KR102277949B1 - Closed in weapon system and method for calculating impact error using radar - Google Patents

Abstract

The present invention relates to a closed-in weapon system and an impact error calculation method using a radar and, more specifically, to a closed-in weapon system and an impact error calculation method using a radar for performing defense against a threatening target. The closed-in weapon system in accordance with an embodiment of the present invention comprises: a launch unit for launching a plurality of shells toward a target; a tracking unit for receiving radar signals including a target signal received from the target and a plurality of shell signals received from the plurality of shells launched toward the target; and an impact error calculation unit for calculating impulse errors between the target and the plurality of shells by extracting a distance-speed map, that target signal data on the target signal and shell signal data on the plurality of shell signals are located at the same distance, from a distance-speed map generated at every pulse repetition frequency interval for receiving the radar signals. The present invention can continuously calculate the impact errors between the target and the plurality of shell signals even without investing additional hardware resources.

Description

Method of calculating the impact error using a close-range defense weapon system and radar {CLOSED IN WEAPON SYSTEM AND METHOD FOR CALCULATING IMPACT ERROR USING RADAR}

The present invention relates to a close defense weapon system and a method of calculating an impact error using a radar, and more particularly, to a close defense weapon system for performing defense against a target threatening and a method of calculating an impact error using a radar.

As a defense method against a target that poses a threat, there are a soft-kill method that passively avoids the target and a hard-kill method that actively detects and tracks the target and shoots down the target.

For effective defense, the ship is equipped with a Closed In Weapon System (CIWS), which is an armed system to actively counter a threatening target. Such a close-defense weapon system calculates the predicted hit position of the target in consideration of the time of flight (TOF) of the shell, and fires the shell to the calculated predicted hit position to defend against the threatening target. carry out

In general, the impact error is calculated by acquiring information about the distance and speed of the target and the shell. However, since recent close-defense weapon systems fire thousands of shells or more shells per minute toward the target, the radar signal includes signals of tens to hundreds of shells, so it is almost impossible to obtain accurate distance and speed information for each shell.

In addition, when firing a shell, reference is made to the range table, but the flight trajectory of the shell includes an unpredictable error due to atmospheric and environmental conditions at the time of firing, and the size of the fired shell is determined by a target such as a missile or a fighter. Compared to that, the radar cross section (RCS) is tens to hundreds of times smaller, making it difficult to perform a detection mission for each shell.

In such a close defense weapon system, high-precision, high-resolution radar is required to detect and track shells, but since this necessarily entails an increase in hardware cost, the engagement ends while minimizing the additional input of hardware resources. It is necessary to develop a new signal processing algorithm to continuously calculate the impact error of the target and the shell until the time point.

US 10-1119882 B1

The present invention provides a proximity defense weapon system capable of calculating in real time an impact error between a target and a plurality of shells fired toward the target, and a method of calculating an impact error using a radar.

A close-up defense weapon system according to an embodiment of the present invention includes a launch unit for firing a plurality of shells toward a target; a tracking unit for receiving a radar signal including a target signal received from the target and a plurality of shell signals received from a plurality of shells fired toward the target; and extracting a distance-velocity map in which the target signal data for the target signal and the shell signal data for the plurality of shell signals are located at the same distance from the distance velocity map generated at the interval of the pulse repetition period at which the radar signal is received and an impact error calculation unit for calculating an impact error between the target and the plurality of shells.

The launch unit may continuously fire a plurality of shells toward the target.

The tracking unit may include a monopulse radar.

The tracking unit may transmit a radar beam so that the target is located on a beam central axis.

In addition, the method of calculating an impact error using a radar according to an embodiment of the present invention receives a radar signal including a target signal received from a target and a plurality of shell signals received from a plurality of shells fired toward the target. process; generating a distance-velocity map including target signal data for the target signal and shell signal data for the plurality of shell signals at a pulse repetition period interval at which the radar signal is received; extracting a distance-velocity map in which the target signal data and the cannonball signal data are located at the same distance from the distance-velocity map generated at periodic intervals at which the radar signal is received; and calculating an impact error between the target and the plurality of shells by using the shell signal data included in the extracted distance-velocity map.

