KR20200120154A - Method and apparatus for tracking target by detecting semi-active laser signal - Google Patents

Abstract

Provided is a device for tracking a target by detecting a semi-active laser signal, which comprises: a receiver receiving a reflected signal generated by reflecting a laser indication signal from the target; a converter generating a digital signal by performing sampling in which the reference input for removing at least a part of noise included in the reflected signal is set on an analog signal representing the reflected signal; and a control unit estimating probabilistic characteristics of noise from characteristics of the digital signal, detecting a semi-active laser signal from the digital signal by utilizing the probabilistic characteristics of noise, and calculating an estimation angle of the target based on the semi-active laser signal.

Description

TECHNICAL FIELD [Method and apparatus for tracking target by detecting semi-active laser signal]

The present disclosure relates to an apparatus and method for tracking a target by detecting a semi-active laser signal. More specifically, the present disclosure relates to an apparatus and method for tracking a target by detecting a semi-active laser signal by estimating a probabilistic characteristic of noise included in a reflected signal.

Research is being conducted on a technology to detect the position of a target by irradiating a laser onto the target and detecting a signal reflected therefrom. In particular, research on a semi-active laser detection method in which a laser indicator that irradiates a laser indication signal to the target and a device that tracks the target by receiving and processing the signal reflected from the target is separately implemented. Has become.

In order to accurately detect the position of the target, it may be required to accurately measure the relative intensity of the semi-active laser signal detected from the signal reflected from the target. However, since the signal reflected from the target is sampled by the analog-digital converter, the intensity of the measured semi-active laser signal may be limited to a range between the upper and lower limits of the converter. This intensity limitation may be directly connected to a limitation of the dynamic range in which the detection system can operate, and thus the accuracy of the relative intensity at which the semi-active laser signal is measured may also be limited by the resolution range of the converter.

Therefore, in order to accurately detect the position of the target by the semi-active laser detection method, a technique for more accurately distinguishing the relative intensity of the semi-active laser signal may be required in an environment where the measurement range and resolution of the analog-digital converter are limited. .

Various embodiments are to provide an apparatus and method for tracking a target by detecting a semi-active laser signal. The technical problem to be achieved by the present disclosure is not limited to the technical problems as described above, and other technical problems may be inferred from the following embodiments.

As a means for solving the above-described technical problem, an apparatus for tracking a target by detecting a semi-active laser signal according to an aspect of the present disclosure includes: a receiver configured to receive a reflection signal generated by reflecting a laser indication signal from the target; A converter for generating a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set on the analog signal representing the reflected signal; And estimating a probabilistic characteristic of the noise from the characteristic of the digital signal, detecting the semi-active laser signal from the digital signal by using the probabilistic characteristic of the noise, and the target of the target based on the semi-active laser signal. It may include a control unit for calculating the tracking angle.

A method for tracking a target by detecting a semi-active laser signal according to another aspect of the present disclosure includes: receiving a reflection signal generated by reflecting a laser indication signal from the target; Generating a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set on the analog signal representing the reflected signal; Estimating a probabilistic characteristic of the noise from the characteristic of the digital signal; Detecting the semi-active laser signal from the digital signal using the probabilistic characteristic of the noise; And calculating a tracking angle of the target based on the semi-active laser signal.

According to the apparatus and method according to the present disclosure, at least a part of noise included in the reflected signal may be removed by sampling an analog signal representing a reflected signal. Accordingly, even when the resolution of the converter is limited, the relative intensity of the semi-active laser signal can be more accurately distinguished, and the position of the target can be more accurately detected.

Although at least some of the noise included in the reflected signal is removed by the sampling performed by the converter, the control unit can estimate the probabilistic characteristics of the noise from the characteristics of the digital signal, so the probabilistic characteristics of the noise are utilized and are semi-active. The laser signal can be distinguished from noise and detected.

