JPH0990027A - Device for discriminating sinuously advancing target - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable a device for identifying sinuously advancing target to accurately identify the sinuous advance of a target to be tracked even when the observation accuracy against the target deteriorates so as to improve the continuously tracking ability of the device by integrating observation residues calculated from predicted values and observed values. SOLUTION: An antenna system 1 radiates a beam in the directed position instructed from a beam controller 10 and, at the same time, receives reflected waves from a target. A target observing device 2 detects the target from received signals and calculates the three-dimensional observed values on a polar coordinate system. A coordinate transforming device 3 transforms the coordinate system of the observed values into a north-based orthogonal coordinate system from the polar coordinate system. An observation residue calculating device 5 calculates observation residues from the observed values and a predicted position outputted from an filter device 6 and a residue integrating device 7 finds an integrated residue value by integrating the observation residues. An integrated value identifying means 8 for sinuous advance identifies whether or not the target sinuously advances from the integrated residue value and the discriminated results of the device 8 are displayed on a sinuously advancing state displaying device 9 as recognizable information. The identification results are also sent to an gain calculating device 4.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a device for automatically determining a target curving state in a tracking radar device.

[0002]

2. Description of the Related Art FIG.
In the configuration shown in FIG. 7, 1 is an antenna device,
2 is a target observation device, 3 is a coordinate conversion device, 5 is an observation residual calculation device, 4 is an αβ gain calculation device, 6 is an αβ filter device, 11 is a residual smoothing device, 18 is a smooth residual determination device, and 9
Is a curving state display device, and 10 is a beam control device.

The target curve progression judging device according to the prior art is constructed as described above, and carries out the following operation.

The antenna device 1 transmits a search beam to the target and outputs the received signal to the target observation device 2. The target observing device 2 performs processing such as amplification on the received signal, compares the amplitudes of the target signal and the noise signal included in the received signal to detect the target, and detects the distance, azimuth information, and high angle. A three-dimensional observation value of information in a polar coordinate system is calculated and output to the coordinate conversion device 3. Coordinate conversion device 3
Then, coordinate conversion is performed according to "Equation 1". Subscript k here
Indicates the number of observations and is a variable at the sampling time kt, where the sampling interval is t. The values of the observed values in the polar coordinate system are the distance Rz (k) and the high angle Ez.
(k) and azimuth Byz (k).

[0005]

[Equation 1]

This is a process for converting an observation value in a polar coordinate system into a north reference Cartesian coordinate system. This is for the purpose of advantageously performing the prediction calculation in the tracking filter, and for the target acceleration, the change amount with respect to the velocity in the Cartesian coordinate system is changed. The coordinate conversion is performed in order to utilize the phenomenon that appears as the curve progression determination process. In “Equation 1”, Z (k) is a three-dimensional observation value in the north reference Cartesian coordinate system, and is a component of x (k), y (k), and z (k). This result is input to the observation residual calculation device 5.
In the observation residual calculation device 5, the difference between the predicted position (xp (k), yp (k), zp (k)) at the sampling time kt and the observed value (ex (k), ey (k), ez (k)). ) Is calculated according to “Equation 2” and output to the αβ filter device 6 and the residual smoothing device 11.

[0007]

[Equation 2]

On the other hand, in the αβ gain calculation device 4,
Based on the sampling number k, the filter gains α (k) and β (k) are calculated according to “Equation 3”. If it is determined that the tracking target is moving forward, the tracking filter gains α (k) and β (k) are set to constants C1 and C2, and the tracking target goes straight. If it is determined that “k” is reset, k is reset from a specific value, and calculation of α (k) and β (k) is restarted.

[0009]

(Equation 3)

The αβ filter device 6 performs smoothing calculation and prediction calculation according to "Equation 4" from the observation residual, the gains of α (k) and β (k), and the predicted value calculated at the previous tracking calculation.

[0011]

[Equation 4]

Where xs (k), ys (k) and zs (k) are smooth positions, dxs (k), dys (k) and dzs (k) are smooth speeds, xp (k) and yp (k). ), Zp (k), xp (k + 1), y
p (k + 1) and zp (k + 1) are predicted positions, dxp (k) and dyp
(k) and dzp (k) are predicted speeds. The predicted position calculated by the αβ filter device 6 is output to the beam control device 10, and after determining the beam pointing direction at the next sampling time, the tracking beam is emitted from the antenna device 1.

Then, the residual smoothing device 11 smoothes the observed residuals according to "Equation 5" and outputs the smoothed residuals to the smoothing residual determination device 18.

