JPH0557686U - Target tracking device - Google Patents

Abstract

(57) [Summary] [Purpose] In the past, when calculating the future position of a target, a motion model based on the classification result of the target target was used, but multiple motion models are weighted based on the history of classification results. The target tracking ability is improved by using the result of adding and adding as a motion model for target tracking. The target tracking device emits an electromagnetic wave beam in an arbitrary direction under the control of a beam scanning controller 1, and the detected detection data is received by an electronic scanning antenna 2, a transceiver 3, an intermediate signal processor 4, and a target. It is input to the target tracker 8 through the duplication determiner 5, the target discriminator 6, and the detection data sorter 7. The current position and speed of the target to be tracked calculated by the target tracker 8 are input to the target classifier 9 to be classified. The classification determination result is input to the target classification result history storage unit 12 and stored as a history. The history of the classification result is input to the tracking motion model switching device 10, where a tracking motion model of the target is generated based on the history of the classification result, and the target tracking device 8 is contacted.

Description

[Detailed description of the device]

[0001]

[Industrial application]

 This device incorporates a target classification result history saver that saves the determined classification results of the target classifier as a history when the target is tracked using the target tracker. The present invention relates to a target tracking device that improves calculation accuracy and more effectively tracks a target.

[0002]

[Prior Art]

 FIG. 3 shows an example of a conventional case where an electronic scanning antenna is used to track a target. In the figure, 1 is a beam scanning controller, 2 is an electronic scanning antenna, 3 is a transceiver, 4 is an intermediate signal processor, 5 is a target duplication determiner, 6 is a target discriminator, 7 is a detection data sorter, and 8 is a target. A tracking device, 9 is a target classifier, 10 is a tracking motion model switching device, and 11 is a tracking stop determination device.

Usually, the beam scanning controller 1 calculates the antenna beam directivity angle based on a predetermined search pattern. The signal for scanning the antenna beam directivity from the beam scanning controller 1 and the electromagnetic wave from the transceiver 3 are supplied to the electronic scanning antenna 2 to irradiate the electromagnetic wave beam on the target, and the reflected wave is reflected by the electronic scanning antenna 2. To receive. The signal received by the electronic scanning antenna 2 is processed by the transceiver 3 and the intermediate signal processor 4, and if there is detection data to be detected, it is input to the target duplication determiner 5 as detection data. The target duplication determiner 5 compares this detection data with the target future position signal which is the output of the target tracker that is already activated, and if the input detection data is recognized as a new target, the target discriminator. 6 is input. When the input detection data is identified by the target discriminator 6 as a target to be tracked, the detection data is input to the detection data selector 7. The detection data sorter 7 selects and activates the target tracker 8 which is currently in a dormant state, and delivers the verification data. The activated target tracker 8 calculates and outputs the reliability of the target's current position signal, current speed signal, non-current position signal and detection data based on the tracking motion model using the verification data. The target current position signal and the current speed signal are input to the target classifier 9. The target classifier 9 performs classification based on the current position signal and current speed signal of the target, and the classification result for the target is input to the tracking motion model switch 10. The tracking motion model switching unit 10 determines a tracking motion model of the target based on the result of classifying the target, and outputs the tracking motion model to the target tracking unit 8.

On the other hand, the tracking stop determiner 11 inspects the reliability of the detection data in time series, and sends a signal to the target tracker 8 to stop the tracking when the reliability falls below a certain reference value. Output. When the tracking stop determiner 11 determines to continue tracking, the target future position signal is input to the beam scanning controller 1. The beam scanning controller 1 adjusts the antenna beam directivity angle so that the beam sways toward the target future position.

The detection data obtained from the antenna beam oscillated based on the target future position signal is directly input to the detection data selector 7 as tracking data without passing through the target duplication determiner 5 and the target discriminator 6. To be done. The detection data selector 7 delivers the tracking data to the target tracker 8. The target tracker 8 calculates the reliability of the target current position signal, current speed signal, future position signal, and detection data using the tracking motion model selected by the tracking motion model switcher 10.

During the calculation of the current position and future position of the target based on the tracking data, the beam scanning controller 1 outputs a command to the electronic scanning antenna 2 to search for a new target based on the determined search pattern. is doing.

[0007]

[Problems to be solved by the device]

 The conventional target tracking device is configured as described above, and the optimum tracking motion model of the target is selected based on the classification result for the target to calculate the future position of the target. Since there is only one, the calculation result of the future position of the target fluctuates significantly before and after the switching of the target tracking motion model, and there are problems such as a decrease in target tracking ability and tracking failure.

The present invention has been made to solve the above problems. When selecting a tracking motion model of a target, the past classification result is referred together with the current classification result, and the classification result is referred to. The target tracking ability was improved by generating a correspondingly weighted tracking motion model.

[0009]

[Means for Solving the Problems]

 The target tracking apparatus according to the present invention is provided with a method for generating a tracking motion model of a target based on a history of classification results for the target, and a target classification result history storage 12 for realizing the method.

[0010]

[Action]

 In this invention, when a target tracking motion model is determined, a target category result history saver is provided to generate a tracking motion model optimal for calculating the target future position and enhance the tracking capability of the target.

[0011]

【Example】

 Example 1. FIG. 1 is an overall configuration diagram of an embodiment of a target tracking device according to the present invention. As shown in FIG. 1, this embodiment is as follows: 1 is a beam scanning controller, 2 is an electronic scanning antenna, 3 is a transceiver, 4 is an intermediate signal processor, 5 is a target duplication determiner, and 6 is a target discriminator. Reference numeral 7 is a detection data selector, 8 is a target tracker, 9 is a target classifier, 10 is a tracking motion model switcher, 11 is a tracking stop determiner, and 12 is a target classification result history saver.

