the configuration of the target processing unit in the radar device of the present invention, FIG. 4 is an explanatory diagram of the method of specifying the tracking beam, FIG. 5 is a diagram showing an example of the firing timing schedule in the conventional radar device, and FIG. 6 is the conventional FIG. 2 is a configuration block diagram of a target processing unit in the radar device of FIG. 1...Target tracking circuit, 2...Predicted position calculation circuit, 3...Beam number change circuit,
4... Beam number management circuit, lla...
Tracking processing circuit, 12...Track data management circuit. Agent: Yoshihiro Yahata, Patent Attorney Search Beam Flying, Warm-tailed Pioneer's Les 4 Izumi Zuha / Kusebune Mitsukari 0 talk ``certain'', Column 2 F-da Fold Wing 11 Koo 1 Bro 1 Sukekanor; Column No. 2 F-Dub Xi of Ward Uto Higashi 3rd Department of Science The 7th column of the 7th column

Claims (1)

[Claims] In a radar device that scans the entire coverage area with a search beam within one radar scan and tracks multiple detected targets with corresponding tracking beams; the firing timing of a certain number of search beams and one tracking beam within one radar scan. The beam firing timing is stipulated alternately; referring to the obtained beam number management information, the tracking beam with a firing timing that is at least one timing later than the firing timing of the previously used tracking beam is set as the tracking beam for the new target. When a radar response is not obtained from the expected target, change the unused tracking beam whose firing timing is after the firing timing of the tracking beam specified for that target, and specify the beam related to the specified tracking beam. means for outputting number change information; means for managing the combination of the track number of a target being tracked by the radar device and the number of the tracking beam designated for that target; A radar device comprising: means for outputting the beam number management information and updating management contents according to the beam number change information.