JP3405262B2 - Radar integrated tracking system - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention automatically integrates track information of the same target obtained from a plurality of independent radar devices that monitor overlapping areas and records as one track.
The present invention relates to a radar integrated tracking method for displaying target information of a continuous area in an integrated manner.

[0002]

2. Description of the Related Art FIGS.
It is a diagram showing a conventional radar integrated tracking method disclosed in the "multiple radar automatic tracking processing method". The conventional multiple radar automatic tracking processing method will be described below.

FIG. 15 is a diagram illustrating a flow of a conventional multiple radar automatic tracking processing method. FIG. 16 is a diagram for explaining the tracking data switching operation in the tracking control unit in the conventional multiple radar automatic tracking processing method. FIG. 17 is a diagram for explaining the operation of the conventional multiple radar automatic tracking processing method.

In FIG. 15, reference numeral 21 (21A to 21C)
Is a radar that tracks a target, 22 (22A to 22C) is a digitizer that digitizes the radar signal of the radar 21 to detect the target signal and determine the position of the target, and 23 (23
(A-23C) is a tracking unit that performs target tracking based on the target position data from the digitizer 22, and 24 is each tracking unit 23.
The tracking control unit 25 controls the tracking unit 23 according to the designation from the display unit 25 based on the data from and manages the target information as system data.
The display unit for displaying the initial selection of the tracking target and target data as system data on one display unit is shown. In FIG. 17, 26 (26A to 26C) is a radar coverage area, 27 is a tracking start position, 28 to 31 are routes of a moving target, and 32 is a current position of the moving target.

In FIG. 15, the three radars # 1 to # 3 each include a radar 21, a digitizer 22, and a tracking section 23. In the data from each tracking unit 23, target information is managed as system data according to an instruction from the display unit 25, and on the display unit 25, raw video images of all radars are displayed on one display unit, and the initial tracking target is displayed. Target data as selection and system data are displayed.

Next, the operation of the conventional multiple radar automatic tracking processing system will be described. As shown in FIG. 17, # 1,
The radar coverage areas 26A, 26B, 2 of the # 2 and # 3 radars
It is assumed that the moving target 32 is moving on the route 31 from the tracking start position 27 via the target positions 28, 29, 30 within 6C. At this time, at the target positions 28, 29, and 30 that can be tracked by a plurality of radars, the tracking control unit 24 compares the tracking qualities of the tracking data sent from the plurality of tracking units 23A, 23B, and 23C, and the comparison result, As the system data, tracking data that is continuous a predetermined number of times or more is selected. For example, at the target position 28, #
When switching from the tracking data by the tracking unit 23A of the 1 radar to the tracking data by the tracking unit 23B of the # 2 radar, the tracking control unit 24 compares the tracking qualities of the tracking data as shown in FIG. When the tracking quality of the tracking data from the tracking unit 23B of the # 2 radar becomes N times higher than the tracking quality of the tracking data from the tracking unit 23A of the # 1 radar in succession, the tracking unit 23 of the # 2 radar.
The tracking data of B is adopted as system data. Here, N is a parameter that can be arbitrarily set in the system.

[0007]

The above-mentioned "plural radar tracking processing method" is configured as described above, and the tracking control unit 24
Is a tracking unit 23A corresponding to the designation from the display unit 25,
Since it is necessary to simultaneously receive the target tracking quality obtained from each radar while controlling 23B and 23C, the tracking control unit 24 and the tracking units 23A, 23B, and
Since there is a need for bidirectional information exchange between 23C, there is a problem in that tracking processing of a plurality of radars cannot be executed only by a monitor independently attached to each radar device. That is, in the conventional technology, the control regarding the tracking of each radar is performed by the common tracking control unit 24 and the common display unit 25, and since there is no independence as a single radar, one tracking control unit 24 In the event of a failure, all associated radar will be affected. That is, all radars will go down.

The object of the present invention is to solve the above-mentioned problems, and only by obtaining target track information from a plurality of independent radar devices, feedback of control information and the like to each radar device is performed. The multi-radar integrated tracking process can be performed without performing the above, and therefore, the present invention can be easily applied to an existing radar device.

[0009]

The radar integrated tracking system according to the first aspect of the present invention allows an operator to detect target track information obtained by a plurality of independent radar devices that monitor overlapping areas. A means for determining for each scan whether a target tracked by one radar or a target tracked by a plurality of radars according to the track number to be input, and a tracking quality level among a plurality of track information of targets tracked by a plurality of radars Is a tracking quality level selection means that selects the largest track information,
By selecting one of the track information having the maximum tracking quality level selected from the track information of the target tracked by one radar and the tracking information of the target tracked by a plurality of radars, the track of the target is selected. And an integrated tracking means for determining.

