JPH0675038A - Automatic detecting/tracking system - Google Patents

Abstract

PURPOSE:To obtain an automatic detecting/tracking system excellent in discrimination between a vessel line and a target line from which difficult recognition of the target line due to interference with the vessel line and erroneous recognition of a part of the vessel line as a part of the target line are eliminated. CONSTITUTION:The automatic detecting/tracking system relying on detection of sound emitted from a target comprises an ivent detecting section 4 for detecting a candidate of target from intensity distribution of sound, and a line forming section 5 for determining temporal linkage of events based on time series of event. The automatic detecting/tracking system further comprises a maneuvering detecting section 11 for detecting the movement of a vessel, and means 13 for discriminating the output from the line forming section 5 between a target line and a vessel line.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic detection and tracking device for detecting and tracking a target.

[0002]

2. Description of the Related Art Conventionally, narrow band automatic detection and tracking devices and wide band automatic detection devices are known as automatic detection and tracking devices for detecting and tracking targets. The narrow band automatic detection and tracking device is capable of frequency-analyzing the sound radiated from the target to obtain an output for each frequency, and the broadband automatic detection and tracking device frequency-analyzes the sound radiated from the target. Without doing so, it detects all at once from low frequencies to high frequencies. The conventional narrow band automatic detection and tracking device and wide band automatic detection and tracking device will be described below.

First, a conventional narrow band automatic detection and tracking device will be described. 5 and 6 are block diagrams of a conventional automatic detection and tracking device. FIG. 5 is a block diagram of a conventional narrow band automatic detection and tracking apparatus. In the figure, 1 is a receiver array, 2 ₁ is a beamformer and frequency analysis unit, 3 ₁ is a narrow band automatic detection and tracking apparatus, 4 ₁ is the event detector, 5 ₁
Is a line forming unit, 6 is a line management unit, and 7 is a display unit.

The receiver array 1 includes a plurality of receivers for receiving sound waves.
It is an array of vessels in a straight line or a plane, and
Sound that is attached to the outside of the vehicle and is incident on the receiver array 1.
The beam former and frequency analyzer 2 for receiving the waves₁To
Output. Beamformer and frequency analyzer 2₁Is received
For the output signal of the wave array 1, the time t_k, T_{k + 1}
Beam forming and frequency analysis for every fixed period
After processing, time ... t _k, T_{k + 1}For every certain period of
Find the intensity distribution of the received signal in
Band automatic detection and tracking device 3₁Event detector 4₁Out
Force

The event detector 4 ₁ extracts singular points from the intensity distribution of the received signal in the azimuth and frequency regions output from the beamformer and frequency analyzer 2 ₁ , so that the times t _k , t _{k +. 1} ... Detects candidate points (hereinafter referred to as "events") corresponding to the intensity distribution of the sound radiated from the target that is the object of detection or tracking at every fixed cycle and outputs them to the line forming unit 5 ₁ . Each detected event has information such as azimuth, frequency, and intensity.

The line forming unit 5 ₁ has an event detecting unit 4 ₁
Of the direction and frequency domain events output from
The connection of events in the azimuth frequency and the time domain is detected from the time series for each fixed period of time ... _Tk , tk _{+ 1} ... And the connection of the events is formed as a line. In general, information such as azimuth, azimuth change, frequency, frequency change, and intensity can be obtained from the line, as well as information regarding generation and disappearance of the line.

The line management unit 6 outputs from the line forming unit 5.
Manage the lines that are input and select line information according to the purpose
And output to the display unit 7. The display unit 7 is a narrow band automatic search.
Knowledge tracking device 3₁The line information output from the
To be displayed. Next, in the conventional broadband automatic detection and tracking device
explain about. Figure 6 shows the conventional wideband automatic detection and tracking system.
It is a block diagram of a storage device, and in the figure, 2₂Beam for
Ma, 3₂Is a broadband automatic detection and tracking device, 4₂Is an event
Detection part, 5 ₂Is a line forming part. Beam former 2
₂Is the time ... t with respect to the output signal of the receiver array 1._k,
t_{k + 1}Beam forming processing is performed at regular intervals of
And time ... t_k, T_{k + 1}In the azimuth area at regular intervals of
The intensity distribution of the received signal in the₂
Output to.