In the process of receiving the radar signal, a radar transmitting a radar beam so that the target is located on a beam central axis may receive the radar signal.

The distance-velocity map includes a plurality of cells arranged along a distance axis direction and a velocity axis direction, and the process of generating the distance-velocity map comprises: converting signal data of the radar signal according to a distance component and a speed component. It can be stored in multiple cells, respectively.

The signal data may include digital I/Q signal data.

The extracting of the distance-velocity map may include: setting a target cell region including a target cell in which the target signal data is stored; establishing a first cell region having a closer distance of less than or equal to a first distance to the target cell region and a second cell region having a greater distance than the target cell region by a second distance or less; checking whether the signal strength of the first cell region and the signal strength of the second cell region have signal strengths greater than or equal to a set value, respectively; and determining that the target signal data and the cannonball signal data are located at the same distance when both the signal strength of the first cell region and the signal strength of the second cell region have a signal strength equal to or greater than a set value. can do.

The target cell region may include the target cell and a guard cell disposed around the target cell.

The first distance and the second distance may be set to be the same distance.

The sum of the first distance and the second distance may be set to be proportional to a distance between a shell positioned at the furthest distance and a shell positioned at the closest distance among the plurality of shells.

The first cell area is set by excluding a cell having the same velocity component as the target signal data from among cells having a closer distance of less than or equal to a first distance from the target cell area, and the second cell area includes: It may be set by excluding a cell having the same velocity component as the target signal data from among cells having a greater distance than the cell area by a second distance or less.

The process of determining whether the signal strength is greater than or equal to the set value includes selecting a cell in which signal data having the maximum signal strength among cells arranged in the velocity axis direction in the first cell region and the second cell region in the distance axis direction. Each extraction process according to; assigning an index of 1 to a cell in which the signal strength of the signal data stored in the extracted cell is equal to or greater than a threshold value; and checking whether the sum of indices assigned to cells respectively included in the first cell region and the second cell region has a value greater than or equal to a set index.

In the process of determining that they are located at the same distance, the target signal data and the cannonball signal when the sum of the indices assigned to the cells respectively included in the first cell region and the second cell region has a value greater than or equal to a set index It may include a process of determining that the data are located at the same distance.

Calculating the impact error may include calculating angles of signal data stored in the cell to which the index is assigned; calculating an average value of the calculated angles; and calculating the difference between the directing angle of the central axis of the beam and the average value as an impact error.

In the process of calculating each of the angles, angles of the signal data may be respectively calculated in a monopulse method.

The process of calculating the impact error may be performed in an azimuth direction and an elevation direction, respectively.

Meanwhile, the recording medium according to an embodiment of the present invention may be a recording medium storing a computer program for performing the method of calculating an impact error using any one of the above-described radars.

According to an embodiment of the present invention, by generating a distance-velocity map from a radar signal including a target signal and a plurality of shell signals, and calculating an impact error between a target and a plurality of shells using the generated distance-velocity map It is possible to continuously calculate the impact error between the target and the multiple shell signals without additional input of hardware resources until the end of the engagement.

1 is a view schematically showing a close-up defense weapon system according to an embodiment of the present invention.
2 is a diagram schematically illustrating a method for calculating an impact error according to an embodiment of the present invention.
3 is a view showing a state of receiving a radar signal according to an embodiment of the present invention.
4 is a diagram illustrating a state in which a distance-velocity map is generated according to an embodiment of the present invention.
5 is a diagram illustrating a state in which the target signal data and the shell signal data are located at the same distance-extracting a speed map according to an embodiment of the present invention.
6 is a diagram illustrating a state in which an impact error between a target and a plurality of shells is calculated according to an embodiment of the present invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the accompanying drawings. However, the present invention is not limited to the embodiments disclosed below, but will be implemented in various different forms, and only the embodiments of the present invention allow the disclosure of the present invention to be complete, and the scope of the invention to those of ordinary skill in the art It is provided to fully inform In order to describe the invention in detail, the drawings may be exaggerated, and like numerals refer to like elements in the drawings.