[0014]

(Equation 5)

Where As is a constant of residual smoothing, exs
(k), eys (k) and ezs (k) are sampling times k
Is the smoothed residual value at. Note that, here, since the prediction calculation of tracking assumes a uniform linear motion, when the target makes a turning motion, the observation residual changes slightly in a certain direction, and a bias value is generated. However, when a target is observed by the radar, random errors are always generated due to receiver noise and other factors. Therefore, the random error and the bias value are mixed in the observation residual. Therefore, in order to determine the target curve progression based on the observation residual, it is necessary to suppress the random error and detect the bias value. For this reason, the observation residual is smoothed by the residual smoothing device 11, but the prerequisite here is that the magnitude of the radar observation error after smoothing is equal to or less than the bias value associated with the target curving.

Further, the smoothing residual determining device 18 determines the tracking target curving according to "Equation 6" based on the residual smoothing values exs (k), eys (k) and ezs (k).

[0017]

(Equation 6)

Here, δRs1 is a judgment threshold value when a smooth residual is used. Also, | exs (k) |, | eys
(k) | and | ezs (k) | are exs (k) and eys, respectively.
Indicates the absolute value of (k) and ezs (k). When any one of the conditions of "Equation 6" is satisfied, it is determined that the target is curving. Based on the result of this turn-on determination, the turn-on state display device 9 displays the content of "the target is turning". Further, the αβ gain calculation device 4 sets the gain suitable for tracking the curving target on the basis of the result of the curving judgment as described above.

In the conventional device, the track advancing judgment of the tracking target is thus performed.

[0020]

Although the conventional target advancing judgment device performs such an operation, there are some limitations. As a basic policy, the method of detecting the bias value generated between the predicted tracking position assuming a uniform linear motion of the target and the observation position with respect to the target performing the turning motion is widely used. Is. However, here, it is a prerequisite that the magnitude of the random radar observation error after smoothing is equal to or less than the bias value associated with the target turn. In order to perform accurate bend determination with a determination accuracy of 99% or more, the magnitude (standard deviation) of radar observation noise after smoothing assuming a normal distribution is about 1/3 or less of the bias value associated with the target bend. It is necessary to be Therefore, unless the target is observed under favorable conditions, it is not possible to expect accurate turn progress determination. Further, since the smoothing process is a normal first-order filter, if the suppression performance of the random observation error component is improved, the responsiveness of the determination deteriorates.

Next, since the αβ filter is applied to the tracking filter, the precondition that the tracking sampling interval is constant and the size of the observation noise is constant is necessary. If this condition is different, the operation with the optimum setting becomes impossible.

Further, the tracking continuity can be ensured by controlling the values of the tracking filter gains α and β by the progression determination, but in this method, the tracking stability is improved instead of improving the tracking performance. It may deteriorate.

Further, the display of the turning state of the tracking target is a meaningful function for monitoring the motion state of the tracking target,
There are only two types of "target straight ahead" or "target straight ahead", and it may be unclear whether the course is simply corrected or the needle is greatly changed.

It is an object of the present invention to accurately make a turn determination even when the accuracy of observation with respect to a tracking target is deteriorated, improve continuity of the tracking, and clearly display the target turning state.

[0025]

In the first embodiment of the present invention, an antenna device for transmitting and receiving a beam to and from a tracking target and a polar coordinate of distance, azimuth angle information and high angle information for detecting the target from the received signal. A target observation device that calculates a three-dimensional observation value in the system, a coordinate conversion device that converts the coordinate system of the observation values from the target observation device, an αβ gain calculation device that calculates an αβ filter gain for smoothing processing, An observation residual calculation device that calculates an observation residual from the predicted value and the observed value calculated at the previous sampling time, a smooth value is calculated from the observation residual, the predicted value, and the αβ filter gain, and the prediction at the next sampling time Αβ to calculate the value
A filter device, a residual integration device that performs an integration process on the observation residuals for each sampling interval, and calculates a residual integral value,
An integral value curl judgment device for curving judgment from the residual integration value,
It is composed of a curving state display device for displaying the integrated value curving determination result and a beam control device for instructing beam irradiation at the next sampling time.

Further, in the second embodiment of the present invention, an antenna device for transmitting / receiving a beam to / from a tracking target and a three-dimensional polar coordinate system of distance, azimuth angle information and high angle information for detecting the target from the received signal. A target observation device that calculates the observation value, a coordinate conversion device that converts the coordinate system of the observation value from the target observation device, an αβ gain calculation device that calculates the αβ filter gain for smoothing processing, and a calculation at the previous sampling time Observation residual calculation device that calculates an observation residual from the predicted value and the observed value, a smooth value is calculated from the observation residual, the predicted value, and an αβ filter gain, and αβ that calculates the predicted value at the next sampling time A filter device, a residual integration device that integrates the observation residuals for each sampling interval to calculate a residual integral value, and the observation residuals for each sampling interval. A residual smoothing device for smoothing the residual smoothing value to calculate a residual smoothing value, an integral value bending determination device for making a bending judgment from the residual integral value, and a smoothing value for making a bending judgment from the residual smoothing value. Curvature determination device, curl determination result integration device that integrates the two curl determination results, curb status display device that displays the curl determination result, and beam that directs beam irradiation at the next sampling time. It is composed of a control device.