The event detector 4 ₂ includes a beam former 2
By extracting the singular point from the intensity distribution of the received signal at an azimuth region is output from the _2, time ... t _k, t
_An event is detected and output to the line forming unit 5 ₂ at regular intervals of _{k + 1} . Each detected event has information such as direction and strength. Line forming section 5 ₂ event detection section 4
The time of the event in the azimuth area output from ₂ ... t
_k, t _{k + 1} ... orientation from the time series of fixed intervals of, detecting a connection of events in the time domain to form a link between the event as a line. In this case, the line generally has information about azimuth, azimuth change, intensity, and the like, as well as information about generation and disappearance of the line.

The narrow band automatic detection and tracking device 3 ₁ detects an event in the azimuth and frequency regions and forms a line in the azimuth, frequency and time regions, whereas the wide band automatic detection and tracking device 3 1 ₂ , the event detection is performed only in the azimuth region, and the line is formed in the azimuth and time regions.
Since it is similar to the narrow band automatic detection and tracking device 3 ₁ , the following description is omitted.

According to the operation principle diagram of event detection shown in FIG.
Will be described in more detail. As mentioned above, broadband automatic
Detection and tracking device 3₂And narrow band automatic detection and tracking device 3₁With
The difference in operation is the narrow band automatic detection and tracking device 3₁Ibe
Detected in the azimuth and frequency domains to form lines.
Compared to the azimuth, frequency, and time domains, the
Motion detection and tracking device 3₂Detects events only in the azimuth region
Just by doing and forming the line in the azimuth and time domain
Therefore, in the following, narrow band automatic detection and tracking device 3 ₁Noi
Vent detector 4₁Only the operating principle of will be explained.

When it is not necessary to distinguish between the narrow band automatic detection and tracking device 3 ₁ and the wide band automatic detection and tracking device 3 ₂ , they are simply referred to as an automatic detection and tracking device. Figure 7
, Θ is an azimuth axis, f is a frequency axis, P is a signal intensity axis, ... E _{i− l} (k), E _i (k), E _{i + l} (k)
Indicates an event at time t _k . Θ in FIG.
_i (k), f _i (k), and p _i (k) indicate the direction, frequency, and signal strength information of the event, respectively. Here, the azimuth θ may be an absolute azimuth (for example, based on the north azimuth) or a relative azimuth (for example, based on the heading azimuth of the above-mentioned vehicle).

Therefore, for example, the azimuth of the event E _i (k) is θ _i (k), the frequency is f _i (k),
Its signal strength is p _i (k). The event detection unit 4 detects an event by extracting a singular point such as a peak point from the intensity distribution of the received signal in the azimuth and frequency regions as shown in FIG.

According to the operation principle diagram of line formation in FIG.
This will be described in more detail. In FIG. 8, t indicates a time axis, and ... L _j-1 , L _j , L _{j + 1,} ... Show lines. The j-th line L _j is an event in the azimuth, frequency, and time domain ... E _j (k), E _j (k + 1), E _j (k + 2)
It is formed as a connection of ... J-th line L _j
The event E _j (k) at time t _k included in the event is the event shown in FIG. 7 ... E _i-1 (k), E _i (k), E
_The most appropriate one is selected from _{i + 1} (k) ... According to a predetermined rule.

[0014]

Generally, the main component of the radiated sound of the target is generated by vibration of a ship or the like. On the other hand, the vehicle to which the wave receiver array is attached is often the same ship as the target, and since it has a vibration source like the target, the wave receiver array is attached to the wave receiver array. The received vibration of the running body itself and the radiated sound from the vibration are received (hereinafter, this received component is referred to as "own ship noise").

Therefore, since the receiver array receives the signal in which the own ship noise is added to the target radiated sound, the automatic detection and tracking device simultaneously generates the own ship noise at the same time as the target line corresponding to the target radiated sound. A corresponding ship line is also formed. However, the conventional automatic detection and tracking device does not have a means for distinguishing the target line from the own ship line, and both are treated in the same manner, so that the target line and the own ship line are mixed, and as a result, the own ship line is mixed. Has a problem that it interferes with the target line, making it difficult to recognize or handle the target line, or an error occurs in which a part of the ship line is recognized as a part of the target line.

