JPH10300836A - Target track monitoring device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately seize a navigated target track monitored by a target monitoring device and perform accurate target transfer to other equipment. SOLUTION: For target information processor 1, target track precision rank judging means 15 are used to perform observation precision ranking for an observed target track from plural target tracking means 2, 3, the target track precision rank judging means 15 using an angle formed between the well precise direction of the target tracking means 2, 3 and a target navigating direction during ranking. Observed track correcting means 13, 14 combine the ranked target tracks, feedback them to the target tracking means 2, 3 and correct the natural deviation of the target tracking means 2, 3.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for creating an integrated target track map from target observation information from a plurality of target tracking means and monitoring the navigation of the target.

[0002]

2. Description of the Related Art Generally, in order to accurately monitor a target navigation state, a plurality of tracking means are used to observe individual targets.
It has been shown that it is effective to collect and process a large amount of observation information in a unified manner. In other words, it has been desired to reduce the influence by observing an error unique to each target tracking means with a plurality of target tracking means.

Conventionally, in response to such a demand,
A target track monitoring device as shown in FIG. 15 has been proposed. FIG. 15 is an overall block diagram of the target monitoring device;
In the figure, reference numeral 1 denotes a target information processing device, 2 denotes a target tracking device A which is one of a plurality of target tracking devices, and 3 denotes a target tracking device B which is another one of the plurality of target tracking devices. Reference numeral 4 denotes a component of the target tracking device A2 and a sensor A for detecting a target. Reference numeral 5 denotes a component of the target tracking device A2 and a sensor A4.
This is a sensor observation track creation device A that creates a track of the target detected by the above. Reference numeral 6 denotes a component of the target tracking device B3, which is a sensor B for detecting a target. Reference numeral 6 denotes a component of the target tracking device B, which is a sensor observation track generation device for generating a track of the target detected by the sensor B6. Reference numeral 8 denotes a track synthesis device for synthesizing observation tracks from a plurality of target tracking devices, and reference numeral 9 denotes a target track map creation device for totalizing and displaying the synthesis results of the tracks.

Next, the conventional operation will be described. Tracking target P1
The sensor A4 that has observed 1 continuously tracks the tracking target P11, and generates a target track including the target current position, speed, and future position by the sensor observation track generation device A5. Similarly, the sensor B6 that observes the tracking target P11 continuously tracks the tracking target P11, and the sensor observation wake creating device B7
Then, a target track including the target current position, speed, and future position is generated. When the target information processing device 1 simultaneously receives the target track from the target tracking device A2 and the target track from the target tracking device B3, the two tracks are compared, and when it is determined that both have the same target, The track synthesizer 8 calculates the intermediate point between the target track coordinates from the target tracker A2 and the target track coordinates from the target tracker B3 as the combined track coordinates, and the target track map creator 9 calculates the time history of the combined track coordinates. It was created as a target track map on the map, and transmitted to the track map destination 10 such as anti-aircraft weapons.

[0005]

As described above, the conventional target monitoring apparatus preferentially utilizes better precision information in order to randomly combine all the target tracks from a plurality of target tracking means. I didn't do anything. In addition, even if it is estimated that a specific error is superimposed on each target tracking means by synthesizing a plurality of tracks and obtaining a synthesized target track with better accuracy, the error is corrected. Did not.

The present invention has been made in order to solve such a problem, and selects a wake from a highly accurate target tracking means for each target from among a plurality of target tracks from a plurality of target tracking means. By performing the processing, a highly accurate target track map can be created. In addition, by comparing the synthesized target track with each target tracking means and correcting errors inherent in each target tracking means, the accuracy of the target track from each target tracking means is improved, and a highly accurate target track map is obtained. Therefore, it is an object of the present invention to obtain a target track monitoring device capable of monitoring a target track with higher accuracy.

[0007]

According to a first aspect of the present invention, there is provided a target trajectory monitoring apparatus, comprising: an accuracy ranking determining apparatus; An observation track correction device for correcting the observation track by feeding back a target track map, which is a total of the results, to each target tracking means.

Further, the target track monitoring device according to the second aspect of the present invention, as an accuracy order determination device, determines the order of accuracy between the target tracks generated by the plurality of target tracking means, and the direction in which the target tracking direction and the observation accuracy of the target tracking means are good. Is determined on the basis of the angle formed by.