1 is a diagram for describing a system for tracking a target by detecting a semi-active laser signal according to some embodiments.
2 is a block diagram illustrating elements constituting an apparatus for tracking a target by detecting a semi-active laser signal according to some embodiments.
3 is a diagram for explaining a process of operating a device for tracking a target by detecting a semi-active laser signal according to some embodiments.
4 is a diagram for explaining a process in which a converter performs sampling on a reflected signal according to some embodiments.
5 is a view for explaining in more detail an apparatus for tracking a target by detecting a semi-active laser signal according to some embodiments.
6 is a diagram for explaining probabilistic characteristics of noise estimated by a control unit according to some embodiments.
7 is a flow chart showing steps of configuring a method for tracking a target by detecting a semi-active laser signal according to some embodiments.

Hereinafter, exemplary embodiments will be described in detail with reference to the accompanying drawings. It goes without saying that the following description is only for specifying the embodiments and does not limit or limit the scope of the invention. What can be easily inferred by experts in the art from the detailed description and examples is interpreted as belonging to the scope of the rights.

The terms “consisting of” or “comprising” as used herein should not be interpreted as necessarily including all of the various elements or various steps described in the specification, and some of the elements or some steps It should be construed that it may not be included, or that additional components or steps may be further included.

Terms including an ordinal number such as'first' or'second' used in the present specification may be used to describe various elements, but the elements should not be limited by the terms. The above terms are used only for the purpose of distinguishing one component from other components.

Terms used in the present specification have been selected as general terms that are currently widely used in consideration of functions in the present invention, but this may vary according to the intention or precedent of a technician working in the field, the emergence of new technologies, and the like. In addition, in certain cases, there are terms arbitrarily selected by the applicant, and in this case, the meaning will be described in detail in the description of the corresponding invention. Therefore, the terms used in the present invention should be defined based on the meaning of the term and the overall contents of the present invention, not a simple name of the term.

The present embodiments relate to an apparatus and method for tracking a target by detecting a semi-active laser signal, and detailed descriptions of matters widely known to those of ordinary skill in the art to which the following embodiments belong will be omitted. .

1 is a diagram for describing a system for tracking a target by detecting a semi-active laser signal according to some embodiments.

Referring to FIG. 1, a system 10 for tracking a target by detecting a semi-active laser signal includes a device 100, a laser indicator 200, and a target 300 for tracking a target by detecting a semi-active laser signal. can do.

The target 300 may mean a target of the system 10. The device 100 may detect the location of the target 300. The device 100 may navigate or fly to the location of the target 300 to be detected. For example, the device 100 may be a guided vehicle that is set to fly toward the target 300.

The laser indicator 200 may irradiate a laser indication signal to the target 300. The laser indication signal irradiated to the target 300 may be reflected from the target 300, and a reflected signal may be generated therefrom. The device 100 may detect the location of the target 300 by receiving the reflected signal and processing the reflected signal.

Unlike the active laser detection method in which a laser indicator 200 for irradiating a laser indication signal and a device 100 for receiving a reflected signal are provided in a single device, the system 100 is a laser indicator 200 The and device 100 may be a semi-active laser detection system implemented as separate equipment.

In addition to the semi-active laser signal for detecting the position of the target 300, the reflected signal received by the apparatus 100 may further include noise according to an operating environment of the system 10. Accordingly, in order for the apparatus 100 to detect the target 300, a process of discriminating the semi-active laser signal from noise included in the reflected signal may be required.

In order to accurately detect the target 300, since a process of correcting by using information about noise is involved, the device 100 may require information about noise. However, since noise included in the reflected signal may be different for each environment in which the system 10 is operated, a value stored in advance cannot be used for information on noise, and it may be required to measure it in real time.

In order to accurately detect the position of the target, in addition to measuring the noise in real time, it may be required to precisely measure the relative intensity of the semi-active laser signal. As will be described later, the apparatus 100 may set a reference input for removing at least a portion of noise included in the reflected signal, and perform analog-digital conversion on the reflected signal according to the reference input to reduce at least a portion of the noise. At the same time, it is possible to more accurately measure the relative strength of the semi-active laser signal and widen the dynamic range of detectable laser signal strength.

2 is a block diagram illustrating elements constituting an apparatus for tracking a target by detecting a semi-active laser signal according to some embodiments.