The above problem will be described in more detail with reference to the line direction and time domain diagram of FIG. FIG. 9 (a)
Shows the target line extracted, and FIG. 9 (b) shows the own ship line extracted. Also, FIG. 9 (c)
Shows all lines formed by the conventional automatic detection and tracking device, that is, the target line and the own ship line are mixed. As shown in FIG. 9C, the own ship line interferes with the target line, making it difficult to recognize and handle the useful target line.

In the present invention, the own ship line of the conventional automatic detection and tracking device interferes with the target line, making it difficult to recognize and handle the target line, or a part of the own ship line is recognized as a part of the target line. An object of the present invention is to provide an excellent automatic detection and tracking device that eliminates the problem of causing an error, and can distinguish the own ship line and the target line.

[0018]

Therefore, in the automatic detection and tracking device of the present invention, the sound radiated from a target such as a ship is received by a wave receiver array attached to a movable vehicle, In an automatic detection and tracking device that performs detection and tracking by the intensity distribution of the output signal of the receiver array obtained by performing beamforming and frequency analysis, a candidate for the intensity distribution of the sound emitted from the target from the previous period intensity distribution Event detection means for detecting points, line detection means for obtaining the temporal connection of the events from the time series of the events, maneuvering detection means for detecting the motion of the vehicle (hereinafter referred to as maneuvering), and maneuvering A line that divides the output from the line detecting unit into a line by the target and a line by the running body by the detecting unit. It consists of a separate unit, and performs detection and tracking by the obtained line by line identification means.

Further, the temporal connection of events has azimuth and frequency information or azimuth information, and detects and tracks a azimuth, a frequency, a time domain or a azimuth, and a target in the time domain. Further, the line identification means is a means for obtaining a similarity between the heading direction change of the vehicle by the maneuvering detection means and the heading direction change of the line in the time zone of the maneuvering means, and the similarity degree is predetermined for each line. The similarity may be a correlation function.

Further, the reference of the heading direction change of the running body by the maneuvering detection means and the line direction change in the time zone of the maneuvering may be the absolute direction, and the heading direction change of the running body may be determined. The reference is the absolute azimuth, and the reference of the azimuth change of the line in the time zone of the manufacturing may be the relative azimuth. Further, the time zone for obtaining the similarity of azimuth change can be automatically detected or manually set to be the time zone for the manufacturing.

As the line, the line of the navigation body can be selected, and the line to be displayed or output is managed so as to be the only line remaining after removing the own ship line, or the all line output mode. And a function to select one of the own ship line removal modes, so that when the all line output mode is selected, all lines are set, and when the own ship line removal mode is selected, only the remaining lines after removing the own ship line are set. In addition, there is a function to manage all line output mode, own ship line removal mode and own ship line output mode, and when all line output mode is selected, all lines are set and own ship line removal mode is set. When selected, it is the remaining line after removing the own ship line, and when the own ship line output mode is selected, only the own ship line It can be managed to.

[0022]

According to the present invention, in the automatic detection and tracking apparatus having the above-described structure, the sound emitted from the target of the conventional ship or the like is installed in the wave receiver array attached to the movable body of the ship or the like. receiving, performs beamforming and frequency analysis with respect to time _{... t k, t k + 1} ... output signal of the receiving-receiver array in.

Then, the intensity distribution of the output signal of the receiver array in the azimuth and frequency domain is obtained from the signal after the beam forming and frequency analysis, and the intensity distribution of the sound radiated from the target is obtained by the intensity distribution. Detect the corresponding event. Furthermore, the direction, the frequency, and the line in the time domain are obtained from the time series of the event at time ... T _k , t _{k + 1} .
A narrow band automatic detection and tracking device for detecting and tracking the target in the time domain is configured.

Further, in the automatic detection and tracking device having the above-mentioned configuration, beam forming is performed on the output signals of the receiver array at times ... T _k , t _{k + 1} . And
The intensity distribution of the output signal of the receiver array in the azimuth region is obtained from the signal after the beam forming, and the event corresponding to the intensity distribution of the sound emitted from the target is detected from the intensity distribution.

