KR102621984B1 - Method and apparatus for estimating location of threat in a mobile single electronic warfare equipment - Google Patents

Abstract

A threat estimation method and device are disclosed. A method of estimating the location of a threat according to an embodiment of the present invention includes (a) representative azimuth lines for estimating the location of a threat among azimuth lines measured by at least one sensor; Steps to choose; - All sensors are embedded in the means of transportation, so the azimuth lines are determined differently depending on the change in the position of the sensor. (b) including the step of estimating the location coordinates of the threat based on the selected representative azimuth lines and the location coordinates of at least one sensor corresponding to the representative azimuth lines.

Description

Method and device for estimating location of threat in mobile single electronic warfare equipment {METHOD AND APPARATUS FOR ESTIMATING LOCATION OF THREAT IN A MOBILE SINGLE ELECTRONIC WARFARE EQUIPMENT}

The present invention relates to a method and device for estimating the location of a threat in a mobile single electronic warfare equipment.

ESM (Electronic Support Measure) equipment performs functions such as acquiring information by intercepting enemy networks and communications, and identifying targets by acquiring/interpreting/storing enemy radar patterns. Electronic reconnaissance aircraft (for example, RC-135, etc.) are operated to perform these missions. Information collected by ESM equipment is converted into a database and managed as confidential. For example, there are SIGNT (signal information), ELINT (electronic information), and COMMINT (communication information), and it also includes information collection through hacking. Since ESM typically performs the above function by detecting radio waves, frequency hopping methods, radios, and radars are common in modern times to avoid this.

RWR (Radar Warning Receivr) equipment is an element of the electronic warfare system and is an electronic equipment that receives radar waves from opposing fighter jets and informs the pilot that he or she is being detected. When RWR equipment receives radar radio waves through an antenna, it analyzes the radio waves to distinguish friendly forces from enemy forces, and in the case of enemy forces, determines the direction and type of radio waves (for example, for estimation or search).

General ESM equipment or RWR equipment analyzes threats by analyzing the time correlation of received pulse signals. For example, the devices can obtain threat information (e.g., direction, frequency, arrival time, pulse width, signal strength, etc.) related to radar patterns, and analyze threats through the threat information.

Previously, there was research to build a separate server by fusing threat information between adjacent ships to calculate the location of the threat, or to estimate the distance to the threat using the strength of the radar's transmission and reception output. A lot of cost was required to construct a new network between devices, and there were limitations due to the inaccuracy of signal strength inversion.

The present invention aims to solve the above-described needs and/or problems.

A method for estimating the location of a threat according to an embodiment of the present invention includes the steps of (a) selecting representative azimuth lines for estimating the location of a threat among azimuth lines measured by at least one sensor; - All sensors are embedded in the means of transportation, so the azimuth lines are determined differently depending on the change in the position of the sensor. (b) including the step of estimating the location coordinates of the threat based on the extracted representative direction lines and the location coordinates of sensors corresponding to the representative direction lines.

Here, the location coordinates may be coordinates on a latitude and longitude coordinate system.

Here, in step (a), the representative azimuth lines may be selected based on at least one of azimuth accuracy among the measured azimuth lines or the collected number of PDWs composed of azimuth lines, and may estimate the location of the threat.

Here, step (b) is performed when a predetermined condition is satisfied, and the predetermined condition is a first condition requiring that the threat be judged as fixed as a result of identifying the threat on a platform-by-platform basis, and the number of measured azimuth lines exceeds a certain number. It may include at least one of a second condition requiring that the defense range of the threat be greater than or equal to a preset critical range.

Here, step (b) is performed when all predetermined conditions are satisfied, and the predetermined conditions include the first condition requiring that the threat be judged as fixed as a result of identifying the threat on a platform-by-platform basis, and the number of measured azimuth lines being a certain number. It can include both the second condition requiring that the threat be exceeded and the third condition requiring that the defense range of the threat be greater than a preset critical range.

Here, a step of determining the accuracy of the location estimation result may be further included by comparing specification information related to a detectable threat at the estimated location with specification information extracted from the received electromagnetic wave signal.

