WO2020230534A1 - Radar apparatus - Google Patents

Radar apparatus Download PDF

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Publication number
WO2020230534A1
WO2020230534A1 PCT/JP2020/017020 JP2020017020W WO2020230534A1 WO 2020230534 A1 WO2020230534 A1 WO 2020230534A1 JP 2020017020 W JP2020017020 W JP 2020017020W WO 2020230534 A1 WO2020230534 A1 WO 2020230534A1
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Prior art keywords
target
image
radar
unit
antenna
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PCT/JP2020/017020
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French (fr)
Japanese (ja)
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徹 三村
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東京計器株式会社
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Publication of WO2020230534A1 publication Critical patent/WO2020230534A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
    • G01S13/86—Combinations of radar systems with non-radar systems, e.g. sonar, direction finder
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
    • G01S7/00—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00
    • G01S7/02—Details of systems according to groups G01S13/00, G01S15/00, G01S17/00 of systems according to group G01S13/00
    • G01S7/28—Details of pulse systems
    • G01S7/285—Receivers
    • G01S7/292—Extracting wanted echo-signals
    • G—PHYSICS
    • G08—SIGNALLING
    • G08G—TRAFFIC CONTROL SYSTEMS
    • G08G3/00—Traffic control systems for marine craft
    • G08G3/02—Anti-collision systems

Definitions

  • An embodiment of the present invention relates to a radar device.
  • the irradiated radio waves are reflected by an object different from the detection target such as the sea surface, land surface, and large structure, so that an unnecessary image called a false image is generated in the radar image. It was.
  • a TV camera a camera image input means for inputting an image in a range determined by the depression angle / viewing angle of the TV camera, and a camera image input based on the installation position of the TV camera and the positional relationship of the image range.
  • the false image of the radar is removed by combining the camera image conversion means that converts the image input by the means into the positioning signal of the target and outputs it, and the positioning signal obtained by the camera image conversion means and the positioning signal from the radar.
  • a radar false image removing device having a false image removing means is known (see, for example, Patent Document 1).
  • Some of the false images are very similar to the real image, which is a reflected echo from a detection target such as a ship, and in that case, it is not possible to determine whether the target on the radar image is a real image or a false image. There was a problem.
  • the present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a radar device capable of determining whether a target is a real image or a false image.
  • the radar device of the present embodiment is a radar device that detects a moving object, and is composed of an antenna that transmits and receives radio waves, an imaging device that images the detection range of the antenna, and the antenna.
  • a signal processing unit that generates a radar image signal based on a received signal, a target detection unit that detects a target based on the radar image signal, an image capture image acquisition unit that acquires an image captured by the image pickup device, and the above.
  • a target determination unit for determining whether or not the moving body is included in the partial region corresponding to the detected target in the acquired captured image is provided.
  • the present invention it is possible to determine whether the target is a real image or a false image.
  • FIG. 1 is a block diagram showing an overall configuration of a radar device according to the present embodiment.
  • FIG. 2 is a schematic front view showing the configurations of the image pickup apparatus and the antenna.
  • the radar device 1 includes an antenna 11 that transmits and receives radio waves while rotating, an image pickup device 12 that is rotated in the same manner as the antenna 11, and a drive unit that rotationally drives the antenna 11 and the image pickup device 12. 13, a transmitter 21 that generates a transmission signal radiated as a transmission wave by the antenna 11, a receiver 22 that generates a reception signal based on the reception wave received by the antenna 11, and a transmitter 21 and a receiver 22.
  • a transmission / reception control unit 30 for controlling the above and a processing unit 40 are provided.
  • the radar device 1 targets a ship as a moving body as a detection target, and the processing unit 40 in the radar device 1 is connected to an indicator (not shown) provided with a display device for displaying a radar image. And.
  • the radar device 1 uses a magnetron, but may be configured as a solid-state radar using a semiconductor element.
  • the transmission / reception control unit 30 controls the transmitter 21 so as to generate a transmission signal, and also controls the receiver 22 so as to generate a reception signal.
  • the received signal generated by the receiver 22 is input to the processing unit 40.
  • the processing unit 40 includes a CPU (Central Processing Unit) 41 and a memory 42, and the CPU 41 and the memory 42 cooperate with each other to execute various functions described later.
  • CPU Central Processing Unit
  • the antenna 11 and the image pickup apparatus 12 are rotationally driven around the rotation axis R by the drive unit 13.
  • the rotation axis R is oriented in a substantially vertical direction orthogonal to the installation surface direction of the radar device 1.