Furthermore, time ... t _k, azimuth from the time series of the events in t k _{+ 1} ..., by determining the line in the time domain, the orientation, in the time domain, wideband performing detection and tracking of the target Configure an automatic detection and tracking device. In the narrow band automatic detection and tracking device and the wide band automatic detection and tracking device having the above-described configurations, (1) heading direction change of the running body due to motion of the running body and time period t _N of the maneuvering by comparing the orientation change of the respective lines in -T～t _N, obtains the similarity of the orientation change in the time t _N -T～t of該航Hashikarada in _N heading direction change and respective lines (2) comparing the similarity of each line with a predetermined threshold, (3) dividing each line into a line whose similarity exceeds the threshold and a line whose similarity does not exceed the threshold, (4) The line exceeding the threshold or the line not exceeding the threshold is regarded as the own ship line generated by the vibration of the navigation body itself, and the own ship line is referred to as another line. It is managed separately.

[0026]

Embodiments of the present invention will now be described in detail with reference to the drawings. FIG. 1 is a configuration diagram of a first embodiment of an automatic detection and tracking device of the present invention, and illustrates the functional configuration of the narrow band automatic detection and tracking device 3 ₁ . Figure 5
And as shown in FIG. 6, the operation difference between the wide band automatic detection and tracking device 3 ₂ and the narrow band automatic detection and tracking device 3 ₁ is that the narrow band automatic detection and tracking device 3 ₁ detects the detection of an event, performed in the frequency domain, the formation of the line orientation, frequency, whereas performed in the time domain, automatic detection tracking apparatus 3 ₂ broadband performs detection of an event only in the orientation area, orientation and formation of the line, the time domain Since it is only performed by the above, the description will be made below with reference to the embodiment of the narrow band automatic detection and tracking device 3 ₁ .

In FIG. 1, reference numeral 10 denotes an input terminal from the beamformer / frequency analysis unit 2 to the event detection unit 4, and 1
1 is a maneuvering detector, 12 is an input terminal to the maneuvering detector 11, 13 is a ship line detector, 14
Is an input terminal to the line management unit 6, and 15 is an output terminal from the line management unit 6 to the display unit 7. From the input terminal 12, heading direction of the vehicle (absolute direction)
Information is entered. The motion of the vehicle (hereinafter referred to as “maneuvering”) is detected by the maneuvering detector 11. The maneuvering detection unit 11 detects the amount of change in heading direction information of the running vehicle and determines that the heading direction of the running vehicle has changed when the amount of change exceeds a certain value.

FIG. 2 is an operation diagram of the maneuvering detector, showing changes in the absolute heading of the running vehicle with respect to time t. In FIG. 6, θ (absolute) is an absolute azimuth, H is a locus indicating a temporal change of the heading absolute azimuth of the above-mentioned navigation vehicle, t _N is a manufacturing sample time,
T is the maneuvering detection time, Θ (N) is time t _N −T
It is the maximum variation of the absolute heading of the above-mentioned spacecraft that occurs between 1 and t _N. At the time t _N , the maneuvering detection unit 11 obtains the maximum change width Θ (N) of the heading direction change that occurs between times t _N −T and t _N ,
For example, it is checked whether or not Θ (N) satisfies Θ (N) / T ≦ C ₁ (1), and if so, it is determined that there is manufacturing. However, C ₁ is a predetermined manufacturing threshold.

In the case of this embodiment, the manufacturing sample time t _N is set according to a predetermined program. When Manyubaringu detection unit 11 detects Manyubaringu, the heading heading change data [Delta] [theta] ₀ of the domestic Hashikarada at time t _N and time t _N -T～t _N represented by the following formula (m) Δθ ₀ (m) = theta ₀ to _{(t m) -θ 0 (t} N -T) where _{t N -T ≦ t m ≦ t} N ... (2) sends to the Time line detection unit 13.