In the third embodiment of the present invention, an antenna device for transmitting / receiving a beam to / from a tracking target and a three-dimensional polar coordinate system of distance, azimuth information and high angle information for detecting the target from the received signal are used. The target observation device that calculates the observed values, the coordinate conversion device that converts the coordinate system of the observation values from the target observation device, the Kalman gain calculation device that calculates the Kalman gain matrix for smoothing processing, and the calculation at the previous sampling time An observation residual calculation device that calculates an observation residual from the predicted value and the observed value, and a smooth value and a smooth error covariance matrix are calculated from the observation residual, the predicted value, and the Kalman gain matrix, and at the next sampling time. Kalman filter device for calculating a prediction value and a prediction error covariance matrix, and residual normalization for normalizing the observation residuals based on the prediction error covariance matrix Position, a residual integration device that integrates the normalized observation residuals for each sampling interval, and calculates a residual integration value; and an integrated value progression determination device that makes a progression determination from the residual integration value. It is configured by a curving state display device for displaying the above-mentioned curving progress judgment result and a beam control device for instructing irradiation of a beam at the next sampling time.

In the fourth embodiment of the present invention, an antenna device for transmitting and receiving a beam to and from a tracking target and a three-dimensional polar coordinate system for distance, azimuth information and high angle information for detecting the target from the received signal are used. The target observation device that calculates the observed values, the coordinate conversion device that converts the coordinate system of the observation values from the target observation device, the Kalman gain calculation device that calculates the Kalman gain matrix for smoothing processing, and the calculation at the previous sampling time An observation residual calculation device that calculates an observation residual from the predicted value and the observed value, and a smooth value and a smooth error covariance matrix are calculated from the observation residual, the predicted value, and the Kalman gain matrix, and at the next sampling time. Kalman filter device for calculating a prediction value and a prediction error covariance matrix, and residual normalization for normalizing the observation residuals based on the prediction error covariance matrix Position, a residual integration device that integrates the normalized observation residuals for each sampling interval, and calculates a residual integration value; and an integrated value progression determination device that makes a progression determination from the residual integration value. , A curving state display device for displaying the curving judgment result, a predicted time control device for changing the tracking sampling interval according to the curving judgment result, and a beam control device for instructing beam irradiation at the next sampling time. To do.

Further, in the fifth embodiment of the present invention, an antenna device for transmitting and receiving a beam to and from a tracking target and a three-dimensional polar coordinate system for distance, azimuth angle information and high angle information for detecting the target from the received signal. The target observation device that calculates the observed values, the coordinate conversion device that converts the coordinate system of the observation values from the target observation device, the Kalman gain calculation device that calculates the Kalman gain matrix for smoothing processing, and the calculation at the previous sampling time An observation residual calculation device that calculates an observation residual from the predicted value and the observed value, and a smooth value and a smooth error covariance matrix are calculated from the observation residual, the predicted value, and the Kalman gain matrix, and at the next sampling time. A Kalman filter device that calculates a prediction value and a prediction error covariance matrix, and a residual normalization that normalizes the observation residual based on the prediction error covariance matrix The device and the residual integration device that integrates the normalized observation residuals for each sampling interval to calculate the residual integration value, and the normalized observation residuals that are smoothed for each sampling interval A residual smoothing device for calculating a smoothed value, an integral value curl determination device for performing curl determination from the residual integrated value, a smooth value curl determination device for performing curl determination from the residual smooth value, It is composed of a music progression judgment result integrating device for integrating two music progression judgment results, a music progression state display device for displaying the music progression judgment result, and a beam control device for instructing irradiation of a beam at the next sampling time.

Further, in the sixth embodiment of the present invention, an antenna device for transmitting / receiving a beam to / from a tracking target and a three-dimensional polar coordinate system of distance, azimuth angle information and high angle information for detecting the target from the received signal. The target observation device that calculates the observed values, the coordinate conversion device that converts the coordinate system of the observation values from the target observation device, the Kalman gain calculation device that calculates the Kalman gain matrix for smoothing processing, and the calculation at the previous sampling time An observation residual calculation device that calculates an observation residual from the predicted value and the observed value, and a smooth value and a smooth error covariance matrix are calculated from the observation residual, the predicted value, and the Kalman gain matrix, and at the next sampling time. A Kalman filter device that calculates a prediction value and a prediction error covariance matrix, and a residual normalization that normalizes the observation residual based on the prediction error covariance matrix The device and the residual integration device that integrates the normalized observation residuals for each sampling interval to calculate the residual integration value, and the normalized observation residuals that are smoothed for each sampling interval A residual smoothing device for calculating a smoothed value, an integral value curl determination device for performing curl determination from the residual integrated value, a smooth value curl determination device for performing curl determination from the residual smooth value, A music progression determination result integrating device that integrates two music progression determination results, a music progression state display device that displays the music progression determination result, and a predicted time control device that changes a tracking sampling interval based on the music progression determination result. A beam control device for instructing irradiation of the beam at the next sampling time.