1 is a diagram schematically showing a close-up defense weapon system according to an embodiment of the present invention.

Referring to FIG. 1 , the proximity defense weapon system 100 according to an embodiment of the present invention includes a launch unit 10 for firing a plurality of shells toward a target, a target signal received from the target, and the target. In the tracker 20 for receiving a radar signal including a plurality of shell signals received from a plurality of shells fired toward and a distance velocity map generated at a pulse repetition period interval at which the radar signal is received, the target signal is An impact error calculation unit 30 for extracting a distance-velocity map in which the target signal data for the target signal data and the shell signal data for the plurality of shell signals are located at the same distance, and calculating the impact error between the target and the plurality of shells; include

Here, the Closed In Weapon System (CIWS) 100 includes a defense weapon device for detecting and tracking a threatening target and performing defense by a hard-kill method that shoots down the target. can do. In addition, such a close defense weapon system 100 guarantees the survivability of the self-ship from threat targets such as small high-speed surface ships (VSV) and supersonic guided missiles as well as anti-ship missiles approaching the self-ship, which is the biggest threat to naval vessels. It can be a weapon system for

The launch unit 10 may continuously fire a plurality of shells toward the target. For example, the launch unit 10 may consist of several barrels of small diameter (20-30 mm), and such a launch unit 10 burst fires a plurality of shells at a rate of fire of several thousand rounds per minute or more. method can be fired. At this time, the plurality of shells may be fired to have a separation distance of several meters (m), and a speed difference may occur between the plurality of shells according to movement in space after firing.

The tracking unit 20 receives a radar signal including a target signal received from a target and a plurality of shell signals received from a plurality of shells fired toward the target. Such a tracking unit 20 may have a monostatic structure, and may include a monopulse radar. Monopulse radar calculates azimuth and elevation angle information for a target and a plurality of shells, using data of sum and delta channels, and monopulse slope. can Here, the tracking unit 20 may transmit the radar beam so that the target is located on the beam central axis.

In the distance-velocity map generated at an interval of a pulse repetition interval (PRI) at which a radar signal is received, the impact error calculation unit 30 is configured to calculate target signal data for the target signal and shells for the plurality of shell signals. By extracting a distance-velocity map in which signal data is located at the same distance, an impact error between a target and a plurality of shells is calculated.

In general, the impact error is calculated by acquiring information about the distance and speed of the target and the shell. However, since recent close-defense weapon systems fire thousands of shells or more shells per minute toward the target, the radar signal includes signals of tens to hundreds of shells, so it is almost impossible to obtain accurate distance and speed information for each shell.

Therefore, the impact error calculation unit 30 according to an embodiment of the present invention performs Doppler processing on the radar signal received from the tracking unit 20 using a Fast Fourier Transform (FFT) to perform a pulse repetition period. A plurality of distance-velocity maps according to intervals are generated, and a distance-velocity map in which target signal data and shell signal data are located at the same distance from among the generated plurality of distance-velocity maps is extracted to calculate an impact error.

In this way, from the distance-velocity map generated at the interval of the pulse repetition period, the distance-velocity map in which the target signal data and the shell signal data are located at the same distance is extracted, and the impact error between the target and the plurality of shells is calculated. The content will be described below together with a method for calculating an impact error according to an embodiment of the present invention.

The method of calculating the impact error described below may be a method of calculating the impact error using the aforementioned proximity defense weapon system. to be omitted.