The target track monitoring device according to the third aspect of the present invention, as an observation track correction device, separates the difference vector between the combined track and the observation track on the target track map in the angular direction and the -distance direction, and selects correction information. Then, an appropriate correction amount is obtained.

[0010]

BEST MODE FOR CARRYING OUT THE INVENTION

Embodiment 1 FIG. FIG. 1 is an overall block diagram showing Embodiment 1 of the present invention. In FIG. 1, 1 is a target information processing device, 2 is a target tracking device A which is one of a plurality of target tracking devices, and 3 is a plurality of target tracking devices. Target tracking devices B and 4, which are other tracking devices, are sensors A for detecting a tracking target, and use a radar here. Reference numeral 5 denotes a sensor observation track creation device A for creating a track of a target detected by the sensor A4, and reference numeral 6 denotes a sensor B for detecting a tracking target. Here, a TV tracker device is used. Reference numeral 7 denotes a sensor observation track generation device B for generating a target track detected by the sensor B6, reference numeral 8 denotes a track synthesis device for combining a plurality of target tracks ranked by the target track accuracy ranking determination device 15, and reference numeral 9 denotes a synthesized track. A target trajectory map creator that stores and manages a plurality of target trajectories with respect to a target over a certain period of time. An observation track correction device that processes each of the tracking target P11, the tracking target Q12, and the tracking target S20. Reference numeral 14 denotes a synthetic track on the target track map from the target track map generation device 9 and an observation target track from the sensor observation track generation device B7. An observation track correction device of the same type as the observation track correction device 13 to be processed, and 15 is the same target transmitted from both the target tracking device A2 and the target tracking device B3. A target track accuracy level determination unit determines the quality of the accuracy between track of.

FIG. 2 is a conceptual diagram of the operation of the target track monitoring device used in the first embodiment of FIG. In the first embodiment, the tracking target 11 is an aircraft, the target tracking device 2 is a radar,
A TV tracker is used as the target tracking device 3 and an anti-aircraft firearm is used as the wake map destination 10. Each of the target tracking devices 3 is connected by a wired or wireless communication device, and tracking is performed using the radar 2 and the TV tracker 3. The observation trajectory of the target P11 is transmitted to the target information processing device 1 to be combined into one composite trajectory, and then transmitted to the anti-aircraft weapon that is the destination of the wake map, the radar 2 and the TV tracker 3. The radar 2 and the TV tracker 3 use the received combined track to correct the observation track and transmit the observation track to the target information processing device again.

Next, the overall operation in the present embodiment is performed based on steps S1 to S18 in FIGS. The search operation is repeated until the tracking target P11 is captured by the radar 2 (steps S1 and S2). The tracking target P11 captured by the radar 2 is tracked by the sensor observation track generation device 5 to generate a track (step S3). Similarly, in the TV tracker 3, the tracking target P1
1 is searched in step S4, and the TV is searched in step S5.
The track is captured by the tracker B3, and in step S6, tracking calculation is performed by the sensor observation track generation device 7 to generate a track. Next, an observation wake correction device A13 composed of a microprocessor
Then, it is determined in step S7 whether or not the target track map tracking target P11 from the target track map creation device 9 of the target information processing device 1 exists. Similarly, the observation track correction device A13, which is a microprocessor of the TV tracker 3, determines the existence of the tracking target P11 on the target track map (step S10). When the tracking target P11 is observed for the first time, the combined track of the tracking target P11 does not exist on the target track map, and the error correction is not performed. Therefore, the tracking target P11 is sent from the target tracking devices 2 and 3 to the target information processing apparatus 1. Are transmitted (steps S9 and S12). The target information processing device 1 receives the target wake of the tracking target P11 from the radar A2 and the TV tracker B3 (Step S1).
3). In step S14, the order of accuracy between the received tracks of the radar A2 and the tracks of the TV tracker B3 is determined. In step S15, a weighted average value of the track coordinates is calculated using the result of the accuracy rank determination determined in step S14, and the tracks are combined (step S15). Step S
At 16, the difference between the position coordinates of the destination track monitoring device and the destination of the track map destination such as an anti-aircraft weapon is corrected. In step S17, the amount of the past deviation corrected in steps S8 and S11 is determined. In step S18, the target wake coordinates are transmitted to the anti-aircraft weapon.