In the radar integrated tracking method according to the second aspect of the present invention, the entire monitoring area of a plurality of radars is divided, a priority area is set for each radar device, and each target in the priority area is set. It is configured to include priority area selection means for selecting track information.

The radar integrated tracking method according to the third aspect of the present invention is provided with a target-radar distance comparison means for selecting, for each scan, track information in which the distance between each of the plurality of radar devices and the target is the shortest. Composed.

In the radar integrated tracking method according to the fourth aspect of the present invention, the target radar echo intensities obtained by overlapping from a plurality of radar devices are compared for each scan, and the radar device with the strongest radar echo is used. It is configured to include radar echo intensity comparison means for selecting track information.

In the radar integrated tracking method according to the fifth aspect of the present invention, the track of each target obtained by overlapping from a plurality of radar devices is weighted by the tracking quality level of each corresponding radar and the smooth position of the target is calculated. Is configured to include a tracking quality level weighting unit that calculates for each scan.

In the radar integrated tracking method according to the sixth aspect of the present invention, the track of each target overlappingly obtained from a plurality of radar devices is weighted by the radar echo intensity of each corresponding radar, and the smooth position of the target is calculated. Is provided for each scan by a radar echo intensity weighting means.

The radar integrated tracking system according to the seventh aspect of the present invention is configured to include a traveling direction track selecting means for selecting the track information obtained from the approaching radar device according to the traveling direction of the target.

The radar integrated tracking system according to an eighth aspect of the present invention is a track information having the maximum tracking quality level among a plurality of track information of a target tracked by a plurality of radars. When there is no track information selected by the tracking quality level selection means, the tracking quality level selection means described above divides all monitoring areas of a plurality of radars and sets a priority area for each radar device. , Priority area selecting means for selecting track information of each target in the above priority area, and when there is no track information selected by the above priority area selecting means, the distance between each radar device and the target is the most If there is no track information selected by the target-radar distance comparison means that selects near-track information for each scan, and the target-radar distance comparison means described above, the target-radar distance comparison means connects depending on the direction of travel of the target. It constituted the traveling direction track selection means for selecting the track information obtained from the radar device in to comprise an execution means for obtaining an optimum track information by executing with the priority next to that order.

The radar integrated tracking method according to the ninth aspect of the present invention is to measure the following items, that is, to compare the radar echo intensities of the target obtained redundantly from a plurality of radar devices, and Radar echo intensity comparison means that selects the track information from the strongest radar device for each scan, and if there is no track information selected by the above radar echo intensity comparison means, divides the entire monitoring area of multiple radars. , A priority area selecting means for setting a priority area for each radar device and selecting track information of each target in the above priority area, and if there is no track information selected by the above priority area selecting means, a plurality of The target / radar distance comparison means for selecting the track information having the shortest distance between each radar device and the target for each scan, and the target / radar distance comparison means described above. If there is no track information, the optimum track information is obtained by executing the track direction selection means for selecting the track information obtained from the approaching radar device according to the target traveling direction with priority sequence in that order. It is configured to include execution means.

In the radar integrated tracking system according to the tenth aspect of the present invention, the integrated tracking means reads each track information obtained by scanning a plurality of radars in a cycle that does not depend on the scanning cycle of each radar device. , Is provided with an execution means for obtaining optimum track information.

[0019]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiment 1. FIG. 1 is a diagram illustrating a flow of a radar integrated tracking method according to the first embodiment of the present invention. In FIG. 1, 1A, 1B, ..., 1X
Is the target track information obtained from each of the radar devices # 1, 1B, ..., #X, 2 is a means for determining whether or not the target track information has been obtained from all the track information, and 3 is another Target track information obtained from only one radar device without overlapping with other radar devices, 4 is target track information obtained by overlapping with a plurality of radar devices, and 5 is target information obtained by overlapping. Means for selecting a track with the highest tracking quality level from the track information, 6 is the track information of the target obtained from only one radar device and the track information with the highest tracking quality level selected from a plurality of targets. Integrated tracking processing means to integrate,
7 is a display device for displaying track information subjected to integrated tracking processing,
A recording device 8 records the track information subjected to the integrated tracking process.

