JP2002333474A - Method and system for shortening processing delay time in target integration processor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten a processing delay time to enhance instantaneousness for target information. SOLUTION: A transmission delay time between a sensor and a target integration processor is calculated, the sensor calculates a time to output the target information based on the transmission delay time and the next target integration processing time of the target integration processor, the target information outputting time is indicated to the sensor, a target information inputting time from the each sensor is synchronized with the target integration processing time of the target integration processor, and a waiting time from the target information input to target integration processing generated by incomformity between the target integration processing time and the target information inputting time from the each sensor is thereby limited to shorten the processing delay time.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and a system for shortening a processing delay time in a target integrated processing device, and more particularly to a system for synchronizing a system time between a sensor and a target integrated processing device. Method and method for reducing processing delay time by limiting standby time from target information input to target integration processing caused by mismatch between target integration processing time and target information input time from sensor based on device instruction About the system.

[0002]

2. Description of the Related Art The prior art is disclosed in, for example,
As disclosed in Japanese Patent No. 4504, target information input from a plurality of sensors at a time different from the processing time of the target integration processing device is stored in a database, and the time is corrected in accordance with the time at which the target integration processing is performed. This eliminates the mismatch between the target integration processing time and the target information input time from the sensor. That is, the target information input from each sensor is stored in the database until the next time when the target integration processing is performed, and is made to stand by. The movement of the target for the standby time is predicted, and the predicted value at the time when the target integration processing is performed. Is used for the target integration processing, thereby eliminating the mismatch between the target integration processing time and the target information input time from the sensor.

[0003]

The above-mentioned prior art has the following problems.

[0004] The problem is that the processing delay time from the input of target information from each sensor to the completion of target integration processing increases, and the immediacy is impaired.

The reason is that in order to eliminate the mismatch between the target integration processing time and the target information input time from the sensor, the target information input from each sensor is stored in the database until the next time the target integration processing is performed. This is because a delay of the waiting time occurs due to the waiting.

[0006] This is a major problem when commanding and controlling the target such as shooting instructions using the target information integrated and integrated by the target integration processing device.

As a sensor for obtaining target position information, a sensor capable of obtaining target position information at an arbitrary time according to an external instruction has been developed. In the past, even in radars where mechanical rotation was the mainstream and the target position information acquisition time was specified by the rotation cycle of the antenna, a non-rotation type radar that can arbitrarily control the beam has been developed. It is becoming possible to obtain location information.

An object of the present invention is to provide a target integrated processing device based on target information from such a sensor, which synchronizes the system time between the sensor and the target integrated processing device and allows the target integrated processing device to transmit the target information to the sensor. The target information input time from the plurality of sensors is synchronized with the target integration processing time of the target integration processing device by indicating the output time of the target, and the target generated by the mismatch between the target integration processing time and the target information input time from the sensor is output. By limiting the standby time from the information input to the target integration processing, the processing delay time is reduced and the immediacy of the target information is improved.

[0009]

The processing delay time reducing system according to the present invention comprises a time synchronizing means for synchronizing each system time with each sensor and a target integrated processing device, and a target integrated processing device having a target synchronizing device. Target integration processing means for integrating and integrating information; transmission delay time calculation means for calculating a transmission delay time between a sensor and a target integration processing device; transmission delay time calculated by the transmission delay time calculation means; Target information output time calculation means for calculating a time at which the sensor should output target information based on the next target integration processing time of the target integration processing means; and a target information output time calculated by the target information output time calculation means. A target information output time instructing means for instructing the sensor, information receiving means for receiving information transmitted from the target integrated processing device to the sensor, and the information receiving means; According to the target information output time, a target information acquisition time planning / executing unit for planning the acquisition time of the target information in the sensor, and an information transmission unit for transmitting the target information and the like to the target integrated processing device are provided to reduce the processing delay time. It is possible.

[0010] The time synchronization means synchronizes the system time of each sensor and the target integrated processing device with the reference time,
It is possible to control the sensors from the target integrated processing device based on the unified time. In the target integrated processing device, the transmission delay time calculating means calculates a transmission delay time between the sensor and the target integrated processing device before controlling the sensor of the target integrated processing device, and outputs the calculated delay time to the target information output time calculating means. I do. The target information output time calculating means, the sensor should output target information to the target integrated processing device based on the transmission delay time input from the transmission delay time calculating means and the next target integrated processing time of the target integrated processing means. The time is calculated and output to the target information output time indicating means. The target information output time instructing means instructs the target information output time input from the target information output time calculating means to the information receiving means on the sensor side, and outputs the target information input time from each sensor to the target integrated processing device. Synchronize with the target integration processing time. In the sensor, the information receiving means receives the target information output time inputted from the target information output time designating means and outputs it to the target information obtaining time planning / executing means. According to the target information output time input from the information receiving means, the target information acquisition time planning / executing means performs necessary processing in the sensor and outputs the latest target information at the designated time at the designated time. Plan acquisition time and execute acquisition of target information. The information transmitting means transmits the target information obtained and processed based on the timing planned by the target information obtaining time planning / executing means to the target integrated processing device at the time designated by the target information output time designating means.