Next, processing in the target information processing apparatus 1 will be described. The target track accuracy rank determining process in step S14 in FIG. 5 is performed by the target track accuracy rank determining device 15 including a microprocessor or the like in the target information processing device 1. FIG. 8 shows a flowchart stored in the microprocessor for executing step S14. FIG. 9 is an example in which the processing content is output to the image display device in the target information processing device 1. The target inter-track trajectory accuracy ranking determination device 15 determines the trajectory 24 of the tracking target P11 in the radar A2 and the Track 2 of tracking target P11
5 is a diagram showing a state in which tracks of the track No. 5 are combined and a combined track 26 of a tracking target P11 estimated to be closer to the true value is displayed. FIG. FIG. 6 and FIG. 7 are diagrams showing the relationship between the target navigation track used for the determination of the accuracy ranking between target tracks and the direction in which the target tracking device accuracy is good. In FIG. 6, since the accuracy of the radar A2 is good in the direction along the boresight line 16 of the radar, that is, in the distance direction, the angle φAP17 between the radar boresight line 16 of the radar A2 and the velocity vector direction of the tracking target P11. Is an index for accuracy determination. On the other hand, in FIG. 7, the direction 23 in which the observation accuracy is good for the TV tracker B3 is
Since it is orthogonal to the TV tracker B boresight line 19, the TV
Angle φBP21 between tracker B boresight lines 19 and 23
Instead, the angle ψBP22 obtained by subtracting the angle ＢBP21 formed by π / 2 is an index for accuracy determination. Next, FIG. 1 shows the contents of the angles formed by the accuracy determination indices described in step S23 of FIG.
0. Paying attention to the column for the tracking target P11 in this table, as a result of comparing φAP17 and ψBP22,
Since AP17 is smaller, φAP17 is described higher. Hereinafter, if there is another tracking device, the comparison is performed in the same manner, and the third and lower rankings are determined. Next, the arithmetic processing in the track synthesis device 8 of FIG. 1 will be described. Since the tracking targets P11 sorted as shown in FIG. 10 are two tracking devices here, the tracking information of the observation angle θ and the observation distance R by the two tracking devices A and B is weighted and averaged according to the following equation. Track 2 of tracking target P11 in FIG.
The angle θ _TP and the distance R _TP of _No. 6 are calculated.

[0014]

(Equation 1)

[0015]

(Equation 2)

In the equation, θ _TP is the observation angle of the synthetic wake 26, θ _PA is the observation angle of the tracking target P11 with the radar A2 with respect to the wake 24, and θ _PB is the observation angle of the tracking target P11 with the TV tracker B3 with respect to the wake 24. Angle, _RTP is synthetic track 2
6 observation distance, R _PA observation distance to track 24 of the tracking target P11 of the radar A2, observation distance for the track 24 of the tracking target P11 in R _PB the TV tracker B3. Also,
If there is another tracking target such as the tracking target Q12 and the tracking target R20, a combined track is similarly calculated using the sorting result and the accuracy ranking in FIG. Further, the target track map creating device 9 of FIG. 1 manages all target maps subjected to the synthetic track processing. As shown in step S24 of FIG. 8, when the accuracy of these targets satisfies the required standards, the loop of the synthesis process of the target wake is ended, and the target wake map is transmitted to the anti-aircraft weapon. The accuracy criterion here is, as shown in the following equation,
It is based on the fact that the average of the variations of the past three observations is lower than the average of the variations of the past ten observations.

[0017]

(Equation 3)

Next, with regard to the observation track correction device which is a subsystem of the target track monitoring device shown in FIG. 1, an operation example of the observation track correction device 13 of the target tracking device A will be described with reference to FIGS. , And the processing block diagrams of FIG. 1 and FIG. Further, the observation track correction device 14 of the target tracking device B operates according to the same operation principle. First, in the process of step S26 in FIG. 11, the operator of the target tracking device inputs the observation track of the target tracking device and the combined track of the target information processing device 1 to the determination threshold value input device 38 of the observation track correction device of FIG. Are input as kc and θc, which are the threshold values of the deviation amount of. Determination threshold input device 3 here
Reference numeral 8 may be a keyboard input device, a punch card input device, or the like. Next, as shown in FIG. 14, the difference between the observation track of the tracking target P11 by the target tracking device A and the combined track of the tracking target P11 by the target information processing device 1 is a vector by a difference vector detection device 37 composed of a microprocessor. V
Detect _P. On this occasion,

[0019]

(Equation 4)

Using the transformation matrix formula according to the following formula, the deviation of the observation distance error and the observation angle error is detected by the scalar multiple K _xi , and the observation angle error is detected by the rotation angle θ _xi of the rotation matrix. The wake 24 of the tracking target P11 in the radar A2 and the wake 24 of the tracking target P11 in the TV tracker B3 are detected as follows using the above transformation matrix formula.

