KR102205479B1 - Method and Apparatus for Evaluating Detection Accuracy of Sensor - Google Patents

Abstract

Disclosed are a method for evaluating detection accuracy and a device therefor. According to an embodiment of the present invention, the device for evaluating detection accuracy comprises: a target position receiving unit acquiring target position information from a water target moving object; a sensing position acquisition unit acquiring sensing target position information by sensing the water target moving object through the sensor in an underwater test moving object; a self-ship position acquisition unit acquiring self-ship position information of the underwater test moving object; and an analysis processing unit calculating the detection accuracy of the sensor by correcting and aligning the target position information, the sensing target position information, and the self-ship position information.

Description

TECHNICAL FIELD [Method and Apparatus for Evaluating Detection Accuracy of Sensor}

The present invention relates to a method and apparatus for evaluating the detection accuracy of an underwater acoustic sensor.

The content described in this section merely provides background information on the embodiments of the present invention and does not constitute the prior art.

A moving object that operates a Sonar (SOund Navigation And Ranging) sensor analyzes the state of the target through target motion analysis by operating a plurality of sonar sensors mounted to detect, track, and analyze the sound of underwater and water targets. Such a plurality of sonar sensors are installed on the ship platform, and installation errors occur during the installation process, and the orientation and distance of the tracked target may vary even in the same ship due to installation errors.

The conventional test apparatus for the evaluation of the orientation and distance accuracy of the sonar sensor has an automation function and spatial installation constraints, so it is difficult to accurately measure and evaluate because of its very low operability.

Conventional test equipment acquires real data at sea, transmits the data to land analysis equipment, analyzes it, acquires the position information of the own ship through a fixed GPS antenna, and then obtains the position information of the own ship through an RF antenna (e.g., navigation data, GPS The test is carried out by transmitting the location information) to the underwater test moving object.

Since the conventional test apparatus does not have an automated calculation function, it is impossible to analyze in real time after acquiring marine data, and it takes a long time to derive results for the test results, and it is difficult to adjust the test evaluation schedule when retesting is required.

In addition, the GPS antenna and RF antenna of the conventional test apparatus have a limited installation location due to the limit length of the RF cable. In addition, although the GPS antenna is installed at a fixed location, it is not possible to obtain an accurate signal generator location as the location of the signal generator is supported, and the RF antenna is also installed due to the influence of interference/interference with the antennas already installed around the ship. It is difficult to determine the location. For this reason, as it becomes difficult to accurately measure and evaluate the accuracy of the sonar sensor, the need for a test device of a method that satisfies the constraints of automation function and spatial installation has been raised, and the need for a more efficient and convenient marine test device is required.

The present invention is a sensor that automatically calculates the accuracy of a sensor using target position information obtained from a water target moving object, own ship position information obtained from an underwater test moving object, and sensing target position information acquired through a sensor provided in the underwater test moving object. The main object is to provide a method for evaluating the detection accuracy of a device and an apparatus therefor.

According to an aspect of the present invention, an apparatus for evaluating detection accuracy for achieving the above object comprises: a target position receiving unit for acquiring target position information from a floating target moving object; A sensing position acquisition unit that senses the water target moving object through the sensor in the underwater test moving object to obtain sensing target position information; A self-ship position acquisition unit that obtains the self-ship position information of the underwater test vehicle; And an analysis processor configured to calculate detection accuracy of the sensor by correcting and aligning the target location information, the sensing target location information, and the own ship location information.

In addition, according to another aspect of the present invention, a detection accuracy evaluation method for achieving the above object comprises: a target position receiving step of acquiring target position information from a floating target moving object; A sensing position acquisition step of acquiring sensing target position information by sensing the water target moving object through the sensor in an underwater test moving object; An own ship position obtaining step of obtaining position information of the own ship of the underwater test vehicle; And an analysis processing step of calculating the detection accuracy of the sensor by correcting and aligning the target location information, the sensing target location information, and the own ship location information.

As described above, the present invention has an effect of facilitating verification and evaluation of sensor operation by automatically calculating the orientation and distance accuracy of the sonar sensor.

In addition, according to the present invention, as accurate location information of an actual target is obtained, more accurate sonar azimuth and distance accuracy can be calculated, and an error occurrence frequency for sensing can be reduced.

In addition, the present invention has the effect of acquiring and transmitting more accurate location information of a moving object on the water by installing an antenna at an exact location where the signal generating device is mounted.