  • the antenna 11 is connected to the drive unit 13, and the image pickup device 12 is connected to the antenna 11, whereby the antenna 11 and the image pickup device 12 are similarly rotated.
  • the same rotation means that the rotation is performed around the same rotation axis, in the same rotation direction, and at the same rotation speed.
  • the image pickup device 12 is connected to the antenna 11 so that the detection range of the antenna 11 can be synchronously imaged. Further, the image pickup device 12 is preferably a camera provided with a telephoto lens, whereby the resolution of the image used for the determination described later can be improved at low cost.
  • the image pickup device 12 may be any as long as it can image within the detection range of the radar device 1, and does not necessarily have to be rotated in the same manner as the antenna 11. As a configuration in this case, it is conceivable to use a camera provided with a wide-angle lens as the image pickup device 12 or to use a plurality of image pickup devices 12.
  • FIG. 3 is a block diagram showing a functional configuration of the processing unit.
  • the processing unit 40 includes a signal processing unit 401, a target detection unit 402, an image acquisition unit 403, a target determination unit 404, a target removal unit 405, a target tracking unit 406, and a smoothing processing unit.
  • 407 and radar information output unit 408 are provided as functions.
  • the signal processing unit 401 generates a radar video signal based on the received signal generated by the receiver 22.
  • the target detection unit 402 detects the target position based on the radar image signal generated by the signal processing unit 401.
  • the image acquisition unit 403 acquires the captured image captured by the image pickup device 12.
  • the target determination unit 404 extracts a partial image corresponding to the target position detected by the target detection unit 402 from the captured image, determines whether or not the partial image includes a ship, and includes the ship. If so, it is determined whether or not this vessel is changing its course. It should be noted that the target determination unit 404 determines whether or not the partial image includes the ship by machine learning, specifically, by supervised learning using the image of the ship and the time-series image of the ship undergoing needle change as supervised learning. Estimate whether the vessel is changing course.
  • the target removal unit 405 removes the target corresponding to this partial image from the radar image signal as a false image.
  • the target tracking unit 406 calculates the target course and the target speed with the target corresponding to the partial image as the tracking target.
  • the smoothing processing unit 407 smoothes the target course and the target speed in order to reduce noise and error.
  • the radar information output unit 408 includes the radar image signal from which the false image has been removed by the target removal unit 405, and the target information including the target position, the target course, and the target speed smoothed by the smoothing processing unit 407. Is output to the indicator.
  • the target information is superimposed and displayed on the radar image on the indicator.
  • FIG. 4 is a flowchart showing the operation of the target removal process.
  • the target removal process is a process executed at predetermined intervals, and in FIG. 4, the target is acquired based on the radar image signal and the captured image corresponding to the radar image signal is already acquired. And.
  • the target determination unit 404 selects an unselected target from the targets whose target position is detected by the target detection unit 402 (S101), and the captured image acquired.
  • a partial image including a region corresponding to the target position of the target selected in (S102) is extracted (S102), and it is determined whether or not a ship is included in this partial image (S103).
  • the target determination unit 404 adds the selected target to the tracking target (S104), and determines whether or not all the targets have been selected. Judgment (S105).
  • the target determination unit 404 selects the unselected targets again (S101).
  • step S103 when the ship is not included in the partial image (S103, NO), the target removal unit 405 removes the selected target as a false image from the radar image signal (S107), and removes the target from the radar image signal (S107). It is determined whether or not the determination unit 404 has selected all the targets (S105).
  • the target removal process if the partial image corresponding to the target does not include the ship that is the moving object to be detected, the target is determined to be a false image and the radar is used. Removed from the video signal. Thereby, the false image caused by the sea surface reflection generated when the radio wave is irradiated toward the sea and the real image which is the reflected echo by the ship can be separated and the false image can be suppressed.
  • FIG. 5 is a flowchart showing the operation of the target tracking process.
  • the target tracking unit 406 calculates the target course and the target speed for each of the targets to be tracked based on the time-series data of the target position (S201). ..
  • the target determination unit 404 selects an unselected target from the targets to be tracked (S202), and determines whether or not the ship indicated by the selected target is changing hands. (S203).
  • the target determination unit 404 specifically determines whether or not the attitude of the ship has changed based on the attitude of the ship included in the partial image in the previous cycle and the attitude of the ship included in the partial image in the current cycle. Specifically, it is determined whether or not the ship is changing its course by estimating whether or not the ship is turning.