[0021]

(Equation 5)

[0022]

(Equation 6)

Here, AP is the track 24 of the tracking target P11 in the radar A2 before conversion, and AP _Z is the radar A2 after conversion.
Track 24, the tracking target P11 at K _TP observation distance error,
R (θ _TP ) is a rotation matrix of the observation angle error θ _TP . AQ is the track of the tracking target Q12 on the radar A2 before conversion, AQ _Z is the track 24 of the tracking target P11 on the radar A2 after conversion, K _TQ is the observation distance error, and R (θ _TQ ) is the observation angle. It is a rotation matrix of the error θ _TQ . This content is shown in the radar map of the target tracking device A in FIG. Further, the track significance determination device 39 composed of the microprocessor of FIG.
Step S29 of comparing the deviation amounts K _AP and θ _AP with kc and θc set in step S26 to determine the magnitude.
Processing is carried out and carrying out the sifting determination of K _AP and theta _AP. K and θ of the target wake determined to be significant in step S29
Are stored in the temporary storage device 40 including the buffer memory in FIG. This process is performed for all the tracking targets for which the target tracking target A is performing tracking. In this embodiment, the tracking target other than the tracking target P11 is the tracking target Q12.
Steps S32 to S36 in FIGS. 11 to 12 are performed. As a result, the values of k and θ according to the number of targets being tracked are accumulated in the temporary storage device 40. The accumulated values of k and θ are obtained by executing the following calculation formula in the microprocessor average deviation amount calculating device 41 to _obtain k _XE and θ _XE
Calculate the simple average of

[0024]

(Equation 7)

[0025]

(Equation 8)

Here, k _Xi is a distance observation error of each tracking device, θ _XiE is an angle observation error of each tracking device, and n is a tracking target of the tracking device. When the tracking target of the radar tracking device A2 is a tracking target P11 and a tracking target Q12, the following is performed.

[0027]

(Equation 9)

[0028]

(Equation 10)

Here, k _AE is the average value of the distance observation error of the radar tracking device A2, k _AP is the distance observation error when the tracking target P11 of the radar tracking device A2 is observed, and k _AQ is the tracking target Q12. It is a distance observation error at the time. Also, θ _AE
Is the average value of the distance observation error of the radar tracking device A2, θ _AP is the distance observation error when observing the tracking target P11 of the radar tracking device A2, and θ _AQ is the distance observation error when observing the tracking target Q12. The k _AE and θ _AE calculated by the average deviation calculation device 41 are calculated by the wake correction calculation device 42 on the wake observed next time, and corrected by this calculation. The wake is transmitted to the target information processing device 1 as a new corrected observation wake. k _AE is the observation distance error of the radar tracking device A2, θ _AE is the radar tracking device A2
, AS is the wake of the target S observed by the radar tracking device A2 next time, and AS _Z is the wake of the target S after the deviation correction with k _AE and θ _AE .

[0030]

[Equation 11]

[0031]

According to the first aspect of the present invention, since a device for prioritizing observation trajectories to observation target trajectories from a plurality of tracking devices is provided and wake synthesis is performed, wake information having better observation accuracy is provided. More advantageously, the influence of the wake information of poor observation accuracy with many error components can be reduced, so that an accurate combined wake can be obtained. Further, since the combined track is fed back to each tracking device to correct a deviation unique to each tracking device, a more accurate combined track can be obtained by the convergence of the correction loop. The creation of these accurate combined tracks makes it possible to monitor targets more accurately and transfer targets to other anti-aircraft weapons and the like.

According to the second aspect of the present invention, when determining the target observation accuracy, the angle between the axis direction having excellent target tracking accuracy and the target flight direction is measured for each target tracking device,
Since this is used as an evaluation index, it is possible to effectively combine a plurality of tracking devices having superiority or inferior observation accuracy in different directions.

According to the third aspect of the present invention, the deviation unique to each target tracking device is expressed by a scalar variable and a rotation matrix because the difference between the observation track of each tracking device and the target information processing device is expressed. Can be calculated. In addition, since the scalar variable and rotation matrix can be associated with the boresight direction and the boresight orthogonal direction, which are the two directions in which the observation accuracy is excellent, in each tracking device, the boresight direction and the boresight orthogonal direction are compared with the synthetic track. It is possible to determine which of these requires a larger amount of correction.