1 is a diagram schematically showing a detection accuracy evaluation system according to an embodiment of the present invention.
FIG. 2 is a block diagram of a target moving body and an underwater test moving body of a detection accuracy evaluation system according to an embodiment of the present invention.
3A and 3C are diagrams for explaining a wired connection-based location information processing unit included in a floating target moving object according to an embodiment of the present invention.
4A and 4B are views for explaining a location information processing unit based on a wired/wireless mixed connection included in a moving object on a water surface according to another embodiment of the present invention.
5 is a view for explaining a wireless hybrid connection-based location information processing unit included in a moving object on a water target according to another embodiment of the present invention.
6 is a block diagram schematically illustrating a detection accuracy evaluation apparatus according to an embodiment of the present invention.
7 is a diagram for describing a correction operation for evaluating detection accuracy according to an embodiment of the present invention.
8 is a diagram illustrating a data alignment operation for evaluating detection accuracy according to an embodiment of the present invention.
9 is a flowchart illustrating a method of evaluating detection accuracy according to an embodiment of the present invention.
10 is a diagram showing an equipment configuration for evaluating detection accuracy of a sensor according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In describing the present invention, when it is determined that a detailed description of a related known configuration or function may obscure the subject matter of the present invention, a detailed description thereof will be omitted. In addition, a preferred embodiment of the present invention will be described below, but the technical idea of the present invention is not limited thereto or is not limited thereto, and may be modified and variously implemented by a person skilled in the art. Hereinafter, a method for evaluating detection accuracy of a sensor proposed by the present invention and an apparatus therefor will be described in detail with reference to the drawings.

The present invention can be used for real-time analysis of the accuracy of the azimuth, distance, and speed of a sonar sensor based on real sea data, and may be used in fields requiring reference information between an underwater test vehicle and a water target vehicle during a marine test. I can.

1 is a diagram schematically showing a detection accuracy evaluation system according to an embodiment of the present invention.

The detection accuracy evaluation system 1 according to the present embodiment includes a water target moving body 100 and an underwater test moving body 200.

The water target moving body 100 according to the present embodiment acquires location information and transmits the obtained location information to the underwater test moving body 200. Here, the water target moving body 100 may be an unmanned watercraft or a trap.

The floating target mobile 100 may include a satellite antenna for obtaining location information, a wireless communication antenna for transmitting the obtained location information, and the like.

The floating target moving body 100 may implement a module for transmitting/receiving location information in various types according to installation conditions. For example, the water target moving object 100 includes three types of wired linkage technology (Figs. 3A to 3C), two types of wired/wireless linkage technologies (Figs. 4A and 4B), and wireless linkage technology (Fig. 5). A module for transmitting/receiving location information can be configured by applying, etc.

In addition, the water target moving body 100 may be configured to include a control processing unit for integrating and controlling a module for transmitting and receiving location information.

The underwater test mobile body 200 according to the present embodiment may include a satellite antenna for obtaining location information, a wireless communication antenna for receiving location information from the floating target mobile body 100, and the like.

The underwater test mobile body 200 includes a wireless communication antenna (RF antenna) for processing positional information received from the water target mobile body 100, an RF modem device capable of processing a radio frequency signal (RF signal), and a sonar direction and distance. It may be configured in a form including an analysis processing unit capable of automatically measuring and analyzing accuracy. Specifically, the underwater test moving body 200 acquires the position information of the own ship of the underwater test moving body (for example, a submarine) and the target position information of the floating target moving body 100 in real time to store reference information, and at the same time, the underwater test moving body 200 ), sonar tracking information can be automatically compared to the sonar sensor's azimuth and distance accuracy.

FIG. 2 is a block diagram of a target moving body and an underwater test moving body of a detection accuracy evaluation system according to an embodiment of the present invention.

The detection accuracy evaluation system 1 according to the present embodiment includes a water target moving body 100 and an underwater test moving body 200. The water target moving body 100 includes a location information transmission/reception unit 10, a location information processing unit 20, and a control processing unit 40. In addition, the underwater test moving object 200 of the detection accuracy evaluation system 1 includes a location information acquisition unit 5 and an analysis processing unit 30. Each of the water target moving body 100 and the underwater test moving body 200 of FIG. 2 is according to an embodiment, and all blocks shown in FIG. 2 are not essential components, and in another embodiment, the water target moving body 100 and Some blocks included in each of the underwater test moving objects 200 may be added, changed, or deleted.

Hereinafter, the configuration of the water target moving body 100 according to the present embodiment will be described.