[0011] Thus, it is possible to limit the waiting time from the input of the target information to the target integration processing caused by the mismatch between the target integration processing time and the target information input time from the sensor, and it is possible to reduce the processing delay time. Become.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS (First Embodiment of the Invention) Next, a first embodiment of the present invention will be described in detail with reference to the drawings.

FIG. 1 shows a first embodiment of the present invention.

The time synchronizing means 1 synchronizes the system time of each sensor 201 and the target integrated processing device 101 using a GPS signal.

In the target integrated processing device 101, the transmission delay time calculating means 2 transmits a test message returned by each sensor to the information receiving means 6 of each sensor prior to controlling the target information output time of each sensor. Then, the transmission delay time between the sensor and the target integrated processing device is calculated from the required time, and is output to the target information output time calculation means 3.

The target information output time calculating means 3 calculates the transmission delay time between each sensor 201 and the target integrated processing device 101 input from the transmission delay time calculating means 2 and the next time input from the target integrated processing means 5. Based on the target integration processing time, the time at which each sensor should output the target information is calculated so that the input time of the target information input from each sensor is synchronized with the integration processing time of the target integration processing means 5. The calculated target information output time is output to the target information output time indicating means 4.

The target information output time instructing means 4 sequentially transmits the target information output time for each sensor inputted from the target information output time calculating means 3 to each sensor to designate the target information output time of each sensor. Thus, the target information input time from each sensor is synchronized with the integration processing time of the target integration processing means 5.

The target integration processing means 5 determines the identity of the target information input from each sensor in synchronization with the time of the target integration processing in accordance with the instruction of the target information output time instructing means 4, and integrates and integrates the targets. .

In each sensor 201, the information receiving means 6
Performs processing for receiving the test message from the transmission delay time calculating means 2 and the target information output time from the target information output time indicating means 4 of the target integrated processing device.

The target information acquisition time planning / executing means 7 plans the acquisition time of the target information in the sensor according to the target information output time inputted through the information receiving means 6, and executes the acquisition of the target information.

The information transmitting means 8 performs processing for returning the test message and transmitting the target information.

Next, the operation of the first embodiment of the present invention will be described in detail.

The time synchronizing means 1 periodically extracts time information from the GPS signal and sets the time information as the system time of each sensor 201 and the target integrated processing device 101, so that the system of each sensor 201 and the target integrated processing device 101 Synchronize time.

In the target integrated processing device 101, the transmission delay time calculating means 2 tests the information receiving means 6 of each sensor for the transmission delay time calculation before controlling the target information output time of each sensor. Send a message. The message is sent back from the information transmission means 8 of the sensor 201 with the transmission time added thereto, and the reception time in the transmission delay time calculation means 2 is compared with the transmission time from the sensor 201 to thereby determine the sensor 201 and the target integrated processing device 101. Are calculated respectively. The transmission delay time TnL between each sensor 201 and the target integrated processing device 101 is given by the following equation, and the transmission delay time TnL is output to the target information output time calculation means 3.

TnL = (tnr-tnt) · K TnL: Transmission delay time between sensor n and target integrated processing device tnt: Time when sensor n returns and transmits test message tnr: Receives return message from sensor n Time K: a coefficient for correcting the variation of the transmission delay time due to the condition of the transmission path. The target information output time calculation means 3 is provided between the sensor 201 input from the transmission delay time calculation means 2 and the target integrated processing device 101. Of the target information input from each sensor 201 based on the respective transmission delay times {TnL} and the next target integration processing time tp input from the target integration processing means 5. A time tn at which each sensor 201 required to synchronize with the processing time should output target information is calculated. The target information output time tn is given by the following equation, and the calculated target information output time tn is output to the target information output time indicating means 4.

Tn = tp-TnL tn: time when sensor n outputs target information tp: next processing time of target integration processing means TnL: transmission delay time between sensor n and target integration processing device target information output time instruction The means 4 outputs the target information output time tn of each sensor input from the target information output time calculation means 3.
Are sequentially transmitted to the information receiving means 6 of the sensor 201, thereby synchronizing the input time of the target information input from each sensor 201 with the target integration processing time of the target integration processing means 5. FIG. 2 shows a flow from output of target information of each sensor 201 to execution of target integration processing. As shown in FIG. 2, by controlling the output time of the target information in consideration of the transmission delay time different for each sensor 201, the time at which the target information is input to the target integration processing means 5 is synchronized.

