JPH0552946A - Flying object tracking processing system - Google Patents

Abstract

PURPOSE:To obtain a flying object tracking processing system which can reduce the CPU load of a computer and increase the accuracy of track data. CONSTITUTION:The reliability of a target data is judged (reliability judging means 19) according to a correlation realization count between a target data from a target flying object 1 and a track data which is stored within a computer and a position error, etc., between a detection position of the target data and a prediction position of the track data. Then, when it is judged that the reliability of the target data is high, a prediction position is directly calculated based on position information of the target data (prediction position calculation means 10) without estimating and calculating a true position of the target flying object 1. Only when it is judged that the reliability is low, a true position is estimated and calculated from the target data and the track data (true position calculation means 9) and the prediction position is calculated based on this calculated true position information. When target data with a high reliability is obtained by a highly accurate radar device, a useless estimation/calculation of the true position can be abbreviated, thus enabling a CPU load to be reduced by that amount.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking processing system for a flying object such as an aircraft by a computer of a radar device used for air traffic control.

[0002]

2. Description of the Related Art FIG. 3 is a block diagram showing a schematic configuration of a conventional flying object tracking processing system disclosed in, for example, Japanese Patent Laid-Open No. 62-43582, and FIG. 4 is a flowchart showing the operation thereof. In the figure, 1 is a target flying object such as an aircraft, 2 is a radar device, 3 is a pulse flight to the target flying object 1 while scanning a directional radio beam with an antenna, and the target flight is received according to the reception of the pulse wave. The radar signal transmitting / receiving device in the radar device 2 for receiving the signal retransmitted from the object 1 is a computer in the radar device 2 for processing the received signal from the target flying object 1, and 5 to 10 are executed by the computer 4. These are each means of tracking data update processing.

Reference numeral 5 denotes target data detecting means for processing the received radar signal from the radar signal transmitting / receiving device 3 to extract position data of the target flying object 1 (hereinafter referred to as target data), and 6 denotes predicted position data of each aircraft ( The predicted position storage means, which is a database of a computer that stores (hereinafter, referred to as track data), determines whether or not there is a correlation between the target data from the target data detection means 5 and the corresponding track data in the predicted position storage means 6. Correlation determining means for selecting correlated track data, 8
Is a correlation establishment number updating means for updating the number of times of establishment of the correlation of the track data with the input target data, and 9 refers to the number of times of establishment of the correlation from the correlation establishment number of times updating means 8 from the correlated track data and the input target data. True position calculating means for estimating and calculating the true position of the target flying object 1.
0 is the predicted position of the target flying object 1 for the next scan, calculated from the true position calculated by the true position calculating means 9 and the predicted velocity of the target flying object 1 calculated by another means not shown, Predicted position storage means 6 as new track data
It is a predicted position calculating means to be stored in.

Next, the operation will be described with reference to the flowchart of FIG. The radar signal transmitting / receiving device 3 of the radar device 2 emits a pulse wave of a radio wave beam from an antenna that is scanned at a predetermined cycle, and the target flying object 1 of the pulse wave is emitted.
The pulse wave transmitted from the transponder mounted on the target signal is received again by the radar signal transmitter / receiver 3 and processed by the target data detecting means 5 of the computer 4 to detect and input the target data of the target flying object 1. (Step 11). Next, the correlation determination means 7 inputs the track data corresponding to the input target data stored in the predicted position storage means 6 (step 12), calculates the correlation with the input target data, and obtains the correlation. Track data is selected (step 13).

For the correlated track data, the correlation establishment frequency updating means 8 adds 1 to the past correlation establishment frequency to update the correlation establishment frequency (step 14).
Then, by the true position calculating means 9, from the position information of the track data and the position information of the input target data,
The true position of the target flying object 1 is estimated and calculated by referring to the number of times the correlation is established (step 15). That is, if the number of times the correlation is established is large, the value closer to the track data is taken.
Finally, the predicted position of the target flying object 1 at the next scan is calculated by the predicted position calculating means 10 from the estimated true position calculated by the true position calculating means 9 and the predicted velocity of the target flying object 1 calculated separately. It is calculated (step 16) and stored in the predicted position storage means 6 as new track data.

When the correlation determining means 7 cannot find the correlation between the input target data and the corresponding track data (step 13), the correlation establishing frequency updating means 8 for the track data sets the past correlation establishing number to 1 Is reduced and the number of times the correlation is established is updated (step 17). In this case, the input target data is not adopted, the true position of the target flying object 1 is not calculated, and the next predicted position is calculated from the predicted position information and the predicted speed of the corresponding track data (step 18), and the new track is calculated. The data is stored in the predicted position storage means 6 as data.

[0007]

Although the performance of a radar apparatus has recently been improved and highly accurate target data can be obtained, and the position information of the target data can be directly used as the true position information, the conventional flying object tracking processing is performed. In the method, since the true position is estimated and calculated for all track data correlated with the target data as described above, the load on the CPU of the computer increases accordingly, which may cause a problem in computer performance such as processing speed. there were. In addition, since the target data that should originally come from the radar is mainly the track data that is only the predicted position, there is a problem in accuracy.

The present invention has been made to solve the above problems, and reduces the CPU load of a computer.
It is an object to obtain a flying object tracking processing method capable of increasing the accuracy of track data.