The location information transmission/reception unit 10 performs an operation of receiving and transmitting location information of the floating target mobile body 100. The location information transmission/reception unit 10 includes a location transmission unit 12 and a location reception unit 13.

The location transmitter 12 converts the location information of the aquatic target moving body 100 into a radio frequency signal and transmits the converted location information to the underwater test moving body 200. Here, the location information of the floating target moving object 100 is preferably a GPS (Global Positioning System) signal based on satellite communication, but is not limited thereto.

The location receiving unit 13 receives location information through an antenna provided in the floating target moving body 100 and transmits the received location information to the receiving location processing unit 1 (21) or the receiving location processing unit 2 (22).

The location information processing unit 20 performs data processing for transmitting the location information received from the location receiving unit 13 to the underwater test moving body 200. The location information processing unit 20 includes a receiving position processing unit 1 (21), a receiving position processing unit 2 (22), and a wireless receiving position processing unit 23.

The receiving position processing unit 1 (21) converts the position information received from the position receiving unit 13 and transmits it to the position transmitting unit 12 or the control processing unit 40.

The reception location processing unit 1 21 may interwork with an antenna for receiving a GPS signal and an antenna for performing RF wireless communication.

The receiving location processing unit 1 (21) may obtain the location information of the floating target moving object 100 from the location receiving unit 13 based on a wired or wireless connection method, but is not limited thereto, and the receiving location processing unit 2 (22) The location information of the floating target moving object 100 may be obtained from a wired or wireless connection method, or the location information of the floating target moving object 100 may be obtained from the wireless receiving location processing unit 23 based on a wireless connection method.

The reception location processing unit 2 22 may interwork with an antenna for receiving a GPS signal and an antenna for performing RF wireless communication.

The receiving position processing unit 2 (22) transfers the position information received from the position receiving unit 13 to the receiving position processing unit 1 (21). It may be connected to the receiving location processing unit 2 (22) based on a wired or wireless connection method.

The wireless reception location processing unit 23 may be connected to the reception location processing unit 1 (21) or the reception location processing unit 2 (22) based on a wireless connection method. The wireless reception location processing unit 23 may interwork with an antenna that receives a GPS signal.

The wireless reception location processing unit 23 transfers the location information received from the location reception unit 13 to the reception location processing unit 1 (21). In addition, the wireless reception location processing unit 23 may be connected to the reception location processing unit 2 (22) or the control processing unit 40 based on a wireless connection method.

Meanwhile, when the location information processing unit 20 is connected only by wire, the wireless reception location processing unit 23 may not operate or may be removed from a component of the floating target moving object 100.

The location information processing unit 20 is capable of interlocking components in various types according to the installation conditions of the floating target moving body 100, and these various types will be described with reference to FIGS. 3 to 5.

The control processing unit 40 controls various operations related to the location information of the floating target moving object 100 in conjunction with the location information processing unit 20.

The control processing unit 40 obtains the location information of the floating target moving object 100 from the location information processing unit 20 and records the acquired data in real time, a reception location database 41, and receives a prize according to an event preset by the operator. An output filter unit 2 42 that controls the location information of the target moving object 100 to be recorded and edited in real time, and a display 2 that displays the position information of the floating target moving object 100 at the request of an operator (eg, evaluator) (43) and the like.

Hereinafter, the configuration of the underwater test moving body 200 according to the present embodiment will be described.

The location information acquisition unit 5 is a module that acquires various signals and data from the floating target moving object 100 and includes a location information reception unit 11. The location information receiving unit 11 acquires location information on the floating target moving object 100 from the location transmitting unit 12. Here, the location information of the floating target moving body 100 may be received in the form of a radio frequency signal (RF data) through an antenna provided in the underwater test moving body 200.

The location information receiving unit 11 transmits the received location information of the floating target moving object 100 to the analysis processing unit 30.

In FIG. 2, the location information acquisition unit 5 is shown to include only the location information receiving unit 11, but is not limited thereto, and is provided on the own ship location information of the underwater test moving body 200 and the underwater test moving body 200. It may further include a separate module that acquires the sonar target location information measured by the sensor. Here, the sensor provided in the underwater test moving body 200 may be a sonar (SOund Navigation And Ranging) sensor for sound wave or sound detection, but is not limited thereto.

