JPH0720239A - Target impact judging apparatus - Google Patents

Abstract

PURPOSE:To make automatic judgment of occurrence of impact possible by checking updating in a tracking processing according to the distance between two targets as objects as calculated from an estimated position of a target which is obtained by tracking the targets simultaneously and a radar observation value. CONSTITUTION:Observation values obtained with a target observing device 2 are inputted into first and second tracking filters 3 and 4 to calculate estimated values of three-dimensional positions of first and second targets and the results are outputted to a target-to-target distance calculator 7. The device 7 calculates a distance between two targets to be outputted to a target-to-target distance judging device 8. The device 8 judges the possibility of impact in the access of the two targets and the results of the judgment are outputted to a consolidation device 11. First and second track reliability calculators 5 and 6 input operating condition in the filters 3 and 4 to calculate reliability of a track to be outputted to first and second track reliability judging devices 9 and 10. The devices 9 and 10 judge the possibility of impact depending on the temporary disappearance of the tracks of the two targets to be outputted to the device 11. The device 11 consolidates the results of judgments based on a probability sum and a probability product.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device for determining collision between targets based on observation information of a plurality of targets.

[0002]

2. Description of the Related Art FIG. 6 is a block diagram of a conventional target collision determination device. In FIG. 6, 1 is an antenna device for observing targets of a plurality of aircraft or the like that may collide due to transmission and reception of radio waves. A target observation value calculation device that calculates the observation value of the target position from the received signal of the antenna device 1, 12 is a display device that displays the observation value, and 21 is an input device that inputs the determination result by manual operation.

[0003]

The conventional target collision determination device is constructed as described above, and has a function of displaying the radar reception signal of a target which may collide, and it is automatically processed. There is no function to judge the conflict between the goals. Therefore, it is necessary to make a judgment and input the result by human judgment based on the display of the received signal. For this reason, when there is a target with a possibility of collision, it is necessary to continue to pay attention to the display, which is one of the factors that increase the fatigue of the operator. Further, since there are restrictions on the number of targets that can be watched, judged, and input operations, the display range, etc., it is extremely difficult to make a judgment for all targets that may have a collision.

The present invention has been made in order to solve such a problem, and an object thereof is to automate processing in a target collision determination device.

[0005]

A target collision determination apparatus according to the present invention automatically determines the presence or absence of a collision based on a distance between targets according to an estimated target position calculated by a tracking filter and an updated state of tracking processing. .

Alternatively, the presence / absence of a collision is automatically determined based on the distance between targets according to the estimated target position calculated by the tracking filter, the update state of the tracking process, and the variation of the observed received power.

Furthermore, the presence or absence of a collision is automatically determined based on the distance between targets according to the estimated target position calculated by the tracking filter, the update state of the tracking process and the observed Doppler signal change.

Further, the present invention automatically determines the presence or absence of a collision based on the distance between targets according to the target estimated position calculated by the tracking filter, the update state of tracking processing, the fluctuation of the received power observed and the change of the Doppler signal. Is.

[0009]

In the present invention, the distance between the targets calculated based on the target estimated position obtained by simultaneously tracking the two targets to be subjected to the collision determination, and the update state of the tracking process by the radar observation value, It becomes possible to automatically determine the presence or absence of a collision.

Further, according to the present invention, the target of collision determination is 2
In addition to the judgment based on the distance between targets calculated based on the target estimated position obtained by tracking two targets at the same time and the update status of the tracking process based on the radar observation value, the target's Since it is possible to detect changes in the shape and the posture angle, it is possible to accurately and automatically determine the presence or absence of a collision.

Further, according to the present invention, the distance between the targets calculated based on the target estimated position obtained by simultaneously tracking the two targets to be subjected to the collision determination and the update state of the tracking process by the radar observation value. In addition to the determination, since the change in the target approach speed and the like can be immediately detected in order to utilize the change in the Doppler information, it is possible to quickly and automatically determine the presence or absence of a collision.

Further, according to the present invention, the target of collision determination is 2
In addition to the judgment based on the distance between targets calculated based on the target estimated position obtained by tracking two targets at the same time and the update status of the tracking process based on the radar observation value, the target's Since it is possible to detect changes in shape and posture angle, etc., and to detect changes in the target approach speed immediately in order to use changes in Doppler information, it is possible to automatically and accurately determine the presence or absence of a collision. .