  • the smoothing processing unit 407 reduces the smoothing strength, which is a parameter indicating the degree of smoothing strength, from the default set value or sets it to zero (S204). Whether or not the target course and target speed are smoothed (S205), the smoothing intensity is reset and returned to the set value (S206), and the target determination unit 404 has selected all of the targets to be tracked. Is determined (S207).
  • the target tracking process is completed.
  • the target determination unit 404 selects the unselected targets again (S202).
  • step S203 when the ship is not changing the course (S203, NO), the smoothing processing unit 407 smoothes the target course and the target speed by the normal smoothing intensity, that is, the default set value (S208). ), The target determination unit 404 determines whether or not all of the targets to be tracked have been selected (S207).
  • the smoothing strength is reduced to perform smoothing, or the smoothing strength is set to zero for smoothing. By not having it, it is possible to reduce the delay with respect to the actual target course and the target speed.

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  • Engineering & Computer Science (AREA)
  • Radar, Positioning & Navigation (AREA)
  • Remote Sensing (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Computer Networks & Wireless Communication (AREA)
  • Ocean & Marine Engineering (AREA)
  • Radar Systems Or Details Thereof (AREA)
  • Traffic Control Systems (AREA)

Abstract

This radar apparatus for detecting a mobile body is provided with: an antenna for receiving/transmitting radio waves; an imaging device that images the inside of the detection range of the antenna; a signal processing unit 401 that generates a radar video signal on the basis of a signal received through the antenna; an object detection unit 402 that detects an object on the basis of the radar video signal; a captured image acquisition unit 403 that acquires an image captured by the imaging device; and an object determination unit 404 that determines whether the mobile body is included in a partial region corresponding to the detected object in the captured image that has been acquired.

Description

レーダ装置Radar device
　本発明の実施形態は、レーダ装置に関する。 An embodiment of the present invention relates to a radar device.
　レーダ装置による探知においては、照射された電波が海面、陸面、大型構造物などの探知対象とは異なる対象により反射されることによって、レーダ映像において、偽像と呼ばれる不要な像が発生していた。 In the detection by the radar device, the irradiated radio waves are reflected by an object different from the detection target such as the sea surface, land surface, and large structure, so that an unnecessary image called a false image is generated in the radar image. It was.
　また、関連する技術として、テレビカメラと、テレビカメラの俯角・視野角で定まる範囲の映像を入力するカメラ映像入力手段と、テレビカメラの設置位置及び映像範囲の位置関係に基づいて、カメラ映像入力手段で入力した映像を物標の測位信号に座標変換して出力するカメラ映像変換手段と、カメラ映像変換手段によって得られた測位信号とレーダからの測位信号との合成によりレーダの偽像を除去する偽像除去手段とを有するレーダ偽像除去装置、が知られている（例えば、特許文献１参照）。 In addition, as related technologies, a TV camera, a camera image input means for inputting an image in a range determined by the depression angle / viewing angle of the TV camera, and a camera image input based on the installation position of the TV camera and the positional relationship of the image range. The false image of the radar is removed by combining the camera image conversion means that converts the image input by the means into the positioning signal of the target and outputs it, and the positioning signal obtained by the camera image conversion means and the positioning signal from the radar. A radar false image removing device having a false image removing means is known (see, for example, Patent Document 1).
特開平２－６１５８１号公報Japanese Unexamined Patent Publication No. 2-61581
　偽像は、船舶などの探知対象による反射エコーである実像と酷似しているものがあり、その場合、レーダ映像上の物標が実像または偽像のいずれであるのかを判定することができない、という問題があった。 Some of the false images are very similar to the real image, which is a reflected echo from a detection target such as a ship, and in that case, it is not possible to determine whether the target on the radar image is a real image or a false image. There was a problem.
　本発明は、上述した問題点を解決するためになされたものであり、物標が実像または偽像のいずれであるのかを判定することができるレーダ装置を提供することを目的とする。 The present invention has been made to solve the above-mentioned problems, and an object of the present invention is to provide a radar device capable of determining whether a target is a real image or a false image.