Here, the specification information may include at least one of azimuth, frequency, PRI, scan, signal strength, and pulse width.

Here, location estimation can be performed using the DLS algorithm.

An apparatus for estimating the location of a threat according to another embodiment of the present invention includes at least one sensor for measuring a bearing line and location coordinates; a selection unit for selecting representative azimuth lines for estimating the location of a threat among azimuth lines measured by at least one sensor; - Sensors are all embedded in means of transportation, so azimuth lines are determined differently depending on changes in the sensor's position. It includes a location estimation unit that estimates the location coordinates of a threat based on selected representative azimuth lines and the location coordinates of at least one sensor corresponding to the representative azimuth lines.

The accompanying drawings, which are included as part of the detailed description to aid understanding of the present invention, provide embodiments of the present invention, and together with the detailed description, explain technical features of the present invention.
Figure 1 shows the azimuth angle measured while a vehicle (eg a ship) is moving.
Figure 2 is a block diagram of a location estimation device according to an embodiment of the present invention.
Figure 3 is a block diagram of a location estimation device according to another embodiment of the present invention.
Figure 4 is a block diagram of a location estimation device according to another embodiment of the present invention.
Figure 5 is a flowchart of a location estimation method according to an embodiment of the present invention.
FIG. 6 is a detailed flowchart of S110 of FIG. 5.

Hereinafter, embodiments disclosed in the present invention will be described in detail with reference to the accompanying drawings. However, identical or similar components will be assigned the same reference numbers regardless of reference numerals, and duplicate descriptions thereof will be omitted. The suffixes “module” and “part” for components used in the following description are given or used interchangeably only for the ease of preparing the specification, and do not have distinct meanings or roles in themselves. Additionally, in describing the embodiments disclosed in the present invention, if it is determined that detailed descriptions of related known technologies may obscure the gist of the embodiments disclosed in the present invention, the detailed descriptions will be omitted. In addition, the attached drawings are only for easy understanding of the embodiments disclosed in the present invention, and the technical idea disclosed in the present invention is not limited by the attached drawings, and all changes included in the spirit and technical scope of the present invention are not limited. , should be understood to include equivalents or substitutes.

Terms containing ordinal numbers, such as first, second, etc., may be used to describe various components, but the components are not limited by the terms. The above terms are used only for the purpose of distinguishing one component from another.

When a component is said to be "connected" or "connected" to another component, it is understood that it may be directly connected to or connected to the other component, but that other components may exist in between. It should be. On the other hand, when it is mentioned that a component is “directly connected” or “directly connected” to another component, it should be understood that there are no other components in between.

Singular expressions include plural expressions unless the context clearly dictates otherwise.

In this application, terms such as “comprise” or “have” are intended to designate the presence of features, numbers, steps, operations, components, parts, or combinations thereof described in the specification, but are not intended to indicate the presence of one or more other features. It should be understood that this does not exclude in advance the possibility of the existence or addition of elements, numbers, steps, operations, components, parts, or combinations thereof.

In this specification, means of transportation such as vehicles, ships, and airplanes are provided with sensors capable of receiving threatening electromagnetic signals. Hereinafter, in the specification, the means of transportation is described as a ship, and the threat is assumed to be stationary. Here, a threat refers to an object that can pose a threat to the ship, and its types can vary.

When a ship receives an electromagnetic wave signal from a threat, it can measure the azimuth, which is the angle between the electromagnetic wave reception path it recognizes and the aircraft's direction of travel.

If there is no error in direction detection, a threat actually exists on the perceived electromagnetic wave reception path no matter where the ship is located. At this time, the ship can accurately estimate the location of the threat by finding the intersection of different azimuths measured at different locations. However, in reality, it is difficult for direction detection errors to not exist, and when direction detection errors exist, a method to optimally estimate the location of the threat using multiple measured azimuths is required.

Figure 1 shows the azimuth angle measured while a vehicle (eg a ship) is moving.