The target integration processing means 5 determines the identity of the target information input from each sensor 201 in synchronization with the time of the target integration processing according to the instruction of the target information output time instruction means 4, and integrates and integrates the targets. I do.

In each sensor, the information receiving means 6 performs a process of receiving information from the target integrated processing device 101 and, when a test message is received from the transmission delay time calculating means 2, sends the message to the information transmitting means 8. When the target information output time is received from the target information output time instructing means 4, the target information obtaining time planning / executing means 7
Output to

According to the target information output time input from the information receiving means 6, the target information acquisition time planning / executing means 7 can perform necessary processing in the sensor and output the latest target information at the designated time. Thus, the acquisition time of the target information in the sensor is planned, and the acquisition of the target information is executed.

When a test message is input from the information receiving means 6, the information transmitting means 8 gives a transmission time and transmits it to the transmission delay time calculating means 2 of the target integrated processing device 101. Further, the target information obtained at the time planned by the target information obtaining time planning / executing means 7 and subjected to necessary processing is transmitted to the target integrated processing means 5 of the target integrated processing apparatus 101.

(Second Embodiment of the Invention) Next, a second embodiment of the present invention will be described.

In the second embodiment of the present invention, as shown in FIG.
In calculating the transmission delay time between the sensor 2 and the
From the target information output time from the target information 02 and the reception time of the target information in the target integrated processing device 102, the difference is taken as the transmission delay time, and the maximum value of the transmission delay time when the past target information was obtained is used as the transmission delay time. It is also possible to use as. Further, when the load on the transmission path is constant and the transmission delay time is relatively steady, the average value of the transmission delay times when the past target information was obtained can be used as the transmission delay time.

The first embodiment of the present invention can be applied to both the case where the processing timing of the target integration processing means 5 is arbitrary and the case where the processing timing is fixed and periodic. When is fixed and periodic, in order to control the target information output time of each sensor, specify the target information output time and the output cycle at the first time when the control is started, and indicate the output time of the target information sequentially. However, a similar effect can be obtained. In this case, there is also an effect of reducing the load on the transmission path as compared with the first embodiment.

(Third Embodiment of the Invention) Next, a third embodiment of the present invention will be described.

In the third embodiment of the present invention, as shown in FIG.
If the transmission delay time is known, the transmission delay time can be manually input and used as the target information output time.

[0036]

As described above, the present invention has the following effects.

The effect is that the waiting time from the input of the target information to the target integration processing caused by the mismatch between the target integration processing time and the target information input time from the sensor can be limited, and the delay time of the target integration processing can be reduced. It is.

The reason is that, by instructing the sensors to output target information from the target integrated processing device, the target information input times from the plurality of sensors are synchronized with the target integrated processing time of the target integrated processing device, This is because it is possible to limit the standby time from the input of target information to the target integration processing caused by the mismatch between the integration processing time and the target information input time from the sensor.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a first exemplary embodiment of the present invention.

FIG. 2 is a diagram showing a flow until a target integration process is performed in the first embodiment of the present invention.

FIG. 3 is a diagram showing a configuration of a second exemplary embodiment of the present invention.

FIG. 4 is a diagram illustrating a configuration of a third exemplary embodiment of the present invention.

[Explanation of symbols]

 1, 31 time synchronization means 2, 22 transmission delay time calculation means 3 target information acquisition time calculation means 4, 24 target information output time instruction means 5 target integration processing means 6 information reception means 7 target information acquisition time planning / execution means 8, 28 Information transmitting means 101, 102, 103 Target integrated processing device 201, 202 Sensor

Claims (12)