[0009]

The flying object tracking processing method according to the present invention is based on the number of correlations between target data and track data, the position error between the detected position of the target data and the predicted position of the track data, and the like. Depending on the reliability judgment means for judging the reliability of the data, the true position calculation means for estimating and calculating the true position of the target flying object from the target data and the track data, and the judgment of the reliability by the reliability judgment means. A predicted position calculating means for calculating the next predicted position from the position data calculated by the current position calculating means in response to the determination that the target data is not reliable is provided.

[0010]

In the flying object tracking processing method according to the present invention, when the reliability determination means determines that the reliability of the target data is high, the position information of the target data is used to estimate the true position of the target flying object. The predicted position is directly calculated, and only when it is determined that the reliability is low, the predicted position is calculated from the estimated true position information.

[0011]

DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to the drawings. 1 is a block diagram showing a schematic configuration of an embodiment of the present invention, and FIG. 2 is a flow chart showing the operation thereof. In the figure, 1 is a target flying object, 2 is a radar device,
Reference numeral 3 is a radar signal transmitting / receiving device, 4 is a computer in the radar device 2 for processing the received signal from the target flying object 1, 5 is target data detecting means, 6 is predicted position storing means, 7
Is a correlation determining unit, 8 is a correlation establishment number updating unit, 9 is a true position calculating unit, 10 is a predicted position calculating unit, and the above is the same as the conventional example shown in FIG. Reference numeral 19 determines the reliability of the target data based on the number of times the correlation between the target data and the track data updated by the correlation number updating means 8 and the position error between the position information of the target data and the predicted position information of the track data. Reliability determining means.

The operation will be described below with reference to the flowchart of FIG. Radar signal transmitting / receiving device 3 of the radar device 2
In response to the reception of the pulse wave radio beam from the target flying object 1, the pulse wave transmitted from the target flying object 3 is received again by the radar signal transmitting / receiving device 3, and is processed by the target data detecting means 5 of the computer 4 to obtain the target flying object 1. Target data is detected and input (step 11), the correlation determination means 7 inputs the track data corresponding to the input target data stored in the predicted position storage means 6 (step 12), and the input target data Is calculated and the correlated track data is selected (step 13). With respect to the correlated track data, the correlation establishment frequency updating unit 8 adds 1 to the past correlation establishment frequency to update the correlation establishment frequency (step 14).

Next, the reliability determining means 19 determines the target based on the number of correlation establishments updated by the correlation establishment number updating means 8 and the magnitude of the position error between the predicted position information of the track data and the position information of the input target data. The reliability of the data is determined. That is, first, an allowable position error determined by the number of times of establishment of correlation (hereinafter referred to as reference distance) is calculated so that the reference distance becomes smaller as the number of times of establishment of correlation becomes larger (step 20), and it is determined whether or not the position error is within the reference distance. Is performed (step 21). If the position error is not within the reference distance, it is determined that there is no reliability, the true position of the target flying object 1 is estimated and calculated in the same manner as described above (step 15), and the predicted position is calculated based on the calculated true position. The predicted position for the next scan by the means 10 is calculated (step 16) and stored in the predicted position storage means 6 as new track data. If the reliability determination means 19 determines that the target flying object 1 is reliable (the position error is within the reference distance) (step 21), the position information of the target data does not indicate the true position of the target flying object 1 without estimating and calculating the true position. It is regarded as a position, and the predicted position for the next scan is calculated directly by the predicted position calculating means 10 based on the value (step 16).

When the correlation determining means 7 cannot correlate the input target data with the corresponding track data (step 13), the number of times the correlation is established is reduced by 1 and updated (step 17). ), The next predicted position is calculated based on the predicted position information of the corresponding track data (step 18), and is stored in the predicted position storage means 6 as new track data.

[0015]

As described above, according to the present invention, when it is determined that the reliability of the target data is high, the predicted position is directly calculated from the position information of the target data without estimating and calculating the true position of the target flying object. Since the predicted position is calculated from the estimated true position information only when it is determined that the reliability is low, the CPU load of the computer is reduced without unnecessary calculation and the processing speed is reduced. Has the effect of increasing the accuracy of the track data.

[Brief description of drawings]

FIG. 1 is a block diagram showing a schematic configuration of an embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of FIG.

FIG. 3 is a block diagram showing a schematic configuration of a conventional flying object tracking processing method.

FIG. 4 is a flowchart showing the operation of FIG.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Target flying object 2 Radar apparatus 3 Radar signal transmitting / receiving apparatus 4 Computer 5 Target data detecting means 6 Predicted position storage means 7 Correlation determination means 8 Correlation establishment frequency update means 9 True position calculation means 10 Predicted position calculation means 19 Reliability determination means

Claims (1)

[Claims] 1. A target data indicating a target position or the like sent from a target flying object to a radar device, and a predicted position of the flying object stored in a computer of the radar device and having a correlation with the target data. In the flying object tracking processing method of calculating the next predicted position of the target flying object from the track data and storing it as the target data of the flying object, the number of times the correlation between the target data and the track data is established and the detection by the target data. Reliability determining means for determining the reliability of the target data based on the position error between the position and the predicted position based on the track data, and the true position calculation for estimating and calculating the true position of the target flying object from the target data and the track data. Means and the reliability determination means determines that the A flying object tracking processing method comprising: a predicted position calculating unit that calculates a next predicted position from the position data calculated by the true position calculating unit according to the target data based on the determination that there is no reliability.