The analysis processing unit 30 automatically acquires, compares, stores, and outputs the position information of the aquatic target moving object 100 and the underwater test moving object 200 received from the position information acquisition unit 5 in real time to automatically detect the orientation and distance of the sensor. Perform an operation to calculate the result of accuracy. Here, the analysis processing unit 30 compares the target position information of the aquatic target moving body 100 and the position information of the own ship of the underwater test moving body 200 with the sonar target position information measured by a sensor provided in the underwater test moving body 200 It automatically calculates the results of the sensor's orientation and distance accuracy.

The analysis processing unit 30 is an information processing unit 31 that automatically calculates the azimuth and distance accuracy of the sensor using target position information, own ship position information, and sonar target position information, and records data on the calculated accuracy in real time. It includes a correction information database 32. In addition, the analysis processing unit 30 records and edits the calculated accuracy data according to an event preset by the operator, and the accuracy of the sensor at the request of the operator (eg, crew). It may include a display 1 34 that displays the calculated data.

3A and 3C are diagrams for explaining a wired connection-based location information processing unit included in a floating target moving object according to an embodiment of the present invention.

Referring to FIG. 3A, the device of the receiving position processing unit 1 (21) and the receiving position processing unit 2 (22) included in the floating target moving body 100 may be connected through a wired cable. For example, the distance between the receiving position processing unit 1 (21) and the receiving position processing unit 2 (22) devices can be extended to a maximum of 40 m.

The location receiving unit 13 receives location information, receives location information from an external device, and transmits the received location information to the location transmission unit 12 through the location information processing unit 20. The position receiving unit 130 may be flexibly installed in accordance with the installation position of the signal generator installed on the floating target moving body 100. In other words, the water target moving body 100 can install the receiving position processing unit 2 (22) and the position receiving unit (13) in a proximity position where the signal generating device is installed, thereby obtaining more accurate position information than the conventional method. can do.

3B, compared to the wired connection interworking method of FIG. 3A, when the location transmitter 12 and the location receiver 13 cannot be installed in a proximity location based on the receiving location processing section 2 (22), or radio wave interference/interference When this is expected and a problem occurs in the communication system of the ship, the floating target moving object 100 may solve the problem by connecting the position receiving unit 13 to the receiving position processing unit 1 (21).

Referring to FIG. 3C, the position receiving unit 13 is connected to the receiving position processing unit 1 (21), and the receiving position processing unit 1 (21) is connected to the position transmitting unit 12 and the control processing unit 40. In the case of the connection method of FIG. 3C, there is no fear of crosstalk because there is no RF antenna of other models around it, but it is a method that can be installed when the signal generator of the underwater test moving object 200 and the floating target moving object 100 are in close proximity.

4A and 4B are views for explaining a location information processing unit based on a wired/wireless mixed connection included in a moving object on a water surface according to another embodiment of the present invention.

4A, when the distance between the receiving position processing unit 1 (21) and the receiving position processing unit 2 (22) exceeds a preset threshold distance (for example, a maximum of 40 m), the floating target moving object 100 is connected to a wired/wireless combination. In this way, the receiving position processing unit 1 (21) and the receiving position processing unit 2 (22) can be interlocked. Installation constraints can be overcome through this wireless connection method.

Referring to FIG. 4B, the floating target moving body 100 additionally installs a wireless receiving position processing unit 23 when the installation position of the position receiving unit 13 is very high or remote, and the wireless receiving position processing unit 23 and By wirelessly connecting the receiving location processing unit 1 (21), it is possible to overcome the installation constraint.

5 is a view for explaining a wireless hybrid connection-based location information processing unit included in a moving object on a water target according to another embodiment of the present invention.

Referring to FIG. 5, in the floating target moving body 100, the distance between the receiving position processing unit 1 (21) and the receiving position processing unit 2 (22) exceeds a preset threshold distance (for example, a maximum of 40 m), and the position receiving unit 13 If the installation location of) is very high or far apart, wireless connection between the reception location processing unit 1 (21) and the reception location processing unit 2 (22), and a wireless reception location processing unit 23 may be additionally installed. Here, the wireless reception location processing unit 23 and the reception location processing unit 1 (21) may be wirelessly connected and installed without any installation restrictions.

6 is a block diagram schematically illustrating a detection accuracy evaluation apparatus according to an embodiment of the present invention.

The detection accuracy evaluation apparatus 600 according to the present embodiment includes an own ship position obtaining unit 610, a target position receiving unit 620, a sensing position obtaining unit 630, an information processing unit 650, and an output unit 660. . The detection accuracy evaluation apparatus 600 in FIG. 6 is according to an embodiment, and not all blocks shown in FIG. 6 are essential components, and some blocks included in the detection accuracy evaluation apparatus 600 are added in another embodiment. , May be changed or deleted.