　上述した課題を解決するため、本実施形態のレーダ装置は、移動体を探知するレーダ装置であって、電波を送受信するアンテナと、前記アンテナによる探知範囲内を撮像する撮像装置と、前記アンテナによる受信信号に基づいてレーダ映像信号を生成する信号処理部と、前記レーダ映像信号に基づいて物標を検出する物標検出部と、前記撮像装置による撮像画像を取得する撮像画像取得部と、前記取得された撮像画像における前記検出された物標に対応する部分領域内に前記移動体が含まれるか否かを判定する物標判定部とを備える。 In order to solve the above-mentioned problems, the radar device of the present embodiment is a radar device that detects a moving object, and is composed of an antenna that transmits and receives radio waves, an imaging device that images the detection range of the antenna, and the antenna. A signal processing unit that generates a radar image signal based on a received signal, a target detection unit that detects a target based on the radar image signal, an image capture image acquisition unit that acquires an image captured by the image pickup device, and the above. A target determination unit for determining whether or not the moving body is included in the partial region corresponding to the detected target in the acquired captured image is provided.
　本発明によれば、物標が実像または偽像のいずれであるのかを判定することができる。 According to the present invention, it is possible to determine whether the target is a real image or a false image.
実施形態に係るレーダ装置の全体構成を示すブロック図である。It is a block diagram which shows the whole structure of the radar apparatus which concerns on embodiment. 撮像装置及びアンテナの構成を示す概略正面図である。It is a schematic front view which shows the structure of an image pickup apparatus and an antenna. 処理部の機能構成を示すブロック図である。It is a block diagram which shows the functional structure of a processing part. 物標除去処理の動作を示すフローチャートである。It is a flowchart which shows the operation of the target removal processing. 物標追尾処理の動作を示すフローチャートである。It is a flowchart which shows the operation of the target tracking process.
　以下、図面を参照しながら、本発明の実施形態について説明する。 Hereinafter, embodiments of the present invention will be described with reference to the drawings.
（レーダ装置のハードウェア構成）
　本実施形態に係るレーダ装置のハードウェア構成について説明する。図１は、本実施形態に係るレーダ装置の全体構成を示すブロック図である。図２は、撮像装置及びアンテナの構成を示す概略正面図である。 (Hardware configuration of radar device)
The hardware configuration of the radar device according to this embodiment will be described. FIG. 1 is a block diagram showing an overall configuration of a radar device according to the present embodiment. FIG. 2 is a schematic front view showing the configurations of the image pickup apparatus and the antenna.
　図１に示すように、レーダ装置１は、回転をしながら電波の送受信を行うアンテナ１１と、アンテナ１１と同様に回転される撮像装置１２と、アンテナ１１及び撮像装置１２を回転駆動させる駆動部１３と、アンテナ１１により送信波として放射される送信信号を生成する送信機２１と、アンテナ１１により受信された受信波に基づいて受信信号を生成する受信機２２と、送信機２１及び受信機２２を制御する送受信制御部３０と、処理部４０とを備える。本実施形態において、レーダ装置１は、移動体としての船舶を探知対象とし、レーダ装置１における処理部４０は、レーダ映像を表示する表示装置を備えた指示器（不図示）と接続されるものとする。なお、本実施形態においては、レーダ装置１は、マグネトロンを用いたものとするが、半導体素子を用いた固体レーダとして構成しても良い。 As shown in FIG. 1, the radar device 1 includes an antenna 11 that transmits and receives radio waves while rotating, an image pickup device 12 that is rotated in the same manner as the antenna 11, and a drive unit that rotationally drives the antenna 11 and the image pickup device 12. 13, a transmitter 21 that generates a transmission signal radiated as a transmission wave by the antenna 11, a receiver 22 that generates a reception signal based on the reception wave received by the antenna 11, and a transmitter 21 and a receiver 22. A transmission / reception control unit 30 for controlling the above and a processing unit 40 are provided. In the present embodiment, the radar device 1 targets a ship as a moving body as a detection target, and the processing unit 40 in the radar device 1 is connected to an indicator (not shown) provided with a display device for displaying a radar image. And. In the present embodiment, the radar device 1 uses a magnetron, but may be configured as a solid-state radar using a semiconductor element.
　送受信制御部３０は、送信信号を生成するように送信機２１を制御するとともに、受信信号を生成するように受信機２２を制御する。受信機２２により生成された受信信号は処理部４０に入力される。処理部４０はＣＰＵ（Ｃｅｎｔｒａｌ　Ｐｒｏｃｅｓｓｉｎｇ　Ｕｎｉｔ）４１とメモリ４２とを備え、このＣＰＵ４１及びメモリ４２が協働することにより後述する各種機能を実行する。 The transmission / reception control unit 30 controls the transmitter 21 so as to generate a transmission signal, and also controls the receiver 22 so as to generate a reception signal. The received signal generated by the receiver 22 is input to the processing unit 40. The processing unit 40 includes a CPU (Central Processing Unit) 41 and a memory 42, and the CPU 41 and the memory 42 cooperate with each other to execute various functions described later.