[0031]

The target curve advancing determination device according to the first embodiment of the present invention is
By performing the addition integration of the observation residual, which is the difference between the target observed value and the predicted value, for each tracking sampling, curving judgment is executed while suppressing a random observation error.

The target turn-on determination apparatus according to the second embodiment of the present invention adds and integrates the observation residual, which is the difference between the target observed value and the predicted value, for each tracking sampling, and at the same time sets the observation residual to 1
Next, smoothing is performed to suppress the random observation error while performing the curve progression determination and identifying the degree of the curve progression.

The target curving decision apparatus according to the third embodiment of the present invention normalizes the observation residual, which is the difference between the target observed value and the predicted value, based on the prediction error covariance matrix, and adds and integrates it for each tracking sampling. Thus, the curving judgment is executed while suppressing the random observation error and suppressing the fluctuation of the radar observation error.

The target curving decision apparatus according to the fourth embodiment of the present invention normalizes the observation residual, which is the difference between the target observed value and the predicted value, based on the prediction error covariance matrix, and adds and integrates it for each tracking sampling. Thus, the curving judgment is executed while suppressing the random observation error and suppressing the fluctuation of the radar observation error. Further, the sampling interval of the Kalman filter is adjusted based on the result of the music progression judgment.

In the target curve advancing determination apparatus according to the fifth embodiment of the present invention, the observation residual, which is the difference between the target observed value and the predicted value, is normalized on the basis of the prediction error covariance matrix and added and integrated for each tracking sampling. At the same time, the observation residual is linearly smoothed to suppress the random observation error and suppress the fluctuation of the radar observation error to perform the curve progression determination and identify the degree of the curve progression.

The target curving decision apparatus according to the sixth embodiment of the present invention normalizes the observation residual, which is the difference between the target observed value and the predicted value, based on the prediction error covariance matrix, and adds and integrates it for each tracking sampling. At the same time, the observation residual is linearly smoothed to suppress the random observation error and suppress the fluctuation of the radar observation error to perform the curve progression determination and identify the degree of the curve progression. Further, the sampling interval of the Kalman filter is adjusted based on the result of the music progression judgment.

[0037]

【Example】

First Embodiment FIG. 1 is a block diagram showing a first embodiment of the present invention, in which 1 is an antenna device, 2 is a target observation device, 3 is a coordinate conversion device, 4 is an αβ gain calculation device, and 5 is an observation residual. Calculation device, 6 is an αβ filter device, 7 is a residual integration device, and 8
Is an integrated value curl decision device, 9 is a curving state display device, and 10 is a beam control device.

The operation principle of the target curving judgment apparatus constructed as described above will be described with reference to FIG. The antenna device 1 irradiates the beam to the beam pointing position designated by the beam control device 10 and at the same time receives the radio wave reflected at the target and sends the received signal to the target observation device 2. The target observing device 2 detects a target from the received signal and detects a distance,
Three-dimensional observation values of the azimuth angle information and the high angle information in the polar coordinate system are calculated and sent to the coordinate conversion device 3. The coordinate transformation device 3 is "Equation 1"
Is used to transform the coordinate system of the observed values from the polar coordinate system to the north reference Cartesian coordinate system. Next, the observation residual calculation device 5 calculates the observation residual using the observed value of the north reference Cartesian coordinate system output by the coordinate conversion device 3 and the predicted position output by the αβ filter device 6 using “Equation 2”, Transfer to the difference integration device 7. Residual integrator 7
Calculates the residual integral value using "Equation 7" from the observed residual.

[0039]

(Equation 7)

Here, Dx (k), Dy (k), Dz (k),
Dx (k-1), Dy (k-1), Dz (k-1) are residual integral values, B
Indicates the constant of residual integration. Next, the integrated value curving determination device 8 determines whether or not the target is curving by using "Equation 8" from the residual integral value. If any of "Equation 8" is satisfied, it is determined that "the target is moving forward", and if it is not satisfied, it is determined that "the target is traveling straight."

[0041]

(Equation 8)

Where | Dx (k) |, | Dy (k) |, |
Dz (k) | indicates the absolute values of Dx (k), Dy (k), and Dz (k), respectively, and S1 indicates the threshold value for determination. The music progression determination result is displayed on the music progression state display device 9 as information that can be recognized by a person. Further, as in the case of the conventional apparatus, the result of the turn-up determination is used by the αβ gain calculation device 4, and the result of the turn-up determination is also sent to the αβ gain calculation device 4. αβ
The operations of the gain calculation device 4 and the αβ filter device 6 are the same as those of the conventional device.