2 is a diagram schematically illustrating a method for calculating an impact error according to an embodiment of the present invention. Also, FIG. 3 is a diagram illustrating a state in which a radar signal is received according to an embodiment of the present invention, and FIG. 4 is a diagram illustrating a state in which a distance-velocity map is generated according to an embodiment of the present invention. Meanwhile, FIG. 5 is a diagram illustrating a state in which a distance-velocity map in which target signal data TD and shell signal data PD are located at the same distance is extracted according to an embodiment of the present invention, and FIG. It is a diagram illustrating a state in which an impact error between a target and a plurality of shells is calculated according to an embodiment.

2 to 6 , the impact error calculation method according to an embodiment of the present invention is a method of calculating an impact error using a radar, and includes a target signal received from a target T, and a target signal emitted toward the target T. The process of receiving a radar signal including a plurality of shell signals received from a plurality of shells (P) (S100), at a pulse repetition period interval at which the radar signal is received, target signal data (TD) for the target signal and , the process of generating a distance-velocity map including the shell signal data (PD) for the plurality of shell signals (S200), in the distance-velocity map generated at the interval of the pulse repetition period at which the radar signal is received, the target Using the process (S300) of extracting a distance-velocity map in which the signal data TD and the shell signal data PD are located at the same distance (S300) and the shell signal data PD included in the extracted distance-velocity map, the target A process (S400) of calculating an impact error between (T) and a plurality of shells (P) is included.

The process of receiving the radar signal (S100) includes a target signal received from the target T through the tracking unit 20, and a plurality of shell signals received from a plurality of shells P fired toward the target T. Receive a radar signal comprising First, when the launch unit 10 continuously fires a plurality of shells (P) toward the target (T), the tracking unit 20 includes a target signal received from the target (T), and a plurality of shells (P) Receives a radar signal including a plurality of shell signals received from the. In this case, the received radar signal may include a noise signal, that is, a clutter signal, generated from a surrounding environment, in addition to the target signal and the plurality of shell signals.

In the process of receiving the radar signal ( S100 ), it is a monopulse radar having a monostatic structure, and as shown in FIG. 3 , the radar beam is transmitted and reflected so that the target T is located on the beam central axis. signal can be received. In this case, the monopulse radar provides azimuth and elevation angle information for the target (T) and the plurality of shells (P), the data of the sum channel and the delta channel, and the monopulse It can be calculated using the slope.

The process (S200) of generating the distance-velocity map includes target signal data (TD) for the target signal and shell signal data (PD) for the plurality of shell signals at a pulse repetition period interval at which the radar signal is received create a distance-velocity map. Here, the distance-velocity map refers to a 2D image obtained by applying a Doppler filter process to a radar signal obtained with respect to a coherent N transmission pulse train, and the Doppler filter process is a fast Fourier transform (FFT; FFT; It can be implemented by applying Fast Fourier Transform). Through the distance-velocity map, it is possible to check distance information and speed information for the target T and the plurality of shells P based on the signal data of the radar signal and the tracking unit 20 .

As such, the distance-velocity map includes a plurality of cells arranged on a plane along the distance axis direction and the velocity axis direction, and the plurality of cells are M (m=0, 1, ..., M) in the distance axis direction. -1) and N (n=0, 1, ..., N-1) in the velocity axis direction may have an M×N size arranged.

Here, in the process of generating the distance-velocity map ( S200 ), the signal data of the radar signal may be stored in the plurality of cells according to the distance component and the speed component, respectively. Here, the signal data may include digital I (In-phase)/Q (Quadrature) signal data, and the signal strength (A) of such digital I/Q signal data can be obtained through Equation 1 below. .