[Brief description of the drawings]

FIG. 1 is an overall block diagram of a target monitoring device according to the present invention.

FIG. 2 is an operation conceptual diagram of Embodiment 1 according to the present invention.

FIG. 3 is a part of a flowchart of the target monitoring apparatus according to the first embodiment of the present invention.

FIG. 4 is a part of a flowchart of the target monitoring apparatus according to the first embodiment of the present invention.

FIG. 5 is a part of a flowchart of the target monitoring apparatus according to the first embodiment of the present invention.

FIG. 6 is a diagram showing a relationship between an angle between a target track and a direction with good radar accuracy used in the target track accuracy rank determination device according to the first embodiment of the present invention.

FIG. 7 is a diagram showing a relationship between an angle between a target track used by the target track accuracy rank determination device according to the first embodiment of the present invention and a direction in which the TV tracker accuracy is good;

FIG. 8 is a flowchart showing an algorithm recorded in an arithmetic unit, which is used in the target track accuracy rank determining device according to the first embodiment of the present invention.

FIG. 9 is a radar chart showing a relationship between each observation track and a synthetic track in the target information processing apparatus according to the first embodiment of the present invention.

FIG. 10 is a processing result for each target, which is sorted by the accuracy of each tracking device by the target track accuracy ranking determination device of the first embodiment according to the present invention.

FIG. 11 is a part of a flowchart showing an algorithm recorded in the observation wake correction device of the first embodiment according to the present invention;

FIG. 12 is a part of a flowchart showing an algorithm recorded in the observation wake correction device of the first embodiment according to the present invention;

FIG. 13 is a radar chart showing a relationship between an observation track and a combined configuration in each tracking device of the first embodiment according to the present invention.

FIG. 14 is a block diagram of an observation wake correction device according to Embodiment 1 of the present invention.

FIG. 15 is a diagram showing a conventional target monitoring device.

[Explanation of symbols]

1 target information processing device, 2 target tracking device A, 3 target tracking device B, 4 sensor A, 5 sensor observation track creation device A, 6 sensor B, 7 sensor observation track creation device B,
8 Track synthesis device, 9 Target track map creation device, 10
Track track destination, 11 tracking target P, 12 tracking target Q, 13 observation track correction device A, 14 observation track correction device B, 15 target track accuracy ranking determination device, 37 difference vector detection device, 38 determination threshold input device, 39 Wake significance determination device, 40 temporary storage device, 41 average deviation calculation device, 42 wake correction calculation device.

Claims (3)

[Claims] 1. A plurality of target tracking means for observing a target by a sensor such as a radar and creating a target trajectory, and observation trajectory information from the plurality of target tracking means being monitored by a target flight direction and a target tracking means. A target track accuracy rank determining device that ranks from the relationship of the angle of the direction with good accuracy, and a track combining unit that calculates one combined track from a plurality of observation tracks for one target ranked by the target track precision rank determining device, A target track map creating means for storing and managing the history of the combined track processed by the track combining means for multiple targets, and a new target track map created by the target information processing means in each of the target tracking means. A target track monitoring device, comprising: an observation track correction device for correcting a track of an observed tracking target. 2. The target trajectory accuracy rank determining device includes a trajectory intersection angle measuring means for measuring an angle between a target trajectory direction of a wake to be combined and a front line of the tracking device, and a distance measurement of the target tracking means. Means for determining the direction in which the observation accuracy is good in the direction or angle measurement direction, and ranking between a plurality of target tracks from each target tracking means input to the track synthesis means from the flight intersection angle and the angle of the observation precision good direction. 2. The target track monitoring device according to claim 1, further comprising means for performing the following. 3. The observation trajectory correction device includes: a target position in a target trajectory map from the target information processing unit, and a calculation unit that calculates a deviation amount of the target observation position observed by the target tracking unit. A significance determining means for determining whether the calculated deviation amount is equal to or larger than a threshold, a threshold setting means for setting a threshold used for the significance determination, and a correction amount based on the deviation amount determined by the significance determination means. 2. The target wake monitoring device according to claim 1, further comprising: a calculating means for calculating; and a wake correction calculating means for performing wake correction using the correction amount calculated by the calculating means.