Referring to FIG. 2, the apparatus 100 may include a receiver 110, a converter 120, and a control unit 130. However, the present invention is not limited thereto, and other general-purpose components other than the components shown in FIG. 2 may be further included in the device 100.

The receiver 110 may receive a reflected signal generated by reflecting the laser indication signal from the target 300. The laser indication signal may be irradiated to the target 300 by the laser indicator 200, and the laser indication signal may be reflected from the target 300 to generate a reflection signal. The receiver 110 may be a sensor for receiving a reflected signal.

The converter 120 may generate a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set for the analog signal representing the reflected signal. The apparatus 100 may include a converter 120 that performs an analog-to-digital conversion on the reflected signal in order to detect the position of the target 300 by performing a processing process on the reflected signal.

The control unit 130 can estimate the probabilistic characteristics of noise from the characteristics of the digital signal, detect the semi-active laser signal from the digital signal by using the probabilistic characteristics of the noise, and target the target based on the semi-active laser signal. It is possible to calculate the tracking angle of (300). When the tracking angle of the target 300 is calculated, it can be detected at which angle the target 300 is located with respect to the device 100, so that the guided vehicle including the device 100 is the target 300 You can fly or sail accurately.

The controller 130 may be implemented as an array of a plurality of logic gates, and may be implemented as a combination of a general-purpose microprocessor and a memory storing a program that can be executed in the microprocessor. Also, the control unit 130 may be configured with a plurality of processing elements.

3 is a diagram for explaining a process of operating a device for tracking a target by detecting a semi-active laser signal according to some embodiments.

Referring to FIG. 3, an example for explaining a process of receiving a reflected signal by the apparatus 100 and detecting a semi-active laser signal therefrom is illustrated. The apparatus 100 may further include an amplifier 140 in addition to the receiver 110, the converter 120 and the controller 130.

The receiver 110 may be a quadrant receiver having four channels. As illustrated in FIG. 3, the receiver 110 may have channels A, B, C, and D, and may receive reflected signals for each of the four channels. The receiver 110 may receive the reflected signal and transmit it to the converter 120.

A signal received by the receiver 110 and transmitted to the converter 120 may be an analog signal. For example, the signal transmitted to the converter 120 may be a voltage signal proportional to the intensity at which the reflected signal is received for each channel of the receiver 110.

The amplifier 140 may amplify a signal received by the receiver 110 and transmitted to the converter 120. For example, when the signal transmitted to the converter 120 is a voltage signal, the amplifier 140 may amplify the voltage signal and transmit it to the converter 120 again.

In FIG. 3, an example of a signal transmitted to the converter 120 is shown between the amplifier 140 and the converter 120. The signal transmitted to the converter 120 is a voltage signal, and may be composed of noise in a low voltage band and a semi-active laser signal that exhibits a peak at a constant period. The apparatus 100 may detect the position of the target 300 by selecting the semi-active laser signal from noise and measuring the relative intensity of the semi-active laser signal.

The converter 120 may be a high-speed analog-digital converter (ADC) as illustrated in FIG. 3. The converter 120 may receive a signal for each channel for four channels from the amplifier 140, and may generate a digital signal by performing sampling on the signal. The converter 120 may generate a digital signal and transmit it to the controller 130.

The control unit 130 may include a field programmable gate array (FPGA) and a CPU, as illustrated in FIG. 3. The controller 130 may detect a semi-active laser signal from noise for each of the four signals for each channel, and measure the relative strength of the semi-active laser signal for each of four channels.

4 is a diagram for explaining a process in which a converter performs sampling on a reflected signal according to some embodiments.

Referring to FIG. 4, an example for explaining a process in which the converter 120 receives an analog signal representing a reflected signal and outputs a digital signal is illustrated.

The converter 120 may convert an analog signal into a digital signal having a specific resolution. The converter 120 may perform conversion within a range of an upper limit value and a lower limit value. For example, the converter 120 may have a resolution of 16 bits or 32 bits, and the digital signal output from the converter 120 may be formed of 16 bits or 32 bits. However, it is not limited to such a numerical value, and the converter 120 may have other appropriate numerical resolution.