The detection accuracy evaluation device 600 of FIG. 6 may be a separate device detachable from the underwater test moving body 200, but is not necessarily limited thereto, and the location information acquisition unit 5 included in the underwater test moving body 200 and It may be implemented as a module mounted on the underwater test moving body 200 including all or part of the functions of the analysis processing unit 30.

The detection accuracy evaluation device 600 includes target position information acquired from the aquatic target moving body 100, the own ship position information acquired from the underwater test moving body 200, and a sonar acquired through a sonar sensor provided in the underwater test moving body 200. The operation of automatically calculating the accuracy of the sensor is performed using the target location information.

The own ship position acquisition unit 610 acquires the position information of the own ship measured by the underwater test moving body 200. The own ship location acquisition unit 610 may be configured with the own ship location information receiving unit 311, and acquires the own ship location information including navigation data, GPS location information, and the like of the underwater test moving object 200.

The target position receiving unit 620 acquires target position information included in the radio frequency signal received from the floating target mobile body 100. The target position receiving unit 620 may be configured with a target position information receiving unit 314, and acquires target position information including navigation data, GPS position information, and the like of the floating target moving object 100.

The sensing position acquisition unit 630 acquires sonar target position information through a sonar sensor provided in the underwater test moving object 200. The sensing position acquisition unit 630 senses the water target moving object 100 through a sonar sensor in the underwater test moving object 200 to obtain the measured sonar target position information. The sensing position acquisition unit 630 may include a sonar target information receiving unit 316 and acquires sonar target position information including a sensing coordinate value for the floating target moving object 100.

The information processing unit 650 calculates the detection accuracy of the sonar sensor by correcting and aligning the target location information and the own ship location information based on the sonar target location information. The information processing unit 650 according to the present embodiment includes an information management unit 640, a parallax correction unit 313, a time delay correction unit 318, a data alignment unit 319, and an accuracy calculation unit 320.

The information management unit 640 stores and manages each of the target location information, the sonar target location information, and the own ship location information in a separate database.

The information management unit 640 stores the own ship location information database 312, which stores and manages the own ship location information acquired from the own ship location acquisition unit 610 in real time, and stores the target location information acquired from the target location receiver 620 in real time. It may include a target location information database 315 managed by the method and a sonar target location information database 317 that stores and manages the sonar target location information acquired by the sensing location acquisition unit 630 in real time.

The information management unit 640 transmits the position information of the own ship to the parallax correction unit 313 so that the parallax is corrected. In addition, the information management unit 640 transmits the target position information and the sonar target position information to the time delay correction unit 318 so that the time delay is corrected.

The parallax correction unit 313 corrects the parallax (Parallax, 視差) of the own ship position information generated due to the position difference between the position of the underwater test moving body 200 and the sonar sensor. For example, the parallax correction unit 313 corrects the parallax (Parallax, 視差) generated due to the difference between the GPS installation position of the underwater test moving object 200 and the installation position of the sonar sensor.

The parallax correction unit 313 corrects the parallax of the own ship location information based on the coordinate value of the sonar sensor location information, and the parallax correction value is calculated by [Equation 1].

(X _sensor : X coordinate of the _sensor , Y _sensor : Y coordinate of the sensor, X _GPS : X coordinate of the underwater test vehicle GPS, Y _GPS : Y coordinate of the underwater test vehicle GPS, d: Distance between the sensor and the underwater test vehicle GPS , θ: azimuth of the sensor with the reference GPS as the true north direction)

The time delay correction unit 318 corrects the time delay of each of the target position information and the own ship position information based on the time of the sonar target position information. Here, the time delay correcting unit 318 corrects the time delay of the position information of the own ship whose parallax is corrected based on the sonar target position information.

Due to the difference in transmission speed of the electromagnetic wave and the sound wave, a time delay occurs between the target location information received from the floating target mobile body 100 through the RF antenna and the sonar target location information transmitted as a sound wave. Accordingly, since the speed of the electromagnetic wave is very fast compared to the speed of the sound wave, the time delay correction unit 318 may correct the time delay generated by the sound speed by calculating the time delay generated by the sound speed, assuming that the time at which the electromagnetic wave is transmitted is 0.

The time delay correction unit 318 may correct the time delay by applying a compensation value calculated by dividing the distance between the underwater test moving object 200 and the water target moving object 100 by a preset sound speed value. The time delay corrector 318 may calculate a time delay t _i through [Equation 2].