Embodiment 2 FIG. 2 is a block diagram showing Embodiment 2 of the present invention. In the figure, 1 is an antenna device, 2 is a target observation device, 3 is a coordinate conversion device, 4 is an αβ gain calculation device, and 5 is Observation residual calculation device, 6 is an αβ filter device, 7 is a residual integration device, 8
Is an integrated value curl judgment device, 9 is a curving state display device, 10 is a beam control device, 11 is a residual smoothing device, 12 is a smooth value curl judgment device, and 13 is a curl judgment result integrating device.

The principle of operation of the target curve advancing determination device configured as described above will be described with reference to FIG. The operation of the same device as that of the first embodiment is the same, and will not be described here. The residual smoothing device 11 calculates a residual smoothing value according to "Equation 5" based on the observed residual output from the observed residual calculating device 5. Based on the above-mentioned residual smoothing value, the smoothed value curving decision device 12 judges the target degree of curving by using "Equation 9".

[0045]

[Equation 9]

Here, S2 indicates a threshold value for determination.
When either of the "expressions 9" is satisfied, it is determined that "the target is making a large turn", and when not satisfied, it is determined that "the target is making a small turn". Although the threshold value is set to one of S2 here, it is also possible to determine the degree of curving in detail by setting a plurality of threshold values.

Next, the music progression judgment result integration device 13 uses the music progression judgment results output from the integral value music progression judgment device 8 and the smooth value music progression judgment device 12 to newly create a music progression judgment result, It is sent to the status display device 9 and also to the αβ gain calculation device 4. If the result of the curve progression determination calculated by the integral value curve progression determination device 8 is that the target is “straight ahead”, the determination result is sent to the target state display device 9 and the αβ gain calculation device 4. If the result of the music progression determination calculated by the integral value music progression determination device 8 is the result that the target is “curved,” the smoothness music progression determination device 12 outputs the music progression determination result. , "Target is moving forward" and "target degree of curving" are sent to the target state display device 9 and the αβ gain calculation device 4.

The subsequent operation is similar to that of the first embodiment, but the curving state display device 9 displays the "target degree of curving". Further, the αβ gain calculation device 4 changes the gain according to the “target degree of curve progression”.

Embodiment 3 FIG. 3 is a block diagram showing Embodiment 3 of the present invention, in which 1 is an antenna device, 2 is a target observation device, 3 is a coordinate conversion device, 5 is an observation residual calculation device, and 7 Is a residual integration device, 8 is an integrated value curl judgment device, 9 is a curving state display device,
Reference numeral 10 is a beam control device, 14 is a Kalman gain calculation device, 15 is a Kalman filter device, and 16 is a residual normalization device.

The principle of operation of the target curving judgment apparatus constructed as above will be described with reference to FIG. The operation of the same device as that of the first embodiment is the same, and will not be described here. Further, the Kalman gain calculation device 14 and the Kalman filter device 15 are generally widely known Kalman filters, and therefore description thereof is omitted here. The residual normalization device 16 normalizes the observation residual output by the observation residual calculation device 5 by the variance value estimated using the prediction error covariance matrix output by the Kalman filter device 15. The normalization is performed according to the mathematical formula shown in "Equation 10".

[0051]

(Equation 10)

Where exd (k), eyd (k), ezd
(k) is the normalized observation residual, S11, S22, S33
Is the reciprocal of the estimated deviation of each component in the north reference Cartesian coordinate system.
The above S11, S22 and S33 are part of the matrix shown in "Equation 11".

[0053]

[Equation 11]

Here, S (k) is calculated by "Equation 12".

[0055]

(Equation 12)

Here, S (k) ^-1 is the inverse matrix of S (k), P1
1 (k) is the prediction error covariance matrix, and Γ (k) is the observation noise matrix. The observation noise matrix is obtained by converting the observation noise parameter indicating the magnitude of the target observation error by the radar into the north reference Cartesian coordinate system of the target motion system. The normalized observation residual is sent to the residual integrator 7. The operation of the residual integrator 7, the integrated value curving decision device 8 and the curving state display device 9 is the first embodiment.
The device is the same as that of.

Fourth Embodiment FIG. 4 is a block diagram showing a fourth embodiment of the present invention. In the figure, 1 is an antenna device, 2 is a target observation device, 3 is a coordinate conversion device, 5 is an observation residual calculation device, 7 Is a residual integration device, 8 is an integrated value curl judgment device, 9 is a curving state display device,
Reference numeral 10 is a beam control device, 14 is a Kalman gain calculation device, 15 is a Kalman filter device, 16 is a residual normalization device, and 17 is a predicted time control device.