When the converter 120 converts to the lower limit of noise, the resolution and measurement range of the converter 120 are required up to the entire noise part irrelevant to the semi-active laser signal, so that the noise signal can be accurately measured. However, in terms of resolution, the accuracy in which the relative intensity of the semi-active laser signal is measured may be lowered, and the intensity range of the measurable laser signal is narrowed, so that the dynamic range or target of the laser intensity that the detection system can operate. It can be disadvantageous in terms of distance range from (300).

Therefore, only a part of the noise part is included in the conversion range, and the remaining part of the noise part is excluded from the conversion range. Accordingly, in order to increase the conversion range and the resolution at which the signal included therein is converted into a digital signal, a part of the noise part is A reference input for distinguishing between and the rest may be set.

An example of such a reference input is shown in FIG. 4. The converter 120 of FIG. 4 may not convert noises below the reference input, but convert only a signal larger than the reference input into a digital signal. Accordingly, the resolution and measurement range of the converter 120 can be allocated more to the semi-active laser signal than the noise portion, so that the relative strength of the semi-active laser signal can be more accurately measured, and Dynamic range can be secured. That is, the converter 120 may convert only a portion included in the ADC input range indicating a larger range than the reference input into a digital signal.

As the reference input is set, at least a portion of the noise portion is removed from the output of the converter 120, so noise included in the reflected signal may not be accurately measured, but as will be described later, the noise included in the output of the converter 120 The probabilistic properties of the noise can be estimated from a portion of the noise portion.

The device 100 or the controller 130 may set a reference input of the converter 120. The reference input may be set depending on how much of the noise part is to be excluded, and then the value may be adjusted.

5 is a view for explaining in more detail an apparatus for tracking a target by detecting a semi-active laser signal according to some embodiments.

Referring to FIG. 5, it is shown that the control unit 130 may include an FPGA 131 and a CPU 132, and operations performed in the FPGA 131 and the CPU 132 are illustrated.

The control unit 130 may estimate the probabilistic characteristics of the noise through the CPU 132. As described above, while the converter 120 performs sampling in which a reference input for removing at least a part of noise is set, only a part of the noise may be transmitted to the controller 130. That is, the noise component included in the digital signal transmitted to the controller 130 may be at least a part of the noise included in the reflected signal. Accordingly, in order to recover the entire waveform of the noise, the CPU 132 may estimate the probability characteristic of the noise from only a part of the noise included in the digital signal.

Noise included in the reflected signal may follow a Gaussian distribution. Accordingly, the probability characteristic of the noise may include at least one of an average and a standard deviation according to a Gaussian distribution. That is, the CPU 132 may estimate the average and standard deviation of the noise from only a portion of the noise.

The CPU 132 may calculate the mean μ and the standard deviation σ according to the Gaussian distribution as the probabilistic characteristic of the noise as shown in Equation 1. In Equation 1, Σ and N _d may represent characteristics of a digital signal. Since the mean μ and the standard deviation σ can be estimated from Σ and N _d , the CPU 132 can estimate the probabilistic characteristic of noise from the characteristic of the digital signal.

In Equation 1, Σ and N _d can be calculated from sample data during the reference frame time T _f of the digital signal. That is, Σ may represent the sum of values of the digital signal during one period, and N _d may represent the number of non-zero values of the digital signal during one period.

For example, FIG. 4 shows an example of a digital signal output from the converter 120 during a reference frame time T _f corresponding to one period. In this case, Σ may mean the sum of all sample data existing in the section T _f , and N _d can mean the number of non-zero sample data existing in the section T _f .

Meanwhile, λ and Γ in Equation 1 may be expressed as Equation 2 below.

In Equation 2, erf ^-1 (x) may mean an inverse function of the Gaussian error function erf(x), which may be implemented by approximation by a Taylor series or a table mapping method. p is a probability that the sample data is not 0 in one period T _f of the digital signal, and p may be equal to N _d /N _f for the number of samples N _f during one period T _f .