(t _i : time delay value, D _i : distance between the underwater test vehicle and the water target vehicle at the point i, C: sound velocity (ex: 1,522 m/sec, 20˚C))

The time delay correction unit 318 corrects each of the own ship position information and the target position information by the calculated time delay value t _i based on the time of the sonar target position information.

The data aligning unit 319 arranges the target position information and the own ship position information for which the time delay is corrected into data at the same time as the sonar target position information.

Specifically, the data aligning unit 319 generates first interpolated data for at least one sub-ship position information at different viewpoints, and generates second interpolated data for at least one target position information at different viewpoints. Thereafter, the data alignment unit 319 arranges the first interpolated data and the second interpolated data so as to coincide with the data point of the sonar target position information. Here, the data aligning unit 319 compensates for the time inconsistency caused by discretization of the target position information and the own ship position information by applying an interpolation technique to obtain interpolated data.

The accuracy calculation unit 320 calculates detection accuracy including azimuth accuracy and distance accuracy by using the aligned data. Specifically, the accuracy calculation unit 320 calculates reference reference information based on the aligned data of the target location information and the own ship location information, and compares the calculated reference reference information with the sonar target location information to determine azimuth accuracy and distance accuracy. Calculate.

Reference information (Ref. information) of azimuth and distance for comparison with sonar target location information is calculated and calculated based on the position information of the own ship and target location information (GPS) processed by parallax correction, time delay correction, and alignment. The sonar sensor's azimuth accuracy and distance accuracy are calculated by comparing the referenced reference information (Ref. value) with the sonar target location information.

The accuracy calculation unit 320 can calculate the accuracy of the bearing (RMSE) and the distance (RMSE range) using the root mean square error (RMSE) as in [Equation 3] and [Equation 4]. have.

(B _ref : bearing information obtained from the location information of the underwater test vehicle and the surface target vehicle, B _Det : the bearing information obtained from the sonar sensor, Error _GPS : the GPS error error rate, R _max : the maximum of the underwater test vehicle and the surface target vehicle in the scenario Street)

The accuracy calculation unit 320 may calculate azimuth accuracy by calculating the root mean square deviation of the azimuth information obtained from the position information of the floating target moving body 100 and the underwater test moving body 200 and the orientation information obtained from the sonar sensor.

In addition, the accuracy calculation unit 320 includes azimuth information obtained from the location information of the aquatic target movable body 100 and the underwater test movable body 200, azimuth information obtained from a sonar sensor and a position error error rate, and the aquatic target movable body 100 and underwater test. Distance accuracy can be calculated by calculating the root mean square deviation of the maximum distance (maximum expected distance in the scenario) between the moving objects 200.

The output unit 660 outputs the detection accuracy calculated by the information processing unit 650 according to a preset event. The output unit 660 outputs distance accuracy and orientation accuracy of the sonar sensor in accordance with an event preset by the operator.

In FIG. 6, the information processing unit 650 and the output unit 660 calculate the detection accuracy of the sonar sensor by correcting and aligning the target position information, the sonar target position information, and the own ship position information, and an analysis processing unit that outputs the calculated accuracy. It can also be implemented as a single module.

7 is a diagram for describing a correction operation for evaluating detection accuracy according to an embodiment of the present invention.

FIG. 7A is a diagram for explaining an operation of correcting the parallax of the own ship position information. The detection accuracy evaluation apparatus 600 corrects the parallax of the own ship position information generated due to the position difference between the position of the underwater test moving object 200 and the sonar sensor. For example, the detection accuracy evaluation apparatus 600 corrects a parallax generated due to a difference between the GPS installation position of the underwater test moving object 200 and the installation position of the sonar sensor.

Referring to Figure 7 (a), the detection accuracy evaluation device 600 based on the coordinates (X _sensor , Y _sensor ) of the sonar sensor location information, the time difference with respect to the coordinates (X _GPS , Y _GPS ) of the position information Correct.

FIG. 7B is a diagram for explaining an operation of correcting the time delay of the target position information and the own ship position information. The detection accuracy evaluation apparatus 600 corrects the time delay of each of the target location information and the own ship location information based on the time of the sonar target location information.

Due to the difference in transmission speed of the electromagnetic wave and the sound wave, a time delay occurs between the target location information received from the floating target mobile body 100 through the RF antenna and the sonar target location information transmitted as a sound wave. Accordingly, since the speed of the electromagnetic wave is very fast compared to the speed of the sound wave, the detection accuracy evaluation apparatus 600 may calculate and correct a time delay generated by the sound speed, assuming that the time at which the electromagnetic wave is transmitted is 0.