Next, when the own ship line detection unit 13 receives the information of the time t _N from the maneuvering detection unit 11, the time t
It said line ... L _j-1 in the _{N -T~t N,} L _j, L
Direction change data for _{j + 1} … Δθ _j-1 (m), Δθ
_j The _{(m), Δθ j + 1} (m) ... Δθ j (m) = θ j (t m) -θ j (t N -T) where _{t N -T ≦ t m ≦ t} N ... (3) Then, the correlation between each calculation result and the heading direction change data Δθ ₀ (m) is calculated. Then, by comparing the correlation result with a threshold, the lines ... L _j-1 , L _j , L _{j + 1} ... Are classified into the own ship line and other lines.

The method of obtaining the correlation and the method of classifying the lines differ depending on whether the azimuth change of each line is measured in absolute azimuth or relative azimuth. The case where the change in the direction of the line is measured in the absolute direction will be described below. FIG. 3 is an explanatory diagram of measurement of the change in the line direction depending on the absolute direction. Figure 3
Of (a) is same as FIG. 2 shows the absolute azimuth change of heading Kou Hashikarada at time t _N -T~t _N. Also, FIG.
FIG. 3B shows an example of the change in the absolute direction of the target line, and FIG.
(C) shows an example of the change in the absolute direction of the own ship line.

The change in the absolute heading of the target is not affected by the change in the heading absolute heading of the vehicle, and if the target is sufficiently far away, the heading change caused by the movement of the target itself at time t _N -Tt _N. Can be made sufficiently smaller than the absolute heading change of heading of the vehicle shown in (a) of FIG. 3 above. Therefore, as shown in (c) of FIG. It will always have a low correlation with the absolute heading change of the running body.

On the other hand, as shown in FIG. 3 (c), the direction in which the own ship line is detected is almost constant relative to the heading direction of the vehicle, and therefore the absolute direction change of the own ship line is changed. Will be highly correlated with the absolute heading change of the vehicle. Therefore, when the azimuth change of each line is measured by the absolute azimuth, the correlation between the absolute azimuth change data of the j-th line and the heading absolute azimuth change data can be represented by, for example, s _j below.

S _j = Σ (Δθ _j (m) × Δθ ₀ (m) ²
_{/ Σ (Δθ 0 (m)} ) 2 ... (4) However, sigma represents the sum of the data at time t _N -T~T _N. Lines are identified by comparing the correlation results ... S _j-1 , s _j , s _{j + 1} ... With a predetermined threshold C ₂ . When the correlation s _j satisfies s _j ≦ C ₂ (5), it is determined that the j-th line is the ship line, and when s _j <C ₂ (6), Determines that the j-th line is the other line.

In this way, the own ship line detection unit 13
All the lines input from the line forming unit 5 are classified into a ship line and other lines, and output to the line management unit 6. Next, a case will be described in which the azimuth change of the line is measured by the relative azimuth. FIG. 4 is an explanatory diagram of measurement of a change in the azimuth of a line depending on the relative azimuth. (A) in FIG. 4 as well as FIG. 2 and FIG. 3 (a), showing the absolute direction change of heading Kou Hashikarada at time t _N -T~t _N. Further, FIG. 4B shows an example of the relative azimuth change of the target line, and FIG. 4C shows an example of the relative azimuth change of the own ship line.
Note that θ (relative) indicates a relative orientation.

[0036] As described above, the absolute orientation change of the target is not affected by the absolute orientation change of sailing heading, if further goal is sufficiently far, the target itself at time t _N -T~t _N motion The azimuth change caused by
Since it is possible to make it smaller than the absolute heading change of the vehicle's heading shown in Fig. 4, the one with a change in the sign of the relative heading change of the target line has a high correlation with the absolute heading change of the heading of the vehicle. Will have.

On the other hand, as described above, the azimuth in which the own ship line is detected is almost constant in the relative azimuth with reference to the heading azimuth of the running body. Therefore, the change in the relative azimuth of the own ship line is Since it is hardly affected by the change in the absolute heading of the heading, the relative change in the heading line always has a low correlation with the absolute change in the heading of the vehicle.

Therefore, when the azimuth change of each line is measured by the relative azimuth, the correlation s _j between the j-th line azimuth change data and the heading azimuth change data is, for example, s _j = Σ (−Δθ _j (m) × Δθ ₀ (m)) ² / Σ (Δ
It can be calculated by θ ₀ (m)) ² (7). Where Σ is time t _N
Shows the addition of data in -T~t _N.