As in the example shown in FIG. 4, one period T _f of the digital signal may be very long compared to the width of a pulse representing the semi-active laser signal. Thus, even if only one period T _f of the digital signal is given, a sufficient amount of data can be provided for estimating the probabilistic characteristic of noise. For more precise estimation of the probabilistic characteristics of noise, more accurate values can be utilized by accumulating Σ and N _d over several periods.

On the other hand, as in the example shown in FIG. 5, T _f calculating all the sum of the ADC sample Σ and T _f amount of data the number of the value N _d for for the FPGA (131) included in the controller 130 The process of estimating the probabilistic characteristics of noise from characteristics Σ and N _d of the digital signal may be performed by the CPU 132 included in the controller 130. However, in addition to these examples, the subject performing each process may be changed as necessary.

The controller 130 may adjust a threshold value for selecting a semi-active laser signal from a digital signal including a part of the noise component by using the probabilistic characteristic of noise. When the threshold is adjusted, the accuracy in which the semi-active laser signal is distinguished from noise can be improved.

A false alarm rate (FAR) may be used as a criterion for the control unit 130 to adjust the threshold value. The false alarm rate may mean the frequency at which noise signals are erroneously selected as being semi-active laser signals. The false alarm rate can be measured by measuring the frequency with which the intensity of the noise signal exceeds a threshold value when only noise exists without a semi-active laser signal.

Unlike the conventional method of repeatedly updating the threshold value until the false alarm rate converges to a target value or less, the control unit 130 uses the probabilistic characteristics μ and σ of noise without repetitive procedures to lower the threshold value. It can be updated as in Equation 3 of.

In Equation 3, the threshold value V _th can be calculated through an operation on the standard deviation σ of noise, the false alarm rate FAR, the sampling frequency f _{s at} which the converter 120 performs analog-to-digital conversion, and the inverse Gaussian error function. have.

Unlike the general method in which a considerable amount of time is required for the false alarm rate FAR to converge below the reference value by updating the threshold value V _th every reference frame time T _f , the probabilistic characteristics μ and σ of the predicted noise in a small amount of time are required. A desired level of false alarm rate FAR and threshold V _th may be set by utilizing. For example, the false alarm rate FAR and the threshold value V _th can accurately converge even by the reference frame time T _f of one period.

The process of the controller 130 detecting the semi-active laser signal from the digital signal may include a process of tracking the semi-active laser signal. Since the semi-active laser signal is received by the receiver 110 of the device 100 at a constant cycle, when a semi-active laser signal that is repeated for several cycles is detected, the semi-active laser signal is received in a period after detection. Taking advantage of the fact that the viewpoint is predictable, tracking of the semi-active laser signal can be performed.

In order to select a semi-active laser signal within a certain range of gates in which the semi-active laser signal is expected to be received in the next period, a threshold value different from that of Equation 3 may be required. When the gate is set after detection of the laser signal, all signals exceeding the threshold value within the gate can be regarded as laser signals reflected from the target. If the laser signal is out of sight of the receiver during laser signal tracking, an abnormal situation may be created if noise is misjudged as a laser signal. Accordingly, it may be required that the threshold value for selecting the semi-active laser signal within the gate is determined as a more conservative standard than in the case of the detection process. In conclusion, the threshold value used in the tracking of the semi-active laser signal can be calculated in a new manner as shown in Equation 4 below.

In Equation 4, the threshold V _th is the standard deviation σ, the probability p _f, and the inverse of the Gaussian error function so that the probability that one or more noises are not detected during consecutive N _lose cycles is greater than or equal to a specific value p _lose. It can be calculated through computation. The probability p _f can be calculated as in Equation 5 below.

In Equation 5, Gate may mean a gate range for predicting the signal of the next period, N _lose may mean the number of consecutive misses of the semi-active laser signal, and p _lose is the probability of missing the semi-active laser signal. Can mean

The calculation of the threshold value illustrated through Equations 3 to 5 may be performed by the CPU 132 included in the control unit 130 as illustrated in FIG. 5. For example, when the receiver 110 is a quadrant receiver composed of four channels, the FPGA 131 uses the threshold value updated by the CPU 132 to generate a semi-active laser signal for each channel of the receiver 110. Can be detected. That is, the FPGA 131 may compare the digital signal with a threshold value and select a semi-active laser signal from noise for each channel.