The detection accuracy evaluation device 600 applies a compensation value calculated by dividing the distance (D _i ) between the underwater test moving object 200 and the water target moving object 100 at the point _i by a preset sound velocity value, The time delay t _i of each of the location information can be corrected.

8 is a diagram illustrating a data alignment operation for evaluating detection accuracy according to an embodiment of the present invention.

The detection accuracy evaluation apparatus 600 arranges the target position information and the own ship position information, for which the time delay is corrected, with the sonar target position information and data at the same time point.

The detection accuracy evaluation apparatus 600 generates first interpolated data 810, 812, and 814 for at least one own ship location information at different viewpoints. In addition, the detection accuracy evaluation apparatus 600 generates second interpolated data 820, 824, and 826 for at least one target location information at different viewpoints.

The detection accuracy evaluation apparatus 600 arranges the first interpolated data 810, 812, and 814 and the second interpolated data 820, 824, 826 so as to coincide with each of the plurality of data points of the sonar target location information.

9 is a flowchart illustrating a method of evaluating detection accuracy according to an embodiment of the present invention.

The detection accuracy evaluation apparatus 600 receives a radio frequency signal from the floating target mobile 100 and acquires target location information included in the radio frequency signal (S910).

The detection accuracy evaluation apparatus 600 acquires the position information of the own ship measured by the underwater test moving object 200 and the sonar target position information through the sonar sensor provided in the underwater test moving object 200 (S920).

The detection accuracy evaluation apparatus 600 corrects the time delay of each of the target location information and the own ship location information based on the time of the sonar target location information (S930). Here, the detection accuracy evaluation apparatus 600 corrects the time delay of the position information of the own ship whose parallax is corrected based on the sonar target position information.

The detection accuracy evaluation apparatus 600 arranges the target position information and the own ship position information for which the time delay is corrected into the sonar target position information and data at the same time point (S940). Specifically, the detection accuracy evaluation apparatus 600 generates first interpolated data for at least one self-ship position information at different viewpoints, and generates second interpolated data for at least one target position information at different viewpoints, and , The first interpolated data and the second interpolated data are arranged to match the data point of time for the sonar target location information.

The detection accuracy evaluation apparatus 600 calculates detection accuracy including azimuth accuracy and distance accuracy by using the aligned data (S950). Specifically, the detection accuracy evaluation apparatus 600 calculates reference reference information based on the aligned data of the target location information and the own ship location information, and compares the calculated reference reference information with the sonar target location information to obtain azimuth accuracy and distance accuracy. Yields

The detection accuracy evaluation apparatus 600 outputs the calculated detection accuracy according to a preset event (S960).

10 is a diagram showing an equipment configuration for evaluating detection accuracy of a sensor according to an embodiment of the present invention.

The equipment shown in FIG. 10 is mounted on each of the water target moving body 100 and the underwater test moving body 200 to automatically evaluate the accuracy of the sonar sensor.

Referring to FIG. 10, equipment mounted on the floating target moving body 100 may include a GPS antenna, an RF antenna, a signal generator, a control processing module, and the like. Meanwhile, the equipment mounted on the underwater test moving body 200 may include an RF antenna, an RF modem device, an analysis processing module, and the like.

The above description is merely illustrative of the technical idea of the embodiments of the present invention, and those of ordinary skill in the technical field to which the embodiments of the present invention belong to, various modifications and modifications without departing from the essential characteristics of the embodiments of the present invention Transformation will be possible. Accordingly, the embodiments of the present invention are not intended to limit the technical idea of the embodiments of the present invention, but to explain, and the scope of the technical idea of the embodiments of the present invention is not limited by these embodiments. The scope of protection of the embodiments of the present invention should be interpreted by the following claims, and all technical ideas within the scope equivalent thereto should be interpreted as being included in the scope of the rights of the embodiments of the present invention.