　図２に示すように、アンテナ１１及び撮像装置１２は、駆動部１３により回転軸Ｒ周りに回転駆動させる。本実施形態において、回転軸Ｒは、レーダ装置１の設置面方向に直交する略垂直方向を向くものとする。アンテナ１１は駆動部１３に連結され、撮像装置１２はアンテナ１１に連結され、これによって、アンテナ１１と撮像装置１２が同様に回転される。ここで、同様に回転される、とは、同一の回転軸周り、同一の回転方向、同一の回転速度により回転されることをいう。 As shown in FIG. 2, the antenna 11 and the image pickup apparatus 12 are rotationally driven around the rotation axis R by the drive unit 13. In the present embodiment, the rotation axis R is oriented in a substantially vertical direction orthogonal to the installation surface direction of the radar device 1. The antenna 11 is connected to the drive unit 13, and the image pickup device 12 is connected to the antenna 11, whereby the antenna 11 and the image pickup device 12 are similarly rotated. Here, the same rotation means that the rotation is performed around the same rotation axis, in the same rotation direction, and at the same rotation speed.
　撮像装置１２は、アンテナ１１による探知範囲内を同期的に撮像可能にアンテナ１１に連結される。また、撮像装置１２は、望遠レンズを備えたカメラが望ましく、これによって、後述する判定に用いる画像の解像度を低コストで向上させることができる。なお、撮像装置１２は、レーダ装置１による探知範囲内を撮像可能なものであれば良く、必ずしもアンテナ１１と同様に回転させる必要はない。この場合の構成としては、撮像装置１２として広角レンズを備えたカメラを用いることや、複数の撮像装置１２を用いることが考えられる。 The image pickup device 12 is connected to the antenna 11 so that the detection range of the antenna 11 can be synchronously imaged. Further, the image pickup device 12 is preferably a camera provided with a telephoto lens, whereby the resolution of the image used for the determination described later can be improved at low cost. The image pickup device 12 may be any as long as it can image within the detection range of the radar device 1, and does not necessarily have to be rotated in the same manner as the antenna 11. As a configuration in this case, it is conceivable to use a camera provided with a wide-angle lens as the image pickup device 12 or to use a plurality of image pickup devices 12.
（処理部の機能構成）
　処理部の機能構成について説明する。図３は、処理部の機能構成を示すブロック図である。 (Functional configuration of processing unit)
The functional configuration of the processing unit will be described. FIG. 3 is a block diagram showing a functional configuration of the processing unit.
　図３に示すように、処理部４０は、信号処理部４０１、物標検出部４０２、画像取得部４０３、物標判定部４０４、物標除去部４０５、物標追尾部４０６、平滑化処理部４０７、レーダ情報出力部４０８を機能として備える。 As shown in FIG. 3, the processing unit 40 includes a signal processing unit 401, a target detection unit 402, an image acquisition unit 403, a target determination unit 404, a target removal unit 405, a target tracking unit 406, and a smoothing processing unit. 407 and radar information output unit 408 are provided as functions.
　信号処理部４０１は、受信機２２により生成された受信信号に基づいて、レーダ映像信号を生成する。物標検出部４０２は、信号処理部４０１により生成されたレーダ映像信号に基づいて物標位置を検出する。画像取得部４０３は、撮像装置１２により撮像された撮像画像を取得する。 The signal processing unit 401 generates a radar video signal based on the received signal generated by the receiver 22. The target detection unit 402 detects the target position based on the radar image signal generated by the signal processing unit 401. The image acquisition unit 403 acquires the captured image captured by the image pickup device 12.
　物標判定部４０４は、物標検出部４０２により検出された物標位置に該当する部分画像を撮像画像から抽出し、この部分画像に船舶が含まれるか否かを判定するとともに、船舶が含まれる場合はこの船舶が変針中であるか否かを判定する。なお、物標判定部４０４は、機械学習によって、具体的には船舶の画像、変針中の船舶の時系列画像を教師データとした教師あり学習によって、部分画像に船舶が含まれるか否か、船舶が変針中であるか否かを推定する。 The target determination unit 404 extracts a partial image corresponding to the target position detected by the target detection unit 402 from the captured image, determines whether or not the partial image includes a ship, and includes the ship. If so, it is determined whether or not this vessel is changing its course. It should be noted that the target determination unit 404 determines whether or not the partial image includes the ship by machine learning, specifically, by supervised learning using the image of the ship and the time-series image of the ship undergoing needle change as supervised learning. Estimate whether the vessel is changing course.