Referring to FIG. 1, while the ship 20 is moving, the azimuth angle between the ship 20 and the threat 10 changes depending on the position of the ship 20. In Figure 1, it is illustrated that as the ship 20 moves, the azimuth angle becomes larger or smaller. In FIG. 1 , the position estimation device mounted in the ship 20 can estimate the position of the threat 10 using a plurality of azimuths measured at a plurality of locations.

Figure 2 is a block diagram of a location estimation device according to an embodiment of the present invention.

Referring to FIG. 2, the location estimation device 100 according to an embodiment includes at least one of a sensor unit 110, a selection unit 120, and a location estimation unit 130. The selection unit 120 and the location estimation unit 130 may be made as independent modules, or at least two of them may be made as an integrated module. Additionally, the selection unit 120 and the location estimation unit 130 are means for controlling information processing by software and may be collectively referred to as a control unit.

The sensor unit 110 refers to the sensor described in FIG. 1. The sensor may be included as a component of the location estimation device 100 or may be implemented as a sensor device connected externally to the location estimation device 100 by wire or wirelessly. The sensor can receive electromagnetic wave signals, and when the ship receives the electromagnetic wave signal, it can measure the electromagnetic wave reception path (azimuth line) and azimuth. Additionally, the ship can obtain the coordinates of the sensor's location, that is, the ship's location, through the sensor. The bearing line, azimuth, and ship position measured or obtained here become the basis for future position estimation.

The selection unit 120 may select at least some of a plurality of azimuth lines measured at at least two locations while the ship is moving. The selection unit 120 selects at least some of the plurality of azimuth lines using a pattern classification algorithm. The azimuth lines selected here may be referred to as representative azimuth lines. The position estimation device 100 can improve computing speed by performing position calculation based on representative azimuth lines.

Meanwhile, if the computing performance of the position estimation device 100 is sufficient and the number of azimuth lines is less than a certain number, the selection unit 120 may not select a representative azimuth line. At this time, the position estimation device 100 does not select a representative azimuth line, but performs position estimation using all azimuth lines.

The location estimation unit 130 estimates the location of the threat according to the DLS algorithm. At this time, the position estimation unit 130 calculates the position by converting the latitude and longitude coordinates into Cartesian coordinates using TM transformation, and then inversely converts the calculated position into latitude and longitude coordinates. Accordingly, the location estimation unit 130 can obtain an estimated value for the location of the threat in the latitude and longitude coordinate system.

An algorithm for position estimation includes, for example, the distance least squares (DLS) algorithm. The DLS algorithm is an algorithm that estimates the location of a threat based on at least two azimuths and sensor coordinates at the time of each measurement (i.e., the location of the sensor installed on the ship). Specifically, the DLS algorithm is an algorithm that estimates the location of a threat by finding the coordinate where the sum of the squares of the distance from the azimuth line to the actual location of the threat is minimized at each location where the ship receives electromagnetic signals. The DLS algorithm is more advantageous the smaller the standard deviation or variance of the measured azimuths.

Figure 3 is a block diagram of a location estimation device according to another embodiment of the present invention.

The position estimation device 200 of FIG. 3 further includes an identification unit 240 in the position estimation device 100 of FIG. 2 . The identification unit 240 may also be implemented as an individual module or an integrated module. Additionally, the identification unit 240 may be treated as a functional component of the control unit.

In one embodiment, the identification unit 240 may identify threats on a platform-by-platform basis. Platform is a term related to a threat sequence and refers to the threats that make up the threat sequence. By identifying threats on a platform-by-platform basis, the specific type of threat can be determined. In this specification, the identification result may include or consist of a fixed or mobile type.

In one embodiment, the location estimation device 200 may perform location estimation only when a predetermined condition is satisfied. For example, the predetermined condition is a first condition requiring that the threat be judged as fixed as a result of identifying it on a platform-by-platform basis, a second condition requiring that the number of measured defense lines exceed a certain number, and a predetermined defense range of the threat. Includes at least one of the third conditions requiring it to be above the critical range. In a preferred embodiment, the position estimation unit performs position estimation only when the first to third conditions are satisfied, and does not perform position estimation if any of the first to third conditions are not satisfied.