The principle of operation of the target curving judgment device constructed as described above will be described with reference to FIG. The target turn determination device of FIG. 4 is obtained by adding a predicted time control device 17 to the target turn determination device of the third embodiment, and devices other than the Kalman filter device 15 and the predicted time control device 17 are the third embodiment.
Since it operates in the same manner as, it will not be described here. The predicted time control device 17 is a device for instructing to change the sampling interval of the Kalman filter device 15 in accordance with the curve progression determination result obtained from the integrated value curve progression determination device 8. Generally, when the target is moving straight, the sampling interval is shorter than when the target is moving straight. For example, when the target is moving straight, it is instructed to sample every 1 second.
If the target is curving, it is instructed to sample every 0.5 seconds. The Kalman filter device 15, which has received the above instruction, performs the prediction process at the sampling interval of the above instruction and calculates the predicted position. The predicted position is sent to the beam controller 10 and the beam is emitted by the antenna device 1.

Fifth Embodiment FIG. 5 is a block diagram showing a fifth embodiment of the present invention. In the figure, 1 is an antenna device, 2 is a target observation device, 3 is a coordinate conversion device, 5 is an observation residual calculation device, 7 Is a residual integration device, 8 is an integrated value curl judgment device, 9 is a curving state display device,
Reference numeral 10 is a beam control device, 11 is a residual smoothing device, 12 is a smooth value curl decision device, 13 is a curl decision result integrating device, 14
Is a Kalman gain calculation device, 15 is a Kalman filter device, and 16 is a residual normalization device.

The principle of operation of the target curving judgment apparatus constructed as described above will be described with reference to FIG. The target curl judgment device used in FIG. 5 is the same as the target curl judgment device of the third embodiment except that the residual smoothing device 11, smooth value curl judgment device 12 and curl judgment result used in the second embodiment are used. This is a target turn determination device with the addition of the integration device 13, and the operation of each device is the same as in the second and third embodiments. By normalizing the observation residual with the variance value estimated by the residual normalization device 16, the influence of the radar observation error included in the observation residual is minimized, and the normalized observation residual is integrated with the residual. It is used in the device 7 and the residual smoothing device 11.

Sixth Embodiment FIG. 6 is a block diagram showing a sixth embodiment of the present invention. In the figure, 1 is an antenna device, 2 is a target observation device, 3 is a coordinate conversion device, 5 is an observation residual calculation device, 7 Is a residual integration device, 8 is an integrated value curl judgment device, 9 is a curving state display device,
Reference numeral 10 is a beam control device, 11 is a residual smoothing device, 12 is a smooth value curl decision device, 13 is a curl decision result integrating device, 14
Is a Kalman gain calculation device, 15 is a Kalman filter device, 16 is a residual normalization device, and 17 is a predicted time control device.

The principle of operation of the target curving judgment device constructed as described above will be described with reference to FIG. The target turn determination device used in FIG. 6 is the target turn determination device used in the fifth embodiment with the predicted time control device 17 used in the fourth embodiment added. While performing the operation of 5, the sampling time of the Kalman filter is changed by the prediction time control device 17 described in the fourth embodiment according to the music progression determination result created by the music progression determination result integration device 13.

[0063]

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

The target curving judgment apparatus according to the first embodiment of the present invention adds the observation residual, which is the difference between the target observed value and the predicted value, for each tracking sampling, thereby suppressing the random observation error while suppressing the target. The function of amplifying the bias value due to bending allows accurate bending judgment even when tracking a target whose radar observation error is increasing.
The gain of the filter can be calculated accurately.

The target curve advancing determination apparatus according to the second embodiment of the present invention adds and integrates the observation residual, which is the difference between the target observed value and the predicted value, for each tracking sampling, and at the same time sets the observed residual to 1
By smoothing next time, the function of amplifying the bias value due to target curving while suppressing random observation error enables accurate curving judgment even when tracking a target with increased radar observation error. The degree of curving can be identified, and the gain of the αβ filter can be set for each target degree of curving and can be accurately executed.

The target curving decision apparatus according to the third embodiment of the present invention normalizes the observation residual, which is the difference between the target observed value and the predicted value, based on the prediction error covariance matrix, and adds and integrates it for each tracking sampling. This allows accurate tracking even when tracking a target whose radar observation error is increasing or a target whose radar observation error is changing significantly by the function of amplifying the bias value due to target curving while suppressing random observation error. It is possible to judge the progression.

The target curving decision apparatus according to the fourth embodiment of the present invention normalizes the observation residual, which is the difference between the target observed value and the predicted value, based on the prediction error covariance matrix, and adds and integrates it for each tracking sampling. This allows accurate tracking even when tracking a target whose radar observation error is increasing or a target whose radar observation error is changing significantly by the function of amplifying the bias value due to target curving while suppressing random observation error. It is possible to judge the progression. In addition, tracking accuracy can be improved by shortening the sampling interval of the Kalman filter when moving forward.