[Equation 1]

4 shows the expected distance-velocity map processing results for the target (T) and the shell (P) moving according to the change of time during the time period _{from t 1} to t _{5 .} In the target signal data TD indicated by a triangle, it is expected that the distance component r _T gradually approaches as time changes, and the velocity component v _T is constant or the amount of change is not large. On the other hand, in the shell signal data PD marked with an ellipse, a plurality of shell signal data PD forms a group due to burst shooting, and the distance component of the shell signal data group is distributed with a length _{of lr P,} The velocity component is expected to be distributed over the length _{of lv P .}

In FIG. 4 for convenience of explanation _{, a distance-velocity map generated during a time from t 1} to t ₅ is illustrated in one figure, but the generated distance-velocity map is from t _{1 to t 5} at intervals of a pulse repetition period. Of course, each can be created. In addition, the pulse repetition period may be adjusted in order to prevent the target signal and the shell signal from overlapping in the velocity axis direction due to the velocity ambiguity characteristic of the radar waveform.

In the process of extracting the distance-velocity map (S300), the target signal data (TD) and the shell signal data (PD) are located at the same distance in the distance-velocity map generated at the interval of the pulse repetition period at which the radar signal is received. Extract the distance-velocity map. That is, in the process of extracting the distance-velocity map ( S300 ), the center of the target signal and the cannonball signal is located at the same distance from the tracking unit 20 by using the characteristics of the target signal and the cannonball signal in the distance-velocity map. Extract the speed map. As described above, if the velocity component of the _{target signal data TD is v T} , the distance component of the target signal data TD is r _T , and the length of the shell signal data group is lr _P , the target signal data ( There is a section where the distance component of TD) and the distance component at the center of the shell signal data group formed by the shell signal overlap, and such a viewpoint is found through signal processing. The distance-velocity map obtained at this point may appear, for example, as shown in FIG. 5 .

Specifically, the process of extracting the distance-velocity map (S300) is a process of setting a target cell region (TZ) including a target cell in which the target signal data (TD) is stored, the target cell region ( A process of setting a first cell region having a closer distance of less than or equal to a first distance than TZ and a second cell region having a distance less than or equal to a second distance greater than that of the target cell region TZ, the signal of the first cell region A process of determining whether the signal strength and the signal strength of the second cell region each have a signal strength greater than or equal to a set value, and the signal strength of the first cell region and the signal strength of the second cell region both having a signal strength equal to or greater than a set value In this case, the process may include determining that the target signal data TD and the shell signal data PD are located at the same distance.

The process of setting the target cell region TZ sets the target cell region TZ including the target cell in which the target signal data TD is stored. Here, the target cell region TZ refers to a region in which target cells in which the target signal data TD are stored are distributed, and may include a guard cell added around the target cell. In this way, by adding the guard cell around the target cell, the component of the target signal data TD is not included in the processing of the shell signal data PD.

Thereafter, a first cell region having a closer distance of less than or equal to a first distance than the target cell region TZ and a second cell region having a greater distance than the target cell region TZ by a second distance or less are set. In this case, the first distance and the second distance may be set to be the same distance, and the sum of the first distance and the second distance is the closest to the shell P located at the furthest distance among the plurality of shells P. It can be set to be proportional to the distance between the shells (P) located in the distance.

Here, the first cell region is illustrated as a front gate region in FIG. 5 , and the second cell region is illustrated as a rear gate region in FIG. 5 .

As described above, the distance-velocity map includes a plurality of cells arranged on a plane along the distance axis direction and the speed axis direction, and the plurality of cells are M(m=0, 1, ..., M− 1) and may have an M×N size arranged by N (n=0, 1, …, N-1) in the velocity axis direction. In this case, the gate means a plurality of cells arranged in the velocity axis direction, and one gate may include N cells arranged in the velocity axis direction.

At this time, the first cell region, that is, the front gate region, is in front of the target cell region TZ, that is, a distance-to be set as an region having a shorter distance from the tracker 20 than the target cell region TZ by a first distance or less. can That is, as shown in FIG. 5 , the front gate area may be set as an area including a plurality of gates in front (left side of the drawing) of the target cell area TZ. In addition, the second cell region, that is, the rear gate region, is behind the target cell region TZ, that is, a distance-a region having a greater distance from the tracker 20 than the target cell region TZ by a second distance or less. can That is, as shown in FIG. 5 , the rear gate region may be set as a region including a plurality of gates at the rear (right side of the drawing) of the target cell region TZ.