In one embodiment, the identification unit 240 may identify the electromagnetic wave signal based on the estimated location. The threat library records threats by location. The location estimation device 200 can identify detectable threats at the estimated location using records of the threat library. Meanwhile, the location estimation device 200 may determine whether the location estimation results match by comparing specification information related to a detectable threat at the estimated location with specification information extracted from the actual electromagnetic wave signal. Here, the specification information includes azimuth, frequency, PRI, scan, signal strength, pulse width, etc., but is not limited thereto.

Figure 4 is a block diagram of a position estimation device according to another embodiment of the present invention.

FIG. 4 shows that the location estimation devices 100 and 200 according to FIG. 2 or 3 may further include a management unit 350. The management unit 350 may be implemented as an individual module or an integrated module, and may also be referred to as a control unit as a functional component of the control unit.

The management unit 350 may merge two or more threats whose similarity is greater than a standard value. Similarity is calculated based on specification information. That is, the management unit 350 can calculate the similarity through mutual comparison of two or more threats based on at least some of azimuth, frequency, PRI, scan, signal strength, and pulse width, and threats with high similarity can be merged and managed as one. You can. Additionally, the management unit 350 may delete threats that have not been detected several times or may delete threats that have reached their life cycle. Additionally, the management unit 350 may control the life cycle of threats.

Figure 5 is a flowchart of a location estimation method according to an embodiment of the present invention.

Each step in FIG. 5 may be supported by the location estimation devices 100, 200, and 300 according to an embodiment of the present invention described in FIGS. 2 to 4.

The location estimation device may select representative azimuth lines for estimating the location of a threat among azimuth lines measured by at least one sensor (S110).

Here, the sensor is configured in the moving means or the location estimation device itself. The sensor can measure the receiving path, or azimuth line, of electromagnetic wave signals. Since it is not economical in computer terms to use all of the azimuth lines for subsequent position estimation, the position estimation device may first select a representative azimuth line among the azimuth lines.

The location estimation device can estimate the location of the threat based on representative azimuth lines and the location coordinates of the location estimation device provided by the sensor (S120).

The position coordinates of the position estimation device are measured by a sensor, and the position of the position estimation device corresponds to the position of the sensor. The sensor is provided in a position estimation device or in a mobile means such as a ship together with the position estimation device. In other words, the sensor can measure different position coordinate values according to changes in the ship's position. In addition, the location estimation unit can estimate the location coordinates of the threat by using the representative azimuth lines and the location coordinates of the location estimation device as input to the DLS algorithm.

FIG. 6 is a detailed flowchart of S110 of FIG. 5.

The location estimation device creates a cluster (S111). If the average of the generated clusters exceeds a preset threshold, the location estimation device separates and stores the corresponding clusters (S112).

A cluster contains two or more azimuth lines. The DLS algorithm for location estimation has higher performance as the detection deviation is smaller. Accordingly, the detection shift is determined according to the average, variance, and/or standard deviation of the azimuth angles of each of the azimuth lines. Factors related to spotting deviation include center position, dispersion, and/or standard deviation.

In one embodiment, the position estimation device repeats S111 and S112 until the average of the generated cluster is below a preset threshold, and when the average of the radial angles of the azimuth lines included in the generated cluster is below the preset threshold, separation is performed. Then, a representative bearing line is selected from all stored clusters (S113).

The above-described present invention can be implemented as computer-readable code on a program-recorded medium. Computer-readable media includes all types of recording devices that store data that can be read by a computer system. Examples of computer-readable media include HDD (Hard Disk Drive), SSD (Solid State Disk), SDD (Silicon Disk Drive), ROM, RAM, CD-ROM, magnetic tape, floppy disk, optical data storage device, etc. It also includes those implemented in the form of carrier waves (e.g., transmission via the Internet). Accordingly, the above detailed description should not be construed as restrictive in all respects and should be considered illustrative. The scope of the present invention should be determined by reasonable interpretation of the appended claims, and all changes within the equivalent scope of the present invention are included in the scope of the present invention.