In the first embodiment, the track information 1A and 1A obtained from a plurality of independent radar devices whose scanning is synchronized.
For each of B, ..., 1X, whether or not the track information of the same target obtained by overlapping from different radar devices is judged for each scan using the track number assigned by the radar operator of each radar device in the judging means 2. . Normally, the track numbers given by the radar operator are the same for the same target even if the radars are different. Therefore, in the present invention, the determining means 2 determines that all the track information to which the same track number is assigned has the same target, and outputs the target information 3 without duplication. on the other hand,
The track information rows that are duplicated by a plurality of radars are output as target information 4 from the determination means 2.

Regarding the target information 4 obtained by overlapping with a plurality of radars, the tracking quality level selecting means 5 selects the track having the highest level of tracking quality, and the selected one is output as the track information. . Here, the track with the highest level of tracking quality means a track with which the highest level of reflection can be expected in the same manner in the next scan as a result of receiving echo levels reflected from the radar multiple times. The integrated tracking means 6 selects track information from one of the target information 3 that does not overlap with a plurality of radars or the target information 4 that overlaps with a plurality of radars and that is selected by the tracking quality level selection means 5. Integrated tracking processing is performed.
The track information, which is one piece of target information that has undergone integrated tracking processing,
The track number given by the radar operator is recorded on the recording device 8 while being displayed on the display device 7. For this reason, the operator of each radar assigns the navigation number as an independent operator, but the new tracking number is not assigned by the integrated tracking process, and the navigation number assigned by the operator even after the integrated tracking process. Is used, it is not necessary to prepare two types of numbering system.
Therefore, in the radar integrated tracking method of the present invention,
From the point that the tracking processing of each radar is not performed by the integrated tracking processing means and the new track number is not added by the integrated tracking processing, a feedback signal such as track number change control is transmitted to the radar device side after the integrated tracking processing. You don't even have to. Therefore, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Embodiment 2. In the first embodiment of the present invention, one track information is selected by the means for selecting the track having the highest tracking quality from the target information obtained in duplicate, but the standard for the tracking quality already installed is When using a plurality of different radar devices, it may be difficult or inappropriate to compare tracking qualities. In such a case, the monitoring area is divided in advance, the priority area is set for each radar device, and the track information obtained by the radar device prioritized by the target position is selected. The radar integrated tracking method of the second aspect can be used.

FIG. 2 is a diagram for explaining the flow of the radar integrated tracking method according to the second embodiment of the present invention. In FIG. 2, reference numeral 9 designates geographically divided monitoring areas in advance by referring to overlapping target track information, sets priority areas for each radar device, and sets radars in priority areas according to target positions. It is the priority area determination means 9 which uses the track information obtained by the device. Since the other reference numerals are the same as those in FIG. 1, the description thereof will be omitted.

Also in the second embodiment, track information 1 obtained from a plurality of independent radar devices whose scanning is synchronized.
For 1A, 1B, ..., 1X, it is determined whether or not the track information of the same target is obtained redundantly from different radar devices for each scan using the track number assigned by the radar operator of each radar device in the determination means 2. judge. Normally, the track numbers given by the radar operator are the same for the same target even if the radars are different. Therefore,
In the present invention, the determining means 2 determines that all the track information to which the same track number is assigned is for the same target, and outputs it as the target information 3 without duplication.
On the other hand, the track information rows that are duplicated by a plurality of radars are output as the target information 4 from the determination means 2.

With respect to the target information 4 obtained by overlapping with a plurality of radars, the priority area determining means 9 divides the monitoring area in advance, and the priority area is preferentially assigned to each radar device according to the position of the target. Is set, and the track information obtained by the radar device in the priority area is selected and output as the track information. In the integrated tracking means 6, one of the target information 3 which is not overlapped by a plurality of radars or the target information 4 which is obtained by a plurality of radars and which is preferentially acquired by the priority area determination means 9 is track information. Integrated tracking processing to be selected is performed. The track information, which is one piece of target information subjected to the integrated tracking process, is displayed on the display device 7, and the track number assigned by the radar operator is recorded in the recording device 8.
Recorded in. Therefore, in the radar integrated tracking method of the present invention, it is not necessary to give a new track number by the integrated tracking process, and it is not necessary to transmit a feedback signal such as a track number change control to the radar device side after the integrated tracking process. Therefore, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