1: detection accuracy evaluation system
100: water target mobile
10: location information transmitting and receiving unit 20: location information processing unit
40: control processing unit
200: underwater test moving body
5: location information acquisition unit 30: analysis processing unit
600: detection accuracy evaluation device 610: own ship position acquisition unit
620: target position receiving unit 630: sensing position obtaining unit
650: information processing unit 660: output unit

Claims (14)

In the device for evaluating the detection accuracy of the sensor,
A target position receiving unit that acquires target position information from the floating target moving object;
A sensing position acquisition unit that senses the water target moving object through the sensor in the underwater test moving object to obtain sensing target position information;
A self-ship position acquisition unit that obtains the self-ship position information of the underwater test vehicle; And
Comprising an analysis processing unit for calculating the detection accuracy of the sensor by correcting and aligning the target position information, the sensing target position information and the own ship position information,
The analysis processing unit may include an information processing unit for calculating detection accuracy of the sensor by correcting and aligning the target position information and the own ship position information based on the sensing target position information; And an output unit that outputs the calculated detection accuracy according to a preset event,
The information processing unit may include an information management unit that stores and manages each of the target location information, the sensing target location information, and the own ship location information in a separate database; A time delay correction unit correcting a time delay of each of the target position information and the own ship position information based on a time of the sensing target position information; A data alignment unit for aligning the target position information and the own ship position information for which the time delay is corrected into data at the same time point as the sensing target position information; And an accuracy calculator configured to calculate the detection accuracy including azimuth accuracy and distance accuracy by using the aligned data. delete delete The method of claim 1,
The information processing unit,
Further comprising a parallax correction unit for correcting a parallax (Parallax) of the own ship position information generated due to the position difference between the position of the underwater test moving body and the sensor,
The time delay correction unit corrects a time delay of the own ship position information whose parallax is corrected based on the sensing target position information. The method of claim 1,
The time delay correction unit,
The detection accuracy evaluation apparatus, characterized in that the time delay is corrected by applying a compensation value calculated by dividing the distance between the underwater test vehicle and the water target vehicle by a preset sound velocity value. The method of claim 1,
The data alignment unit,
Generate first interpolated data for at least one own ship position information at different viewpoints, and generate second interpolated data for at least one target position information at different viewpoints,
And aligning the first interpolated data and the second interpolated data to coincide with a data point of time of the sensing target location information. The method of claim 1,
The accuracy calculation unit,
Computing reference reference information based on the aligned data of the target location information and the own ship location information, and calculating the bearing accuracy and the distance accuracy by comparing the calculated reference reference information with the sensing target location information. Detection accuracy evaluation device. The method of claim 1,
The accuracy calculation unit,
And calculating the bearing accuracy by calculating the root mean square deviation of the bearing information obtained from the target location information and the own ship location information, and the bearing information obtained from the sensing target location information. The method of claim 7,
The accuracy calculation unit,
The distance accuracy is calculated by calculating azimuth information obtained from the target location information and the own ship location information, the sensing target location information, a location error error rate, and the average square root deviation of the expected maximum distance between the aquatic target moving object and the underwater test moving object. Detection accuracy evaluation device, characterized in that. In the method of evaluating the detection accuracy of the sensor in the detection accuracy evaluation device,
A target position receiving step of acquiring target position information from a moving target on the water;
A sensing position acquisition step of acquiring sensing target position information by sensing the water target moving object through the sensor in an underwater test moving object;
An own ship position obtaining step of obtaining position information of the own ship of the underwater test vehicle; And
Comprising an analysis processing step of calculating the detection accuracy of the sensor by correcting and aligning the target location information, the sensing target location information, and the own ship location information,
The analysis processing step may include: an information processing step of calculating detection accuracy of the sensor by correcting and aligning the target position information and the own ship position information based on the sensing target position information; And an output step of outputting the calculated detection accuracy according to a preset event,
The information processing step may include an information management step of storing and managing each of the target location information, the sensing target location information, and the own ship location information in a separate database; A time delay correction step of correcting a time delay of each of the target location information and the own ship location information based on a time of the sensing target location information; A data alignment step of arranging the target position information and the own ship position information for which the time delay is corrected into data at the same time point as the sensing target position information; And an accuracy calculation step of calculating the detection accuracy including azimuth accuracy and distance accuracy by using the aligned data. delete The method of claim 10,
The information processing step,
Further comprising a parallax correction step of correcting a parallax of the own ship location information generated due to a location difference between the location of the underwater test moving body and the sensor,
In the step of correcting the time delay, the time delay of the own ship position information in which the parallax is corrected based on the time of the sensing target position information is corrected. The method of claim 10,
The time delay correction step,
And correcting the time delay by applying a compensation value calculated by dividing the distance between the underwater test vehicle and the water target vehicle by a preset sound velocity value. The method of claim 10,
The accuracy calculation step,
Computing reference reference information based on the aligned data of the target location information and the own ship location information, and calculating the azimuth accuracy and distance accuracy by comparing the calculated reference reference information with the sensing target location information. How to evaluate detection accuracy.

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