[Claims] A target integration process for integrating a plurality of sensors, in particular, a sensor capable of obtaining target position information at an arbitrary time, and integrating target information by position correlation based on target position information input from the sensor. In the processing delay time shortening system configured with the device, each of the sensors and the target integrated processing device includes a time synchronization unit that synchronizes each system time, and the target integrated processing device includes the plurality of target integrated processing devices. Target integration processing means for integrating and integrating target information from sensors; transmission delay time calculation means for calculating a transmission delay time between each of the sensors and the target integration processing device; calculation by the transmission delay time calculation means Target information output for calculating a time at which each sensor should output target information based on the transmission delay time thus set and the next target integration processing time of the target integration processing means. Force time calculating means, and the target information output time calculated by the target information output time calculating means is instructed to each sensor, and the time at which target information is input from each sensor to the target integrated processing means is determined by the target integrated processing means. Information receiving means for receiving a target information output time transmitted from the target information output time indicating means, the information receiving means comprising: Target information acquisition time planning / execution means for planning the acquisition time of the target information in each sensor according to the target information output time received by the receiving means and executing acquisition of the target information, and transmitting the target information to the target integration processing means. A processing delay time reducing system, comprising: 2. The transmission delay time calculating means transmits a test message returned by each sensor to the information receiving means of each sensor before controlling the target information output time of each sensor, and Calculating a transmission delay time between the sensor and the target integrated processing device,
The processing delay time reducing system according to claim 1. 3. The transmission delay time calculating means calculates a difference between a target information output time from each sensor and a reception time of the target information in the target integrated processing device to obtain a transmission delay time. 2. The processing delay time reducing system according to claim 1, wherein the maximum value of the transmission delay time at the time of (1) is used as the transmission delay time. 4. When the load on the transmission path is constant and the transmission delay time is relatively steady, the transmission delay time calculating means calculates the transmission delay time using the average value of the transmission delay times when the past target information was obtained. 2. The processing delay time reducing system according to claim 1, wherein the system is used as time. 5. The processing delay time reduction according to claim 1, wherein the transmission delay time calculating means manually inputs the transmission delay time when the transmission delay time between each sensor and the target integrated processing device is known. system. 6. When the processing timing of the target integration processing means is fixed and periodic, when controlling the target information output time of each sensor, a target information output time and an output cycle are specified at the first time of starting the control. 2. The processing delay time reducing system according to claim 1. 7. A plurality of sensors, in particular, a sensor capable of obtaining target position information at an arbitrary time, and a target integrated processing device using target correlation information based on target position information input from the sensor. In a processing delay time reducing method for integrating and integrating information, a time synchronization unit synchronizes a system time of each sensor and a target integrated processing device with a reference time, and a target integrated processing device based on a unified time. The control of the sensor is enabled, and the transmission delay time calculating means calculates the transmission delay time between the sensor and the target integrated processing device prior to controlling the sensor of the target integrated processing device in the target integrated processing device. , Output to the target information output time calculation means, and the transmission delay time input from the transmission delay time calculation means by the target information output time calculation means. Based on the next target integration processing time of the target integration processing means, calculate the time at which the sensor should output the target information to the target integration processing device,
The target information output time is output to the target information output time instructing means. The target information output time input means instructs the target information output time input from the target information output time calculation means to the information receiving means on the sensor side. The target information input time is synchronized with the target integration processing time of the target integration processing means, and the information receiving means receives the target information output time input from the target information output time indicating means at the sensor, and obtains the target information acquisition time. The target information obtaining time is output to the planning / execution means, and the target information obtaining time planning / execution means performs necessary processing in the sensor in accordance with the target information output time input from the information receiving means, and then updates the target information at the designated time. The target information acquisition time is planned by the target information acquisition time planning / execution means by executing the acquisition of the target information so that the target information can be output. The target information obtained and processed based on the obtained timing is transmitted to the target integration processing means at the time instructed by the target information output time instructing means, and the instruction of the target information output time instructing means is transmitted by the target integration processing means. A method for determining the sameness of target information input from each sensor in synchronization with the time of the target integration processing according to (1), and integrating and integrating the targets. 8. The transmission delay time calculating means transmits a test message returned by each sensor to the information receiving means of each sensor before controlling the target information output time of each sensor, Calculating a transmission delay time between the sensor and the target integrated processing device,
The method according to claim 7, wherein the processing delay time is reduced. 9. The transmission delay time calculating means calculates a difference between a target information output time from each sensor and a reception time of the target information in the target integrated processing device to obtain a transmission delay time, and obtains the past target information. The processing delay time reducing method according to claim 7, wherein the maximum value of the transmission delay time at the time of (1) is used as the transmission delay time. 10. The transmission delay time calculating means, when the load on the transmission path is constant and the transmission delay time is relatively steady, calculates the transmission delay time using the average value of the transmission delay time when the past target information was obtained. The method according to claim 7, wherein the method is used as time. 11. The processing delay time reduction according to claim 7, wherein the transmission delay time calculating means manually inputs the transmission delay time when the transmission delay time between each sensor and the target integrated processing device is known. Method. 12. When the processing timing of the target integration processing means is fixed and periodic, when controlling the target information output time of each sensor, the target information output time and the output cycle are specified at the first time when the control is started. The method according to claim 7, wherein the processing delay time is reduced.