The controller 130 may adjust the offset of the receiver 110 by using the probabilistic characteristic of noise. In the case where the receiver 110 is a quadrant receiver composed of four channels, if the offset is different for each channel, an error in the tracking angle indicating the position of the target 300 may increase.

Therefore, so that the offset for each channel of the receiver 110 is the same, the control unit 130 may adjust the offset of the channels to the same level by adding the average μ estimated for each channel to the semi-active laser signal detected for each channel. have. For example, if the channel is composed of A, B, C, and D, the average estimated for each channel μ _A , μ _B , μ for semi-active laser signals L _A , L _B , L _C and L _D detected for each channel in addition to the _C and _D respectively, μ is the channel to adjust the offset of the a, B, C and D.

By adjusting the offset, since the relative intensity of the semi-active laser signal detected for each channel can be more accurately compared, the position of the target 300 can be more accurately detected.

The controller 130 may calculate the tracking angle of the target 300 from the semi-active laser signal for each channel through the CPU 132. From the relative intensity of the semi-active laser signal for each channel, a tracking angle indicating in which direction the target 300 is positioned relative to the device 100 may be calculated.

The control unit 130 may calculate the standard deviation of the tracking angle of the target 300 through the CPU 132. The apparatus 100 may grasp the standard deviation of the tracking angle in real time, and utilize this to perform an algorithm for implementing a laser guidance system or an induction control filter. When the standard deviation or error of the tracking angle is reflected in the algorithm, a laser guidance system or a guidance control filter may be implemented more precisely. The standard deviation of the tracking angle can be calculated as in Equation 6 below.

In Equation 6, A, B, C, and D may mean semi-active laser signals for each channel of the quadrant receiver, and σ _A , σ _B , σ _C and σ _D are the standard noise for each channel of the quadrant receiver. Could mean deviation. K is a proportional tracking constant, and may mean a slope in a section in which the relationship between the tracking angle and the actual angle of the target 300 is linear. Therefore, the standard deviations σ _x and σ _y of the tracking angle in Equation 6 are sections in which the relationship between the tracking angle and the angle of the actual target 300 has a linear relationship, and may be effective at a position close to the center of the quadrant receiver.

6 is a diagram for explaining probabilistic characteristics of noise estimated by a control unit according to some embodiments.

As described above with respect to FIG. 4, as the reference input of the converter 120 is set, some of the noise is removed, so that the probability characteristic of the noise can be estimated from the remaining part of the noise. Referring to FIG. 6, a distribution of noise estimated for each channel in a quadrant receiver is shown.

Referring to the graph of FIG. 6, an estimated distribution of noise for four channels A, B, C, and D is shown. In the section where the ADC level is greater than 0, it can be confirmed that the estimated noise distribution mostly coincides with the probability distribution of the actual noise histogram.

As can be seen in FIG. 6, even when the reference input of the converter 120 is set and part of the noise is removed, the probability characteristic of the noise can be estimated relatively accurately. Since the relative intensity of the semi-active laser signal can be more accurately measured to the extent that some of the noise is removed, the position of the target 300 can be more accurately detected.

7 is a flow chart showing steps of configuring a method for tracking a target by detecting a semi-active laser signal according to some embodiments.

Referring to FIG. 7, a method of tracking a target by detecting a semi-active laser signal may include steps 710 to 750. However, the present invention is not limited thereto, and general steps other than the steps shown in FIG. 7 may be further included in the method of FIG. 7.

The method of FIG. 7 may consist of steps processed in a time series by the apparatus 100 described in FIGS. 1 to 6. Accordingly, although the contents of the method of FIG. 7 are omitted below, the contents described with respect to the apparatus 100 of FIGS. 1 to 6 may be equally applied to the method of FIG. 7.

In operation 710, the apparatus 100 may receive a reflected signal generated by reflecting the laser indication signal from the target 300.