[0013]

【Example】

 Example 1

FIG. 1 is a diagram showing a first embodiment of a target collision determination apparatus according to the present invention. In FIG. 1, 1 is an antenna device, 2 is a target observation device, 3 is a first tracking filter, 4
Is a second tracking filter, 9 is a first track reliability calculation device, 10 is a second track reliability calculation device, 11 is an inter-target distance calculation device, 12 is an inter-target distance determination device, and 13 is a first A track reliability determination device, 14 is a second track reliability determination device, 19 is a determination result integration device, and 20 is a display device.

The operation principle of the target tracking device configured as described above will be described with reference to FIG. The target radar video signal received by the antenna device 1 is input to the target observation device 2, and the distance information, azimuth information, high angle information, Doppler frequency information, and received power information of the first and second targets are observed. The value is calculated. In the first tracking filter 3, the distance R of the first target observed by the target observation device 2
1, input the observation values of azimuth By1 and high angle E1, and click "Number 1".
Estimated position values X1 (n + 1), Y1 in the Cartesian coordinate system
(n + 1) and Z1 (n + 1) are calculated and output to the target distance calculation device 11. Here, α1 and β1 are tracking filter gain constants, T1 is the sampling interval of the target 1, Xs1 (n), Ys1.
(n), Zs1 (n) are smoothed values, DX1 (n), DY1 (n), DZ1 (n)
Is the smoothing speed, and n is the number of samplings.

[0016]

[Equation 1]

Similarly, in the second tracking filter 4, the distance R2 and the azimuth angle By of the target 2 observed by the target observation device 2 are measured.
2, input the observation value of the high angle E2, and estimate the position X2 (n + 1),
Y2 (n + 1) and Z2 (n + 1) are calculated, and the target distance calculation device 11
Output to. The first track reliability calculation device 5 inputs the operation state of the first tracking filter 3, calculates the track reliability BK1 according to "Equation 2", and outputs it to the first track reliability determination device 9. Here, PD1 is the detection probability of the tracking target, and N1 is the number of times the tracking process could not be updated because the observed value input to the tracking filter 1 was not obtained.

[0018]

[Equation 2]

Similarly, the second track reliability calculation device 6 inputs the operation state of the second tracking filter 4, calculates the track reliability BK2, and outputs it to the second track reliability determination device 10. In the target distance calculation device 7, the first target estimated position and the second target estimated position calculated by the first tracking filter 3 and the second tracking filter 4 are input, and the target distance R12 is calculated. It is calculated according to “Equation 3” and output to the inter-target distance determination device 8.

[0020]

[Equation 3]

In the inter-target distance determination device 8, the inter-target distance calculated by the inter-target distance calculation device 7 is input, and the possibility of collision due to the approach of two targets is determined according to the condition of "Equation 4". Output to the integrated device 11. In addition,
Here, S1 is a judgment threshold value.

[0022]

[Equation 4]

In the first track reliability determination device 9, the track reliability BK1 of the first target calculated by the first track reliability calculation device 5 is input, and the observed value from the tracking target is in a certain period. The possibility of a collision due to the disappearance of the wake, which has not been obtained for a long time, is judged by the condition of "Equation 5",
It outputs to the determination result integration device 11. Here, S2 is a judgment threshold value.

[0024]

[Equation 5]

Similarly, the second track reliability determination device 10 inputs the second target track reliability BK2 calculated by the second track reliability calculation device 6 and determines the possibility of collision. , To the determination result integration device 11. The determination result integration device 11 integrates the determination results output by the determination devices 8, 9 and 10 based on the probability sum or the probability product, and outputs the integrated result to the display device 12. The display device 12 displays the target collision determination result as the determination result integration device 11
Input more and display. FIG. 5 shows the radar device for observing the target and the positional relationship between the two targets. Example 2

FIG. 2 is a diagram showing a second embodiment of the target collision determination apparatus according to the present invention. In FIG. 2, 1 to 12 are the same as those in the first embodiment. Reference numeral 13 is a first received power information processing apparatus, 14 is a second received power information processing apparatus, 15 is a first received power determination apparatus, and 16 is a second received power determination apparatus.

The operating principle of the target tracking device configured as described above will be described with reference to FIG. The target radar video signal received by the antenna device 1 is input to the target observation device 2, and the distance information, azimuth information, high angle information, Doppler frequency information, and received power information of the first and second targets are observed. The value is calculated. In the first tracking filter 3, the distance R of the first target observed by the target observation device 2
1, input the observation values of azimuth By1 and high angle E1, and click "Number 1".
Estimated position values X1 (n + 1), Y1 in the Cartesian coordinate system
(n + 1) and Z1 (n + 1) are calculated and output to the target distance calculation device 7.