Next, the own ship line detection unit 13 compares the calculated correlations ... S _{j -1} , s _j , s _{j +1} ... With a predetermined threshold C _2, and s _j ≤C ₂ … The line that satisfies (8) is determined to be the ship line. The own ship line detection unit 13 separates all the lines input from the line formation unit 5 into the own ship line and other lines, and outputs them to the line management unit 6.

The own ship line detection unit 13 separates the line into the own ship line and other lines based on the principle described above, and the probability that the own ship line is included in the other lines after separation is small. Becomes The own ship line detection unit 13 separates all the lines input from the line formation unit 5 into the own ship line and other lines by the above method, and then adds a flag for distinguishing between the own ship line and the other lines. It is sent to the management unit 6.

The line management unit 6 outputs the line to the display unit 7 of FIG. 5 according to the instruction input from the input terminal 14. There are the following methods of line management in the line management unit 6 depending on the purpose of use of the automatic detection and tracking device 3. (1) The lines output to the display unit 7 are managed so that only the remaining lines after removing the own ship line are set. (2) Input an instruction signal for selecting either the all-line output mode or the ship's line removal mode from the input terminal 14,
When the all-line output mode is selected, the lines to be output to the display unit 7 are all lines, and when the own-ship line removal mode is selected, only the remaining lines from which the own-ship line is removed are managed. (3) An instruction signal for selecting one of the all-line output mode, the own-ship line removal mode, and the own-ship line output mode is input from the input terminal 14. Then, when the all-line output mode is selected, the lines output to the display unit 7 are all lines, when the own-ship line removal mode is selected, the lines are the remaining lines after the own-ship line is removed, and the own-ship line output mode is selected. When you do, manage it so that it is only your ship line.

Next, a second embodiment of the present invention will be described. FIG. 10 is a functional block diagram of the automatic detection and tracking device of the second embodiment of the present invention. Reference numeral 16 in FIG. 10 is an input terminal for inputting the result of manual setting of the maneuvering sample time t _N and the maneuvering detection time T to the own ship line detection unit 13. The present embodiment is the same as the first embodiment except that the manufacturing sample time t _N and the manufacturing detection time T are manually set and input.

The present invention is not limited to the above embodiments, but various modifications can be made based on the spirit of the present invention, and these are not excluded from the scope of the present invention.

[0044]

As described above in detail, according to the present invention, 1) the absolute heading change of the heading of the running body due to the maneuvering of the running body and the time zone t _N of the maneuvering
By comparing the absolute heading change or relative orientation change of the respective lines in T~t _N, said time period t _N T~
The similarity between the heading azimuth change of the navigation vehicle and the azimuth change of each line at t _N is calculated, 2) the similarity for each line is compared with a predetermined threshold, and 3) each The line is divided into a line whose similarity exceeds the threshold and a line whose similarity does not exceed the threshold. 4) When the azimuth change of each line is an absolute azimuth change, the line whose similarity exceeds the threshold is It is assumed that the ship is a ship line generated by the vibration of the running body itself, and when the azimuth change of each line is a relative azimuth change, a line whose similarity does not exceed the threshold is set by the vibration of the running body. Since it is assumed that the own ship line has occurred and the own ship line is managed separately from other lines, in the case where there are many own ship lines formed from the own ship noise of the above-mentioned spacecraft. It is possible to reduce the interference of the ship's line with the useful target line, recognize the target line on the display screen, and compare the set of lines formed from the radiated sound of the same target with the set of reference lines. Even in the case where the target class identification is performed, this can be performed with a small number of errors.

Further, according to the present invention, the own line can be
Time t at which processing to distinguish from a line is performed _NAnd time T
According to the prescribed program or manual instruction
To be freely decided by
Since it is automatically distinguished from the line of,
Due to changes in the status and types of the auxiliary equipment of the above-mentioned navigation body
The vibration situation changes, resulting in the occurrence of own line
Even if the situation changes, you can easily respond in a short time
Has the effect of

[Brief description of drawings]

FIG. 1 is a configuration diagram of an embodiment of an automatic detection and tracking device of the present invention.