In operation 720, the apparatus 100 may generate a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set on the analog signal representing the reflected signal.

In operation 730, the apparatus 100 may estimate a probability characteristic of noise from the characteristic of the digital signal.

In step 740, the apparatus 100 may detect the semi-active laser signal from the digital signal by using the probabilistic characteristic of the noise.

In operation 750, the device 100 may calculate a tracking angle of the target 300 based on the semi-active laser signal.

Meanwhile, the method of tracking a target by detecting a semi-active laser signal of FIG. 7 may be recorded in a computer-readable recording medium in which one or more programs including instructions for executing the method are recorded.

Examples of computer-readable recording media include magnetic media such as hard disks, floppy disks, and magnetic tapes, optical media such as CD-ROMs and DVDs, and floptical disks. A hardware device specially configured to store and execute program instructions such as magneto-optical media, and ROM, RAM, flash memory, and the like may be included. Examples of program instructions may include high-level language codes that can be executed by a computer using an interpreter as well as machine language codes such as those produced by a compiler.

Although the embodiments have been described in detail above, the scope of the present invention is not limited thereto, and various modifications and improvements of those skilled in the art using the basic concept of the present invention defined in the following claims are also the scope of the present invention. Belongs to.

10: system
100: device
110: receiver
120: converter
130: control unit
131: FPGA
132: CPU
140: amplifier

Claims (10)

In the device for tracking a target by detecting a semi-active laser signal,
A receiver for receiving a reflected signal generated by reflecting a laser indication signal from the target;
A converter for generating a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set on the analog signal representing the reflected signal; And
Estimating the probability characteristic of the noise from the characteristic of the digital signal,
Detecting the semi-active laser signal from the digital signal using the probabilistic characteristic of the noise,
And a control unit for calculating the tracking angle of the target based on the semi-active laser signal. The method of claim 1,
The control unit,
Adjusting a threshold value for distinguishing the semi-active laser signal from the noise by using the probabilistic characteristic of the noise,
Detecting the semi-active laser signal from the digital signal based on the adjusted threshold. The method of claim 1,
The receiver,
It is a quadrant receiver with four channels,
The control unit,
The apparatus for calculating the tracking angle of the target based on the intensity of the signal for each channel of the semi-active laser signal. The method of claim 3,
The control unit,
Adjusting the channel-by-channel offset of the quadrant receiver based on the probabilistic characteristic of the noise. The method of claim 1,
The control unit,
And a field programmable gate array (FPGA) that measures characteristics of the digital signal and detects the semi-active laser signal from the digital signal. The method of claim 1,
The control unit,
Based on the standard deviation of the tracking angle of the target calculated from the probabilistic characteristics of the noise, the apparatus for performing an algorithm for implementing a laser guidance system or a guided steering filter. The method of claim 1,
Wherein the characteristic of the digital signal includes at least one of a sum of values of the digital signal during a period and a number of non-zero values of the digital signal during a period. The method of claim 1,
The apparatus, wherein the probabilistic characteristic of the noise includes at least one of a mean and a standard deviation according to a Gaussian distribution. In a method for tracking a target by detecting a semi-active laser signal,
Receiving a reflection signal generated by reflecting a laser indication signal from the target;
Generating a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set on the analog signal representing the reflected signal;
Estimating a probabilistic characteristic of the noise from the characteristic of the digital signal;
Detecting the semi-active laser signal from the digital signal using the probabilistic characteristic of the noise; And
And calculating a tracking angle of the target based on the semi-active laser signal. In a computer-readable recording medium in which a program for implementing a method of detecting a semi-active laser signal and tracking a target is recorded,
The above method,
Receiving a reflection signal generated by reflecting a laser indication signal from the target;
Generating a digital signal by performing sampling in which a reference input for removing at least a part of noise included in the reflected signal is set on the analog signal representing the reflected signal;
Estimating a probabilistic characteristic of the noise from the characteristic of the digital signal;
Detecting the semi-active laser signal from the digital signal using the probabilistic characteristic of the noise; And
And calculating a tracking angle of the target based on the semi-active laser signal.

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