　物標除去部４０５は、物標判定部４０４により部分画像に船舶が含まれていないと判定された場合、この部分画像に対応する物標を偽像としてレーダ映像信号から除去する。物標追尾部４０６は、物標判定部４０４により部分画像に船舶が含まれている場合、この部分画像に対応する物標を追尾対象として、物標針路、物標速度を算出する。平滑化処理部４０７は、ノイズや誤差を低減させるために物標針路、物標速度を平滑化する。 When the target determination unit 404 determines that the partial image does not include the ship, the target removal unit 405 removes the target corresponding to this partial image from the radar image signal as a false image. When the target determination unit 404 includes a ship in the partial image, the target tracking unit 406 calculates the target course and the target speed with the target corresponding to the partial image as the tracking target. The smoothing processing unit 407 smoothes the target course and the target speed in order to reduce noise and error.
　レーダ情報出力部４０８は、物標除去部４０５により偽像が除去されたレーダ映像信号と、平滑化処理部４０７により平滑化された物標位置、物標針路、物標速度を含む物標情報とを指示器に出力する。物標情報は、指示器においてレーダ映像に重畳されて表示される。 The radar information output unit 408 includes the radar image signal from which the false image has been removed by the target removal unit 405, and the target information including the target position, the target course, and the target speed smoothed by the smoothing processing unit 407. Is output to the indicator. The target information is superimposed and displayed on the radar image on the indicator.
（物標除去処理）
　物標除去処理の動作について説明する。図４は、物標除去処理の動作を示すフローチャートである。なお、物標除去処理は所定の周期毎に実行される処理であり、図４においては、レーダ映像信号に基づく物標の取得、レーダ映像信号に対応する撮像画像の取得がすでになされているものとする。 (Target removal process)
The operation of the target removal process will be described. FIG. 4 is a flowchart showing the operation of the target removal process. The target removal process is a process executed at predetermined intervals, and in FIG. 4, the target is acquired based on the radar image signal and the captured image corresponding to the radar image signal is already acquired. And.
　図４に示すように、まず、物標判定部４０４は、物標検出部４０２により物標位置が検出された物標のうち、未選択の物標を選択し（Ｓ１０１）、取得した撮像画像において選択した物標の物標位置に対応する領域を含む部分画像を抽出し（Ｓ１０２）、この部分画像内に船舶が含まれているか否かを判断する（Ｓ１０３）。 As shown in FIG. 4, first, the target determination unit 404 selects an unselected target from the targets whose target position is detected by the target detection unit 402 (S101), and the captured image acquired. A partial image including a region corresponding to the target position of the target selected in (S102) is extracted (S102), and it is determined whether or not a ship is included in this partial image (S103).
　部分画像内に船舶が含まれている場合（Ｓ１０３，ＹＥＳ）、物標判定部４０４は、選択中の物標を追尾対象に追加し（Ｓ１０４）、全ての物標を選択したか否かを判定する（Ｓ１０５）。 When a ship is included in the partial image (S103, YES), the target determination unit 404 adds the selected target to the tracking target (S104), and determines whether or not all the targets have been selected. Judgment (S105).
　全ての物標を選択した場合（Ｓ１０５，ＹＥＳ）、追尾対象である物標に対して、後述する物標追尾処理が実行される（Ｓ１０６）。 When all the targets are selected (S105, YES), the target tracking process described later is executed for the target to be tracked (S106).
　一方、全ての物標を選択していない場合（Ｓ１０５，ＮＯ）、物標判定部４０４は、再度、未選択の物標を選択する（Ｓ１０１）。 On the other hand, when not all the targets have been selected (S105, NO), the target determination unit 404 selects the unselected targets again (S101).
　また、ステップＳ１０３において、部分画像内に船舶が含まれていない場合（Ｓ１０３，ＮＯ）、物標除去部４０５が選択中の物標を偽像としてレーダ映像信号から除去し（Ｓ１０７）、物標判定部４０４が全ての物標を選択したか否かを判定する（Ｓ１０５）。 Further, in step S103, when the ship is not included in the partial image (S103, NO), the target removal unit 405 removes the selected target as a false image from the radar image signal (S107), and removes the target from the radar image signal (S107). It is determined whether or not the determination unit 404 has selected all the targets (S105).