In this case, the first distance and the second distance may be set to the same distance in order to determine a section in which the distance component of the target signal data TD and the distance component of the center of the shell signal data group formed by the shell signal overlap at a specific point in time. In this case, the number of gates included in the front gate region is equal to the number of gates included in the rear gate region. In addition, the sum of the first distance and the second distance is located at the closest distance to the shell (P) located at the furthest distance among the plurality of shells (P) in order to set the region including the plurality of shell signals to the maximum. It can be set to be proportional to the distance between the shells (P).

Meanwhile, the first cell area includes an area EZ including a cell having the same velocity component as the target signal data TD among cells having a distance less than or equal to a first distance from the target cell area TZ. may be set to exclude, and the second cell area includes a cell having the same velocity component as the target signal data TD among cells having a greater distance than the target cell area TZ by a second distance or less It may be set by excluding the area EZ.

In the process of determining whether the signal strength is greater than or equal to a preset value, it is determined whether the signal strength of the first cell region and the signal strength of the second cell region have signal strengths greater than or equal to a preset value, respectively. To this end, the process of determining whether the signal strength is greater than or equal to the set value is performed by selecting the cell in which the signal data having the maximum signal strength is stored among the cells arranged in the velocity axis direction in the first cell region and the second cell region; The process of extracting each along the axial direction, the process of assigning an index of 1 to cells in which the signal intensity of the signal data stored in the extracted cells is equal to or greater than a threshold value, and assigning an index of 1 to the cells respectively included in the first cell region and the second cell region It may include a process of checking whether the sum of the indexes has a value greater than or equal to the set index. Here, the process of determining whether the signal strength is greater than or equal to the set value may be performed by dividing the first cell region and the second cell region, that is, the front gate region and the rear gate region.

In the process of checking whether the signal strength is greater than or equal to the set value, first, among the cells arranged in the velocity axis direction in the first cell region and the second cell region, the cell in which the signal data having the maximum signal strength is stored is selected along the distance axis direction. extract each. That is, a cell in which signal data having the maximum signal intensity is stored in each gate is extracted from the front gate region and the rear gate region. Through this, a cell including a shell signal or a clutter signal may be extracted.

Thereafter, an index of 1 is assigned to a cell in which the signal strength of the signal data stored in the extracted cell is equal to or greater than the threshold value. In this case, an index of 0 may be assigned to a cell in which the signal strength of the signal data is less than the threshold value. The signal strength can be calculated through Equation 1 described above, and an unwanted signal such as a clutter signal can be removed by comparing the signal strength with a threshold. Here, the threshold value may be selected according to a constant false alarm rate (CFAR) algorithm.

After assigning an index of 1 to a cell having a signal strength equal to or greater than a threshold value, it is checked whether the sum of indices assigned to cells included in each of the first cell region and the second cell region has a value equal to or greater than a set index. If the sum of the indexes in the first cell region has a value equal to or greater than the set index, it can be considered that the shell signal data group is formed in the first cell region, that is, the front gate region. Also, if the sum of the indices in the second cell region has a value greater than or equal to the set index, it can be considered that the shell signal data group is formed in the second cell region, that is, the rear gate region. Therefore, when the sum of the indices assigned to the cells respectively included in the first cell region and the second cell region has a value equal to or greater than the set index, the distance component of the target signal data TD and the cannonball signal formed by the cannonball signal It is determined that the distance component of the center of the data group overlaps, and it is determined that the target signal data TD and the shell signal data PD are located at the same distance. Here, the set index value may be set to be equal to or less than the number of gates included in the first cell region or the second cell region. If any of the sums do not have a value greater than or equal to the set index, it is determined that the distance component of the target signal data TD and the distance component of the center of the shell signal data group formed by the shell signal do not overlap, and the Perform the above process for the distance-velocity map.