The operation of the above embodiment will be described with reference to FIGS. As described above, in this consideration, the target classification result history saver 12 is added to that of FIG. 3 of the conventional embodiment, and the optimum target tracking motion model for calculating the future position of the target is based on the result. To generate. FIG. 2 shows the operation status of the target tracking device for a target in flight.

As shown in FIG. 2, the target tracking device main body 13 normally swings the antenna beam 15 based on a predetermined search pattern 14. If the tracking target 16 is captured by the antenna beam 15 at some point, the detection data is received by the electronic scanning antenna 2, and the transceiver 3, the intermediate signal processor 4, the target duplication determiner 5, the target discriminator 6, It passes through the detection data selector 7 and is input to the target tracker 8. The target tracker 8 uses the detection data input based on the tracking motion model of the target that is intended in advance, and uses the reliability of the detection data, the current position X _k (x · y · z) of the target, and the current position. The velocity V (d x · dy · dz) is calculated, and the future position X _{k + 1} (x · y · z) is calculated from the target tracking motion model. For example, the target tracking motion model is expressed by the following equation.

[0014]

[Equation 1]

“T” in “Equation 1” is a sampling time interval. "Equation 1" is _obtained by adding the current speed V and the acceleration coefficient α to the target current position X _k , and the acceleration coefficient α is set to a predetermined value.

The future position of the target is input to the beam scanning controller 1, and the current position and current speed of the target are input to the target classifier 9. The target classifier 9 performs classification based on the current position and current speed of the target. For example, it is determined from the current speed whether the tracked target is a missile or an aircraft, and from the altitude specifications of the current position whether the tracked target is an aircraft or a helicopter. The result of the classification determination for the tracking target is input to the target classification result history storage unit 12.

The target classification result history storage device 12 stores the classification results input from the target classification device 9 a predetermined number of times. For example, if the number of times is set to 3, the target classification result history storage 12 stores a total of three classification results including the current classification result, the previous classification result, and the second previous classification result. It is saved as a classification history for goals. The classification history is input to the tracking motion model switching device 10.

The tracking motion model switch 10 calculates a target motion model using the input classification history. The calculation method weights the motion model corresponding to each classification result in the classification history and adds each motion model. Specifically, for example, if the number of classification results in the classification history is 5, and there are 3 classification results corresponding to the motion model A and 2 classification results corresponding to the motion model B, the motion model is Is the sum of the motion model A and the motion model B.

[0019]

[Equation 2]

[0020]

[Equation 3]

“Equation 2” is the motion model A, and “Equation 3” is the motion model B. When these two equations are weighted by the number of times in the history and a motion model is generated, “Equation 4” is obtained.

[0022]

[Equation 4]

The motion model thus generated is input to the target tracker 8 and used for the next calculation of the target future position.

As described above, since the motion model serving as a reference for the target tracking is not a single model but is appropriately weighted and used according to the classification history from the target classification result history storage 12, it is more accurate. You can perform various tracking and improve the tracking ability of the target.

[0025]

[Effect of the device]

 As described above, according to the present invention, the target classification result history saver 12 is provided, and the movement model serving as the reference of the target tracking is calculated according to the history of the classification result for the target, so that the tracking ability of the target is improved. effective.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of an embodiment of a target tracking device according to the present invention.

FIG. 2 is an explanatory diagram of an operation state of a target tracking device for a target in flight.

FIG. 3 is an overall configuration diagram showing a conventional target tracking device.

[Explanation of symbols]

 1 Beam Scanning Controller 2 Electronic Scanning Antenna 3 Transceiver 4 Intermediate Signal Processor 5 Target Duplication Judger 6 Target Discriminator 7 Detecting Data Sorter 8 Target Tracker 9 Target Classifier 10 Tracking Motion Model Switcher 11 Tracking Stop Judger 12 target classification result history saver 13 target tracking device main body 14 predetermined search pattern 15 antenna beam 16 target

Claims (1)

[Scope of utility model registration request] 1. A beam scanning controller for calculating an antenna beam directivity angle based on a predetermined search pattern,
An electronic scanning antenna that emits an electromagnetic wave beam in any direction under the control of the beam scanning controller and receives a reflected wave from a target; a transceiver that is connected to the electronic scanning antenna and transmits and receives electromagnetic waves; and the transceiver. An intermediate signal processor for processing the target reception signal received in, a target duplication determiner for determining whether or not the detection data obtained by the intermediate signal processor has already been established as a target, and the target duplication determination A target discriminator that determines whether or not it is a target to be tracked based on the detection data that is determined to be unestablished in the vessel, and the detection data that is identified as a tracking target in the target discriminator. Based on the detection data sorter distributed to the target tracker and the detection data distributed by the detection data sorter, the target current position, current speed, future position and its detection Target tracker that calculates the reliability of the data and adjusts the beam scanning controller, and tracking that determines whether to stop the target tracking based on the reliability of the detection data that is the output result of the target tracker. A stop classifier, a target classifier that determines the type of target to be tracked based on the current position and current speed of the target, which is the output result of the target tracker, and the classification result determined by the target classifier is saved as a history. And a tracking motion model switching device that determines a tracking motion model of the target based on the history of the target classification result output from the target classification result history storage device. Target tracking device.