The target curving decision apparatus according to the fifth embodiment of the present invention normalizes the observation residual, which is the difference between the target observed value and the predicted value, based on the prediction error covariance matrix, and adds and integrates it for each tracking sampling. At the same time, the radar observation error is increasing due to the function of amplifying the bias value due to the target curving while suppressing the random observation error by linearly smoothing the observation residual. Even when the target being tracked is tracked, it is possible to accurately perform the turn progress determination and identify the degree of the turn progress.

In the target curve advancing determination apparatus according to the sixth embodiment of the present invention, the observation residual, which is the difference between the target observed value and the predicted value, is normalized based on the prediction error covariance matrix and added and integrated for each tracking sampling. At the same time, the radar observation error is increasing due to the function of amplifying the bias value due to the target curving while suppressing the random observation error by linearly smoothing the observation residual. Even when the target being tracked is tracked, it is possible to accurately perform the turn progress determination and identify the degree of the turn progress. In addition, tracking accuracy can be improved by shortening the sampling interval of the Kalman filter when moving forward.

[Brief description of drawings]

FIG. 1 is a block diagram showing a first embodiment of a target curve progression judging device according to the present invention.

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

FIG. 3 is a block diagram showing a third embodiment of the target curve progression judging device according to the present invention.

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

FIG. 5 is a block diagram showing a fifth embodiment of the target curve progression judging device according to the present invention.

FIG. 6 is a block diagram showing a sixth embodiment of the target curve progression judging device according to the present invention.

FIG. 7 is a block diagram showing a target curving progress determination device according to a conventional technique.

[Explanation of symbols]

 1 Antenna Device 2 Target Observing Device 3 Coordinate Transforming Device 4 αβ Gain Calculating Device 5 Observation Residual Calculating Device 6 αβ Filter Device 7 Residual Integrating Device 8 Integral Value Progression Judgment Device 9 Curvature Progression Display Device 10 Beam Control Device 11 Residual Device Difference smoothing device 12 Smoothing value curl determination device 13 Curvature determination result integration device 14 Kalman gain calculation device 15 Kalman filter device 16 Residual normalization device 17 Prediction time control device 18 Smooth residual judgment device

Claims (6)