Claims (16)

As a method of estimating the location of a threat,
(a) selecting representative azimuth lines for estimating the location of a threat among azimuth lines measured by at least one sensor; - All sensors are embedded in the means of transportation, so the azimuth lines are determined differently depending on the change in position of the sensor.
(b) estimating the location coordinates of a threat based on selected representative azimuth lines and the location coordinates of at least one sensor corresponding to the representative azimuth lines;
Including,
It further includes a step of determining the accuracy of the location estimation result by comparing specification information related to a detectable threat at the estimated location with specification information extracted from the received electromagnetic wave signal,
A method of estimating the location of a threat by selecting at least some representative direction lines among a plurality of direction lines using a pattern classification algorithm in step (a).
According to paragraph 1,
A method of estimating the location of a threat, where location coordinates are coordinates in a latitude and longitude coordinate system.
delete According to paragraph 1,
Step (b) is performed when a predetermined condition is satisfied,
The predetermined conditions include a first condition requiring that the threat be judged as fixed as a result of identifying it on a platform-by-platform basis, a second condition requiring that the number of measured defense lines exceed a certain number, and a critical range in which the defense range of the threat is preset. A method for estimating the location of a threat, including at least one of the third conditions requiring the above.
According to paragraph 1,
Step (b) is performed when all predetermined conditions are satisfied,
The predetermined conditions include a first condition requiring that the threat be judged as fixed as a result of identifying it on a platform-by-platform basis, a second condition requiring that the number of measured defense lines exceed a certain number, and a critical range in which the defense range of the threat is preset. A method of estimating the location of a threat that includes all of the third conditions required to be above.
delete According to paragraph 1,
A method of estimating the location of a threat, where the specification information includes at least one of azimuth, frequency, PRI, scan, signal strength, and pulse width.
According to paragraph 1,
A method of estimating the location of a threat in which location estimation is performed using the DLS algorithm.
As a device for estimating the location of a threat,
At least one sensor for measuring azimuth and position coordinates;
a selection unit for selecting representative azimuth lines for estimating the location of a threat among azimuth lines measured by at least one sensor; - Sensors are all embedded in the means of transportation, so azimuth lines are determined differently depending on changes in the sensor's position.
a location estimation unit that estimates the location coordinates of a threat based on selected representative azimuth lines and the location coordinates of at least one sensor corresponding to the representative azimuth lines;
Including,
It further includes an identification unit that determines the accuracy of the location estimation result by comparing specification information related to a threat detectable at the estimated location with specification information extracted from the received electromagnetic wave signal,
The selection unit is a device for estimating the location of a threat by selecting at least some representative direction lines among a plurality of direction lines using a pattern classification algorithm.
According to clause 9,
Location coordinates are coordinates in a latitude and longitude coordinate system, a device that estimates the location of a threat.
delete According to clause 9,
Estimation of the location of the threat is performed when predetermined conditions are met,
The predetermined conditions include a first condition requiring that the threat be judged as fixed as a result of identifying it on a platform-by-platform basis, a second condition requiring that the number of measured defense lines exceed a certain number, and a critical range in which the defense range of the threat is preset. A device for estimating the location of a threat, including at least one of the third conditions required to be above.
According to clause 9,
Estimation of the location of a threat is performed only when all predetermined conditions are met.
The predetermined conditions include a first condition requiring that the threat be judged as fixed as a result of identifying it on a platform-by-platform basis, a second condition requiring that the number of measured defense lines exceed a certain number, and a critical range in which the defense range of the threat is preset. A device for estimating the location of a threat that includes all of the third conditions required to be above.
delete According to clause 9,
A device that estimates the location of a threat, where the specification information includes at least one of azimuth, frequency, PRI, scan, signal strength, and pulse width.
According to clause 9,
A device that estimates the location of a threat, where location estimation is performed using the DLS algorithm.