The process of calculating the impact error ( S400 ) calculates the impact error between the target T and the plurality of shells P by using the shell signal data PD included in the extracted distance-velocity map. Here, the process of calculating the impact error includes calculating the angles of the signal data stored in the cell to which the index is assigned, the process of calculating the average value of the calculated angles, and the difference between the orientation angle of the central axis of the beam and the average value. It may include a process of calculating , as an impact error.

As described above, the tracking unit 20 transmits the radar beam so that the target T is located on the beam central axis, and in the process of receiving the radar signal ( S100 ), the tracking unit 20 uses the radar as such. Since the signal is received, the impact error corresponds to an angular error between the central axis of the beam and the center of the shell signal data PD. Accordingly, in order to calculate the angular error between the beam central axis and the center of the shell signal data PD, angles of the signal data stored in the indexed cells are respectively calculated, and the average value of the calculated angles is first calculated. In this case, in the process of calculating the angles, angles of the signal data may be respectively calculated in a monopulse method. The monopulse angle calculation for calculating the angle of the signal data is obtainable from the distance-velocity map for the delta channel for the indexed cell. Since the content of calculating the monopulse angle using the distance-velocity map for the delta channel as described above is a known technique, a detailed description thereof will be omitted. After calculating the angles of the signal data stored in the cell to which the index is assigned, if the average value of the calculated angles is calculated, the average value of the angles can be viewed as the central angle of the shell signal data PD. Therefore, the final impact error is the difference between the directivity angle of the beam central axis and the central angle of the shell signal data PD. The process of calculating such an impact error may be performed in an azimuth direction and an elevation direction, respectively. In the example shown in FIG. 6 , the impact error in the azimuth direction is δa, and the impact error in the elevation direction is δa. It can be seen that is δb.

Meanwhile, the method of calculating an impact error using a radar according to an embodiment of the present invention may be applied to a recording medium storing a computer program for performing the above method.

That is, the method of calculating an impact error using a radar according to an embodiment of the present invention may be implemented in the form of a computer-readable programming language code recorded on a recording medium. The computer-readable recording medium may be any data storage device readable by the computer and capable of storing data. For example, the computer-readable recording medium may be a ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical disk, hard disk drive, flash memory, solid state disk (SSD), or the like. In addition, the computer-readable code or program stored in the computer-readable recording medium may be transmitted through a network connected between computers.

As such, according to an embodiment of the present invention, a distance-velocity map is generated from a radar signal including a target signal and a plurality of shell signals, and an impact error between the target and a plurality of shells is generated using the generated distance-velocity map. By calculating , it is possible to continuously calculate the impact error between the target and the signals of the plurality of shells until the end of the engagement without additional input of hardware resources.

In the above, preferred embodiments of the present invention have been described and illustrated using specific terms, but such terms are only for clearly describing the present invention, and the embodiments of the present invention and the described terms are the spirit of the following claims And it is obvious that various changes and changes can be made without departing from the scope. Such modified embodiments should not be individually understood from the spirit and scope of the present invention, but should be said to fall within the scope of the claims of the present invention.

10: launch unit 20: tracking unit
30: impact error calculation unit 100: melee defense weapon system

Claims (19)