　本実施形態に係る物標除去処理によれば、物標に対応する部分画像内に探知対象とする移動体である船舶が含まれていない場合には、物標が偽像と判定されてレーダ映像信号から除去される。これによって、電波を海上に向けて照射した場合に発生する海面反射などに起因する偽像と、船舶による反射エコーである実像とを分別し、偽像を抑圧することができる。 According to the target removal process according to the present embodiment, if the partial image corresponding to the target does not include the ship that is the moving object to be detected, the target is determined to be a false image and the radar is used. Removed from the video signal. Thereby, the false image caused by the sea surface reflection generated when the radio wave is irradiated toward the sea and the real image which is the reflected echo by the ship can be separated and the false image can be suppressed.
（物標追尾処理）
　物標追尾処理について説明する。図５は、物標追尾処理の動作を示すフローチャートである。 (Target tracking process)
The target tracking process will be described. FIG. 5 is a flowchart showing the operation of the target tracking process.
　図５に示すように、まず、物標追尾部４０６は、追尾対象である物標のそれぞれについて、その物標位置の時系列データに基づいて物標針路、物標速度を算出する（Ｓ２０１）。 As shown in FIG. 5, first, the target tracking unit 406 calculates the target course and the target speed for each of the targets to be tracked based on the time-series data of the target position (S201). ..
　次に、物標判定部４０４は、追尾対象である物標のうち、未選択の物標を選択し（Ｓ２０２）、選択した物標により示される船舶が変針中であるか否かを判定する（Ｓ２０３）。ここで、物標判定部４０４は、前周期における部分画像に含まれる船舶の姿勢と、現周期における部分画像に含まれる船舶の姿勢とに基づいて、船舶に姿勢の変化が生じているか、具体的には、船舶が回頭しているか否かを推定することによって、船舶が変針中であるか否かを判定する。 Next, the target determination unit 404 selects an unselected target from the targets to be tracked (S202), and determines whether or not the ship indicated by the selected target is changing hands. (S203). Here, the target determination unit 404 specifically determines whether or not the attitude of the ship has changed based on the attitude of the ship included in the partial image in the previous cycle and the attitude of the ship included in the partial image in the current cycle. Specifically, it is determined whether or not the ship is changing its course by estimating whether or not the ship is turning.
　船舶が変針中である場合（Ｓ２０３，ＹＥＳ）、平滑化処理部４０７が、平滑化の強さ度合いを示すパラメータである平滑化強度をデフォルトの設定値よりも低減、またはゼロとし（Ｓ２０４）、物標針路及び物標速度を平滑化し（Ｓ２０５）、平滑化強度をリセットして設定値に戻し（Ｓ２０６）、物標判定部４０４が、追尾対象である物標の全てを選択したか否かを判定する（Ｓ２０７）。 When the ship is changing course (S203, YES), the smoothing processing unit 407 reduces the smoothing strength, which is a parameter indicating the degree of smoothing strength, from the default set value or sets it to zero (S204). Whether or not the target course and target speed are smoothed (S205), the smoothing intensity is reset and returned to the set value (S206), and the target determination unit 404 has selected all of the targets to be tracked. Is determined (S207).
　物標の全てを選択した場合（Ｓ２０７，ＹＥＳ）、物標追尾処理が終了される。一方、物標の全てが選択していない場合（Ｓ２０７，ＮＯ）、物標判定部４０４は、再度、未選択の物標を選択する（Ｓ２０２）。 When all of the targets are selected (S207, YES), the target tracking process is completed. On the other hand, when all of the targets are not selected (S207, NO), the target determination unit 404 selects the unselected targets again (S202).
　また、ステップＳ２０３において、船舶が変針中ではない場合（Ｓ２０３，ＮＯ）、平滑化処理部４０７が、通常の平滑化強度、即ちデフォルトの設定値により物標針路及び物標速度を平滑化し（Ｓ２０８）、物標判定部４０４が、追尾対象である物標の全てを選択したか否かを判定する（Ｓ２０７）。 Further, in step S203, when the ship is not changing the course (S203, NO), the smoothing processing unit 407 smoothes the target course and the target speed by the normal smoothing intensity, that is, the default set value (S208). ), The target determination unit 404 determines whether or not all of the targets to be tracked have been selected (S207).