Similarly, the second tracking filter 4 inputs the observation values of the second target distance R2, the azimuth angle By2, and the high angle E2 observed by the target observation device 2, and estimates the position X2 (n +
1), Y2 (n + 1), Z2 (n + 1) are calculated and output to the target distance calculation device 7. In the first received power information processing device 13, the received power P of the first target observed by the target observation device 2
Input 1 and estimate the received power according to "Equation 6" PS1 (n + 1)
Is calculated and output to the first received power determination device 15. Here, αP is a smoothing gain constant. The received power is proportional to the target radar effective reflection area, the square of the wavelength, and the radar gain, and is inversely proportional to the fourth power of the distance from the antenna to the target. Therefore, when the target shape, posture angle, etc. change abruptly, the received power also changes significantly with the change in the target radar effective reflection area.

[0029]

[Equation 6]

Similarly, the second received power information processing unit 14 inputs the second target received power P2 observed by the target observing unit 2 and calculates an estimated value PS2 (n + 1) of the received power,
Output to the second received power determination device 16. The first track reliability calculation device 5 inputs the operation state of the first tracking filter 3, calculates the track reliability BK1 according to "Equation 2", and outputs it to the first track reliability determination device 9.

Similarly, the second track reliability calculation device 6 inputs the operating state of the second tracking filter 4, calculates the track reliability BK2, and outputs it to the second track reliability determination device 10. In the target distance calculation device 7, the first target estimated position and the second target estimated position calculated by the first tracking filter 3 and the second tracking filter 4 are input, and the target distance R12 is calculated. It is calculated according to “Equation 3” and output to the inter-target distance determination device 8.

In the inter-target distance determination device 8, the inter-target distance calculated by the inter-target distance calculation device 7 is input, and the possibility of collision due to the approach of two targets is determined by the condition of "Equation 4", and the determination result Output to the integrated device 11.

In the first track reliability determination device 9, the track reliability BK1 of the first target calculated by the first track reliability calculation device 5 is input, and the observed value from the tracking target is in a certain period. The possibility of a collision due to the disappearance of the wake, which has not been obtained for a long time, is judged by the condition of "Equation 5",
It outputs to the determination result integration device 11.

Similarly, the second track reliability determination device 10 inputs the second target track reliability BK2 calculated by the second track reliability calculation device 6 and determines the possibility of collision. , To the determination result integration device 11. First
In the received power determination device 15 of the above, the estimated value PS1 of the received power for the first target calculated by the first received power information processing device 13 is input, and "variable 7" is calculated from the fluctuation value.
According to the above, the possibility of collision is determined and output to the determination result integration device 11. Here, S4 is a judgment threshold value.

[0035]

[Equation 7]

Similarly, in the second received power determination device 16,
The estimated value PS2 of the received power for the second target calculated by the second received power information processing device 14 is input, the possibility of collision is determined from the fluctuation value, and the result is output to the determination result integration device 11. . The determination result integration device 11 integrates the determination results output by the determination devices 8, 9, 10, 15, and 16 based on the probability sum or probability product, and outputs the integrated result to the display device 12. In the display device 12,
Input the target collision determination result from the determination result integration device 11,
Display. Example 3

FIG. 3 is a diagram showing a third embodiment of the target collision determination apparatus according to the present invention. In FIG. 3, 1 to 12 are the same as in the above embodiment. Reference numeral 17 is a first approach speed calculation device, 18 is a second approach speed calculation device, 19 is a first speed change rate determination device, and 20 is a second speed change rate determination device.

The operating principle of the target tracking device configured as described above will be described with reference to FIG. The antenna device 1
Since the second track reliability calculation device 10 operates in the same manner as in the first embodiment, its operation description is omitted. The first approaching speed calculating device 17 inputs the first target Doppler frequency F1 observed by the target observing device 2, calculates the approaching speed DR1 to the radar device, and outputs it to the first speed change rate determining device 19. To do. Here, λ is the wavelength of the radar transmission wave. It should be noted that when the target motion changes abruptly, the change in the approach speed immediately appears.

[0039]

[Equation 8]

Similarly, the second approaching speed calculating device 18 inputs the second target Doppler frequency F2 observed by the target observing device 2, calculates the approaching speed DR2 to the radar device, and calculates the second speed change rate. Output to the determination device 20. In the first speed change rate determination device 19, the first target approach speed D calculated by the first approach speed calculation device 17 described above.
R1 is input, the possibility of collision is determined according to "Equation 9" based on the rate of change of speed, and output to the determination result integration device 11.
Here, S3 is a determination threshold value, and αDR is a smoothing gain constant.