a launch unit for firing a plurality of shells toward the target;
a tracking unit for receiving a radar signal including a target signal received from the target and a plurality of shell signals received from a plurality of shells fired toward the target; and
From the distance-velocity map generated at the interval of the pulse repetition period at which the radar signal is received, the target signal data for the target signal and the shell signal data for the plurality of shell signals are located at the same distance - a speed map is extracted and an impact error calculation unit for calculating an impact error between the target and the plurality of shells;
The tracking unit is a close-range defense weapon system that transmits a radar beam so that the target is located on the central axis of the beam. The method according to claim 1,
The launch unit is a close-range defense weapon system that continuously fires a plurality of shells toward the target. The method according to claim 1,
The tracking unit is a close-range defense weapon system including a monopulse radar. delete receiving a radar signal including a target signal received from a target and a plurality of shell signals received from a plurality of shells fired toward the target;
generating a distance-velocity map including target signal data for the target signal and shell signal data for the plurality of shell signals at a pulse repetition period interval at which the radar signal is received;
extracting a distance-velocity map in which the target signal data and the shell signal data are located at the same distance from the distance-velocity map generated at the interval of the pulse repetition period at which the radar signal is received; and
The process of calculating an impact error between a target and a plurality of shells by using the shell signal data included in the extracted distance-velocity map;
The process of receiving the radar signal,
A method of calculating an impact error using a radar that transmits a radar beam so that the target is positioned on a beam central axis, and a radar that receives the radar signal. delete 6. The method of claim 5,
the distance-velocity map comprises a plurality of cells arranged along a distance axis direction and a velocity axis direction,
The process of generating the distance-velocity map includes:
A method of calculating an impact error using a radar for storing the signal data of the radar signal in each of the plurality of cells according to a distance component and a speed component. 8. The method of claim 7,
The signal data is an impact error calculation method using a radar including digital I/Q signal data. 6. The method of claim 5,
The process of extracting the distance-velocity map is,
setting a target cell region including the target cell in which the target signal data is stored;
establishing a first cell region having a closer distance of less than or equal to a first distance to the target cell region and a second cell region having a greater distance than the target cell region by a second distance or less;
checking whether the signal strength of the first cell region and the signal strength of the second cell region have signal strengths greater than or equal to a set value, respectively; and
When the signal strength of the first cell region and the signal strength of the second cell region both have a signal strength equal to or greater than a set value, determining that the target signal data and the shell signal data are located at the same distance; A method of calculating the impact error using radar. 10. The method of claim 9,
The target cell area is a method of calculating an impact error using a radar including the target cell and a guard cell disposed around the target cell. 10. The method of claim 9,
A method of calculating an impact error using a radar in which the first distance and the second distance are set to be the same distance. 10. The method of claim 9,
A method of calculating an impact error using a radar in which the sum of the first distance and the second distance is set to be proportional to a distance between a shell positioned at the furthest distance and a shell positioned at the closest distance among the plurality of shells. 10. The method of claim 9,
The first cell area is set by excluding a cell having the same speed component as the target signal data from among cells having a closer distance of a first distance or less than the target cell area,
The second cell area is set by excluding a cell having the same velocity component as the target signal data from among cells having a greater distance than the target cell area by a second distance or less. 10. The method of claim 9,
The process of checking whether the signal strength is greater than the set value is,
extracting cells in which signal data having a maximum signal intensity are stored from among cells arranged in the velocity axis direction in the first cell region and the second cell region along a distance axis direction;
assigning an index of 1 to a cell in which the signal strength of the signal data stored in the extracted cell is equal to or greater than a threshold value; and
and checking whether the sum of indices assigned to cells included in the first cell region and the second cell region has a value greater than or equal to a set index. 15. The method of claim 14,
The process of determining that they are located at the same distance is
determining that the target signal data and the cannonball signal data are located at the same distance when the sum of the indexes assigned to the cells respectively included in the first cell area and the second cell area has a value equal to or greater than a set index; A method of calculating an impact error using a radar comprising a. 16. The method of claim 15,
The process of calculating the impact error is,
calculating each angle of the signal data stored in the cell to which the index is assigned;
calculating an average value of the calculated angles; and
Calculating the difference between the directing angle of the central axis of the beam and the average value as an impact error. 17. The method of claim 16,
The process of calculating each of the angles is,
A method of calculating an impact error using a radar that calculates each angle of the signal data in a monopulse method. 17. The method of claim 16,
The process of calculating the impact error is a method of calculating an impact error using a radar, which is performed in an azimuth direction and an elevation direction, respectively. A recording medium storing a computer program for performing the method of calculating an impact error using the radar according to any one of claims 5 and 7 to 18.

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