　物標針路、物標速度の平滑化によれば、ノイズ等の誤差要因の影響を低減させることができるが、実際の物標針路及び物標速度に対して遅れが生じてしまう。本実施形態に係る物標追尾処理によれば、物標により示される船舶が変針中である場合には平滑化強度を低減して平滑化を行う、または平滑化強度をゼロとして平滑化を行わないことにより、実際の物標針路及び物標速度に対する遅れを低減させることができる。 By smoothing the target course and target speed, the influence of error factors such as noise can be reduced, but there will be a delay with respect to the actual target course and target speed. According to the target tracking process according to the present embodiment, when the ship indicated by the target is changing course, the smoothing strength is reduced to perform smoothing, or the smoothing strength is set to zero for smoothing. By not having it, it is possible to reduce the delay with respect to the actual target course and the target speed.
　本発明の実施形態は、例として提示したものであり、発明の範囲を限定することは意図していない。この新規な実施形態は、その他の様々な形態で実施されることが可能であり、発明の要旨を逸脱しない範囲で、種々の省略、置き換え、変更を行うことができる。これら実施形態やその変形は、発明の範囲や要旨に含まれるとともに、特許請求の範囲に記載された発明とその均等の範囲に含まれる。 The embodiment of the present invention is presented as an example, and is not intended to limit the scope of the invention. This novel embodiment can be implemented in various other embodiments, and various omissions, replacements, and changes can be made without departing from the gist of the invention. These embodiments and modifications thereof are included in the scope and gist of the invention, and are also included in the scope of the invention described in the claims and the equivalent scope thereof.
１　レーダ装置
４０１　信号処理部
４０２　物標検出部
４０３　画像取得部
４０４　物標判定部 1 Radar device 401 Signal processing unit 402 Target detection unit 403 Image acquisition unit 404 Target determination unit

Claims (5)

  1. 　移動体を探知するレーダ装置であって、
    　電波を送受信するアンテナと、
    　前記アンテナによる探知範囲内を撮像する撮像装置と、
    　前記アンテナによる受信信号に基づいてレーダ映像信号を生成する信号処理部と、
    　前記レーダ映像信号に基づいて物標を検出する物標検出部と、
    　前記撮像装置による撮像画像を取得する撮像画像取得部と、
    　前記取得された撮像画像における前記検出された物標に対応する部分領域内に前記移動体が含まれるか否かを判定する物標判定部と
    　を備えるレーダ装置。     A radar device that detects moving objects
    Antennas that send and receive radio waves,
    An imaging device that captures images within the detection range of the antenna,
    A signal processing unit that generates a radar video signal based on the signal received by the antenna,
    A target detection unit that detects a target based on the radar video signal,
    An image acquisition unit that acquires an image captured by the image pickup device,
    A radar device including a target determination unit for determining whether or not the moving body is included in a partial region corresponding to the detected target in the acquired captured image.
  2. 　前記部分領域内に前記移動体が含まれない場合、前記レーダ映像信号から前記検出された物標を除去する物標除去部を更に備えることを特徴とする請求項１に記載のレーダ装置。 The radar device according to claim 1, further comprising a target removal unit that removes the detected target from the radar image signal when the moving body is not included in the partial region.
  3. 　前記アンテナ及び前記撮像装置は、同一の回転軸周りに回転されることを特徴とする請求項１または請求項２に記載のレーダ装置。 The radar device according to claim 1 or 2, wherein the antenna and the image pickup device are rotated around the same rotation axis.
  4. 　前記検出された物標の位置に基づいて、該物標の速度または針路の少なくともいずれかを算出する物標追尾部と、
    　前記算出された前記物標の速度または針路の少なくともいずれかを所定の平滑化強度により平滑化する平滑化処理部とを更に備え、
    　前記物標判定部は、前記部分領域内の前記移動体が変針中であるか否かを判定し、
    　前記平滑化処理部は、前記移動体が変針中である場合、平滑化強度を低減またはゼロにすること特徴とする請求項１～請求項３のいずれか一項に記載のレーダ装置。     A target tracking unit that calculates at least one of the speed or course of the target based on the position of the detected target.
    Further provided with a smoothing processing unit that smoothes at least one of the calculated velocity or course of the target with a predetermined smoothing intensity.
    The target determination unit determines whether or not the moving body in the partial region is changing hands, and determines whether or not the moving body is changing hands.
    The radar device according to any one of claims 1 to 3, wherein the smoothing processing unit reduces or reduces the smoothing intensity to zero when the moving body is changing needles.
  5. 　前記物標判定部は、機械学習により前記移動体についての判定をすることを特徴とする請求項１～請求項４のいずれか一項に記載のレーダ装置。 The radar device according to any one of claims 1 to 4, wherein the target determination unit determines the moving body by machine learning.
PCT/JP2020/017020 2019-05-13 2020-04-20 Radar apparatus WO2020230534A1 (en)

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