[0041]

[Equation 9]

Similarly, the second speed change rate determination device 20 inputs the second target approach velocity calculated by the second approach velocity calculation device 18, determines the possibility of collision, and determines the determination result. Output to the integrated device 11. In the determination result integration device 11, each of the determination devices 8, 9, 10, 19,
The determination results output by 20 are integrated based on the probability sum or the probability product, and output to the display device 12.
In the display device 12, the target collision determination result is input from the determination result integration device 11 and displayed. Example 4

FIG. 4 is a diagram showing a fourth embodiment of the target collision determination apparatus according to the present invention. The fourth embodiment shown in FIG. 4 is a combination of the second and third embodiments described above, and the operation thereof is the same as that of the second and third embodiments, but the determination result integration device 11 operates in the 7th embodiment.
The third embodiment is different from the first to third embodiments in that the outputs of the determination devices 8, 9, 10, 15, 16, 19, and 20 are received and the determination results are integrated based on the sum of probabilities or the probability products.

[0044]

Since the present invention is constructed as described above, it has the following effects.

As described above, according to the target collision determination apparatus of the present invention, the distance between the targets calculated based on the target estimated position obtained by tracking the two targets to be subjected to the collision determination It is possible to automatically determine the presence or absence of a collision by detecting the degree of approach and detecting the disappearance state of the track based on the updated state of the tracking process based on the radar observation value. Further, when the fluctuation of the received power is used, the change of the target shape and the attitude angle can be detected, and thus the accuracy of collision determination can be improved. Further, when the change in the Doppler information is used, the change in the approaching speed to the target radar device can be immediately detected, so that the time required for the collision determination process can be shortened.

[Brief description of drawings]

FIG. 1 is a block diagram of a first embodiment of a target collision determination device according to the present invention.

FIG. 2 is a block diagram of a target collision determination device according to a second embodiment of the present invention.

FIG. 3 is a block diagram of a target collision determination device according to a third embodiment of the present invention.

FIG. 4 is a block diagram of a target collision determination device according to a fourth embodiment of the present invention.

FIG. 5 is a conceptual diagram of a positional relationship between a radar device and two targets by the target collision determination device according to the present invention.

FIG. 6 is a block diagram of a target collision determination device according to a conventional technique.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Antenna device 2 Target observation device 3 First tracking filter 4 Second tracking filter 5 First track reliability calculation device 6 Second track reliability calculation device 7 Target distance calculation device 8 Target distance determination device 9 First track reliability determination device 10 Second track reliability determination device 11 Determination result integration device 12 Display device 13 First received power information processing device 14 Second received power information processing device 15 First received power determination Device 16 Second received power determination device 17 First approach speed calculation device 18 Second approach speed calculation device 19 First speed change rate determination device 20 Second speed change rate determination device 21 Input device

Claims (3)

[Claims] 1. A radar device having a function of detecting a plurality of targets, an antenna device for observing the targets by transmitting and receiving radio waves, and distance information, azimuth information, high angle information, etc. for the first target and the second target. Target observation device that calculates the observed value of the first target, a first tracking filter that calculates estimated values of position and velocity from the observed values of distance, azimuth angle, and high angle for the first target; Second to calculate position and velocity estimates from angle and high angle observations
Tracking filter, a first track reliability calculation device that calculates the track reliability for the first target from the operating states of the first tracking filter, and the second tracking filter based on the operating state of the second tracking filter. A second track reliability calculation device for calculating the track reliability for the target, and a distance from the first target to the second target based on the estimated position of the first target and the estimated position of the second target. An inter-target distance calculation device for calculating
An inter-target distance determining device that determines the possibility of collision from the distance from the target to the second target, and a first track reliability determining device that determines the possibility of collision from the track reliability of the first target. A second track reliability determination device that determines the possibility of collision from the second target track reliability, and a determination result integration device that summarizes the determination results for each possibility of collision and outputs the results to a display device. A target collision determination device, comprising: a display device that displays the determination result. 2. A first and second received power information processing device for calculating an estimated value of received power from observed values of received power for the first and second targets obtained by the target observation device, respectively, and And the second received power information processing device outputs, the possibility of collision based on the fluctuation of the estimated received power value, and the determination result output to the determination result integrating device. The target collision determination device according to claim 1, further comprising a received power determination device. 3. A first and second approaching speed calculation device for calculating an estimated value of the approaching speed from the observed values of the first and second Doppler frequencies obtained by the target observing device, respectively.
The outputs of the first and second approach speed calculation devices are respectively input, the possibility of collision is determined from the changes in the approach speeds of the first and second targets, and the determination result is output to the determination result integration device. The target collision determination device according to claim 1 or 2, further comprising: a first and a second velocity change rate determination device for performing the following.