[Claims] 1. A radar device for tracking an anti-aircraft target, comprising: an antenna device for transmitting and receiving a beam to and from a tracking target; and a polar coordinate system of distance, azimuth angle information, and high angle information for detecting a target from a received signal. A target observation device that calculates a three-dimensional observation value, a coordinate conversion device that converts the coordinate system of the observation values from the target observation device, an αβ gain calculation device that calculates an αβ filter gain for smoothing processing, and a previous sampling time. In the observation residual calculation device that calculates the observation residual from the predicted value and the observed value calculated in, the smoothed value is calculated from the observation residual, the predicted value, and the αβ filter gain, and the predicted value at the next sampling time is calculated. Αβ
A filter device, a residual integration device that performs an integration process on the observation residuals for each sampling interval, and calculates a residual integral value,
An integral value curl judgment device for curving judgment from the residual integration value,
A target curving decision device comprising: a curving state display device for displaying the integrated value curl determination result and a beam control device for instructing irradiation of a beam at the next sampling time. 2. A radar device for tracking an anti-aircraft target, comprising an antenna device for transmitting and receiving a beam to and from a tracking target, and a polar coordinate system for distance, azimuth angle information and high angle information for detecting a target from a received signal. A target observation device that calculates a three-dimensional observation value, a coordinate conversion device that converts the coordinate system of the observation values from the target observation device, an αβ gain calculation device that calculates an αβ filter gain for smoothing processing, and a previous sampling time. In the observation residual calculation device that calculates the observation residual from the predicted value and the observed value calculated in, the smoothed value is calculated from the observation residual, the predicted value, and the αβ filter gain, and the predicted value at the next sampling time is calculated. Αβ
A filter device, a residual integration device that performs an integration process on the observation residuals for each sampling interval, and calculates a residual integral value,
A smoothing process is performed on the observed residual for each sampling interval, a residual smoothing device that calculates a residual smoothing value, an integral value curl determination device that determines curl from the residual integral value, and the residual smoothing value. Smoothing value music progression judgment device for performing music progression judgment, music progression judgment result integrating device for integrating the two music progression judgment results, music progression status display device for displaying the music progression judgment result, and next sampling time And a target curving decision device, comprising a beam control device for instructing irradiation of the beam. 3. A radar device for tracking an anti-aircraft target, comprising: an antenna device for transmitting / receiving a beam to / from the tracking target; and a polar coordinate system for distance, azimuth angle information and high angle information for detecting a target from a received signal. A target observation device that calculates a three-dimensional observation value, a coordinate conversion device that converts the coordinate system of observation values from the target observation device, a Kalman gain calculation device that calculates a Kalman gain matrix for smoothing processing, and a previous sampling time. In the observation residual calculation device for calculating the observation residual from the predicted value and the observed value calculated in, the smoothed value and the smooth error covariance matrix are calculated from the observed residual, the predicted value, and the Kalman gain matrix, and the next sampling is performed. A Kalman filter device that calculates a prediction value and a prediction error covariance matrix at time, and a residual that normalizes the observation residual based on the prediction error covariance matrix. A difference normalizer, a residual integrator that integrates the normalized observation residuals at each sampling interval to calculate a residual integral value, and an integral value that makes a bending decision from the residual integral value. A target curving judgment device, comprising: a judging device; a curving progress display device for displaying the curving judgment result; and a beam control device for instructing irradiation of a beam at the next sampling time. 4. A radar device for tracking an anti-aircraft target, an antenna device for transmitting / receiving a beam to / from a tracking target, and a polar coordinate system for distance, azimuth angle information and high angle information for detecting a target from a received signal. A target observation device that calculates a three-dimensional observation value, a coordinate conversion device that converts the coordinate system of observation values from the target observation device, a Kalman gain calculation device that calculates a Kalman gain matrix for smoothing processing, and a previous sampling time. In the observation residual calculation device for calculating the observation residual from the predicted value and the observed value calculated in, the smoothed value and the smooth error covariance matrix are calculated from the observed residual, the predicted value, and the Kalman gain matrix, and the next sampling is performed. A Kalman filter device that calculates a prediction value and a prediction error covariance matrix at time, and a residual that normalizes the observation residual based on the prediction error covariance matrix. A difference normalizer, a residual integrator that integrates the normalized observation residuals at each sampling interval to calculate a residual integral value, and an integral value that makes a bending decision from the residual integral value. A determination device, a curving state display device for displaying the curving determination result, a predicted time control device for changing the tracking sampling interval according to the curving determination result,
A target curve progression judging device comprising a beam control device for instructing irradiation of a beam at a next sampling time. 5. A radar device for tracking an air-to-air target, comprising: an antenna device for transmitting and receiving a beam to and from a tracking target; and a polar coordinate system for distance, azimuth angle information and high angle information for detecting a target from a received signal. A target observation device that calculates a three-dimensional observation value, a coordinate conversion device that converts the coordinate system of observation values from the target observation device, a Kalman gain calculation device that calculates a Kalman gain matrix for smoothing processing, and a previous sampling time. In the observation residual calculation device for calculating the observation residual from the predicted value and the observed value calculated in, the smoothed value and the smooth error covariance matrix are calculated from the observed residual, the predicted value, and the Kalman gain matrix, and the next sampling is performed. A Kalman filter device that calculates a prediction value and a prediction error covariance matrix at time, and a residual that normalizes the observation residual based on the prediction error covariance matrix. A difference normalizer, a normalized observation residual is integrated for each sampling interval, a residual integrator that calculates a residual integral value, and a normalized observation residual is smoothed for each sampling interval. , A residual smoothing device for calculating a residual smoothing value, an integral value curl determination device for performing a curl judgment based on the residual integral value, and a smooth value curl determination device for performing a curl judgment based on the residual smooth value A turn-up determination result integrating device that integrates the two turn-up determination results, a turn-up state display device that displays the turn-up determination result, and a beam controller that directs beam irradiation at the next sampling time. A target turn progress determination device characterized in that 6. A radar device for tracking an anti-aircraft target, an antenna device for transmitting / receiving a beam to / from a tracking target, and a polar coordinate system for distance, azimuth angle information and high angle information for detecting a target from a received signal. A target observation device that calculates a three-dimensional observation value, a coordinate conversion device that converts the coordinate system of observation values from the target observation device, a Kalman gain calculation device that calculates a Kalman gain matrix for smoothing processing, and a previous sampling time. In the observation residual calculation device for calculating the observation residual from the predicted value and the observed value calculated in, the smoothed value and the smooth error covariance matrix are calculated from the observed residual, the predicted value, and the Kalman gain matrix, and the next sampling is performed. A Kalman filter device that calculates a prediction value and a prediction error covariance matrix at time, and a residual that normalizes the observation residual based on the prediction error covariance matrix. A difference normalizer, a normalized observation residual is integrated for each sampling interval, a residual integrator that calculates a residual integral value, and a normalized observation residual is smoothed for each sampling interval. , A residual smoothing device for calculating a residual smoothing value, an integral value curl determination device for performing a curl judgment based on the residual integral value, and a smooth value curl determination device for performing a curl judgment based on the residual smooth value And a music progression determination result integrating device that integrates the two music progression determination results, a music progression state display device that displays the music progression determination result, and a predicted time control that changes a tracking sampling interval based on the music progression determination result. A target curve progression judging device comprising: a device and a beam control device for instructing irradiation of a beam at a next sampling time.