FIG. 2 is an operation diagram of a manufacturing detection unit.

FIG. 3 is an explanatory diagram of measurement of a change in the azimuth of a line depending on the absolute azimuth.

FIG. 4 is an explanatory diagram of measurement of a change in line orientation depending on a relative orientation.

FIG. 5 is a configuration diagram of a conventional narrow band automatic detection and tracking device.

FIG. 6 is a block diagram of a conventional wide band automatic detection and tracking device.

FIG. 7 is a diagram illustrating an operation principle of event detection.

FIG. 8 is an operation principle diagram of line formation.

FIG. 9 is a line direction and time domain diagram.

FIG. 10 is a functional configuration diagram of an automatic detection and tracking device according to a second embodiment of the present invention.

[Explanation of symbols]

 2 Beamformer and frequency analysis unit 4 Event detection unit 5 Line formation unit 6 Line management unit 7 Display unit 10, 12, 14 Input terminal 11 Manufacturing detection unit 13 Own ship line detection unit 15 Output terminal

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[Procedure amendment]

[Submission date] December 24, 1992

[Procedure Amendment 1]

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[Name of item to be corrected] Claim 1

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[Correction target item name] 0006

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[Correction content]

The line forming unit 5 ₁ has an event detecting unit 4 ₁
Of the direction and frequency domain events output from
Time _{... t k, t k + 1} ... orientation from the time series of fixed intervals of, frequency, and detects the connection of events in the time domain to form a link between the event as a line.
In general, information such as azimuth, azimuth change, frequency, frequency change, and intensity can be obtained from the line, as well as information regarding generation and disappearance of the line.

Claims (11)

[Claims] 1. An output signal of the receiver array obtained by receiving sound emitted from a target by a receiver array attached to a movable vehicle and performing beamforming and frequency analysis. In an automatic detection and tracking device for detecting and tracking by intensity distribution, (a) event detection means for detecting a candidate point of the intensity distribution of sound emitted from the target from the previous intensity distribution, and (b) time series of the event From the line detection means for obtaining the temporal connection of the events from (1), (c) a maneuvering detection means for detecting the motion of the vehicle, and (d) an output from the line detection means by the maneuvering detection means. The line identification means divides the line according to the target from the line based on the vehicle, and (e) the line identification means obtains the line obtained by the line identification means. An automatic detection and tracking device that performs detection and tracking by IN. 2. The automatic detection and tracking device according to claim 1, wherein the temporal connection of the events has information on a heading and a frequency, and detects and tracks the target in the heading, the frequency, and the time domain. 3. The automatic detection and tracking device according to claim 1, wherein the temporal connection of the events has azimuth information, and detects and tracks the target in the azimuth and time domain. 4. The line identifying means includes: (a) means for obtaining a degree of similarity between a heading change in heading of the navigation vehicle by the maneuvering detection means and a change in heading direction of the line in the time zone of the maneuvering. The automatic detection and tracking device according to claim 1, further comprising: (b) a comparison unit that compares the similarity with a predetermined threshold for each line. 5. The automatic detection and tracking device according to claim 4, wherein the similarity is obtained by a correlation function. 6. The automatic detection and tracking device according to claim 4, wherein the reference of the heading direction change of the vehicle by the maneuvering detection means and the heading direction change of the line in the time zone of the maneuvering is an absolute direction. 7. The reference for the heading change of the heading of the navigation vehicle by the maneuvering detection means is an absolute heading, and the reference for the heading change of the line in the time zone of the maneuvering is a relative heading. The automatic detection and tracking device described. 8. The automatic detection and tracking device according to claim 4, wherein a time zone for obtaining the similarity of the azimuth change is a time zone for the maneuvering by automatic detection. 9. The automatic detection and tracking device according to claim 4, wherein a time zone for obtaining the similarity of the azimuth change is a time zone for the manual setting by manual setting. 10. The automatic detection and tracking device according to claim 1, wherein the line does not include the line of the vehicle. 11. The automatic detection and tracking device according to claim 1, wherein the line of the vehicle is selectable as the line.