In FIG. 3, the monitoring area is divided in advance,
FIG. 3 is an area diagram for setting a priority area for each radar device. In FIG. 3, a radar A priority area to a radar X coverage area are defined in advance separately from the radar A coverage area to the radar X coverage area, and the target exists in any of the radar A coverage area to the radar X coverage area, and When the target is in the radar A priority area, the target uses the track information obtained by the radar A device. Similarly, the target exists in any of the radar A coverage area to the radar X coverage area, and the radar X priority area is present. , The track information obtained by the radar X device is used as the target. For example, the radar A coverage area to the radar X coverage area arranged along the coast
Radar A to Radar X when the target ship passes
When the characteristics are different, the more accurate route can be determined by capturing the navigation information according to the predetermined radar A priority region to radar X priority region. Therefore, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Embodiment 3. In the first embodiment of the present invention, one track information is selected by the means for selecting the track with the highest tracking quality from the target information obtained in duplicate, but a plurality of radar devices with different tracking quality standards are selected. When using, it may be difficult or inappropriate to compare tracking qualities. In such a case, it is possible to use the radar integrated tracking method of the third embodiment configured to select, for each scan, track information in which the distance between each target and the radar device is the shortest.

FIG. 4 is a diagram for explaining the flow of the radar integrated tracking method according to the third embodiment of the present invention. In FIG. 4, reference numeral 10 denotes a target-radar distance comparison means 10 that compares the distance between the target and the radar device and selects the track information having the shortest distance. Since the other reference numerals are the same as those in FIG. 1, the description thereof will be omitted. The distance between the target and the radar device is compared by each radar device for each scan, and the measured distance information is digitized by the digitizer 22 of each radar device and sent to the tracking unit 23. The target-radar distance comparison means 10 monitors the distance information of each tracking unit 23 and compares the distance information to select the track information having the shortest distance.

Also in the third embodiment, track information 1 obtained from a plurality of independent radar devices whose scanning is synchronized.
For 1A, 1B, ..., 1X, it is determined whether or not the track information of the same target is obtained redundantly from different radar devices for each scan using the track number assigned by the radar operator of each radar device in the determination means 2. judge. Normally, the track numbers given by the radar operator are the same for the same target even if the radars are different. Therefore,
In the present invention, the determining means 2 determines that all the track information to which the same track number is assigned is for the same target, and outputs it as the target information 3 without duplication.
On the other hand, the track information rows that are duplicated by a plurality of radars are output as the target information 4 from the determination means 2.

Regarding the target information 4 obtained by overlapping with a plurality of radars, the track information having the shortest distance between the target and the radar device is selected by the target-radar distance comparison means 10 and output as the track information. . The integrated tracking means 6 is
An integrated tracking process is performed in which the track information having the shortest distance between the target and the radar device is selected from the target information 3 that does not overlap with the plurality of radars or the target information 4 that overlaps with the plurality of radars. The track information, which is one piece of target information subjected to the integrated tracking process, is displayed on the display device 7, and the track number assigned by the radar operator is recorded on the recording device 8. Therefore, in the radar integrated tracking method according to the third embodiment of the present invention, since the target position information obtained by each radar is the distance and direction based on the radar, only the distances are compared during the integrated tracking process. So you can do
There is a merit that the comparison processing algorithm can be simplified. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Fourth Embodiment In the first embodiment of the present invention, one track information is selected by the means for selecting the track having the highest tracking quality from the target information obtained in duplicate, but the tracking quality is at the highest level, and each tracking information is at the highest level. If a significant difference in quality cannot be determined, tracking quality comparison may be difficult or inappropriate. In such a case, the radar echo intensity of the target of interest is compared for each scan, and the radar integrated tracking of the fourth embodiment configured to select the track information from the radar device having the strongest radar echo intensity. Any scheme can be used.

FIG. 5 is a diagram for explaining the flow of the radar integrated tracking method according to the fourth embodiment of the present invention. In FIG. 5, reference numeral 11 denotes a radar echo comparison means 11 for comparing the intensity of the radar echo obtained by each radar device and selecting the track information having the highest intensity. The other reference numerals are the same as those in FIG. Radar echo intensity measurement is performed by each radar device for each scan,
The measured intensity information is the digitizer 2 of each radar device.
It is digitized by 2 and sent to the tracking unit 23. The radar echo comparison unit 11 monitors the distance information of each tracking unit 23 and compares the distance information to select the track information having the largest radar echo intensity.

Also in the fourth embodiment, track information 1 obtained from a plurality of independent radar devices whose scanning is synchronized.
For 1A, 1B, ..., 1X, it is determined whether or not the track information of the same target is obtained redundantly from different radar devices for each scan using the track number assigned by the radar operator of each radar device in the determination means 2. judge. Normally, the track numbers given by the radar operator are the same for the same target even if the radars are different. Therefore,
In the present invention, the determining means 2 determines that all the track information to which the same track number is assigned is for the same target, and outputs it as the target information 3 without duplication.
On the other hand, the track information rows that are duplicated by a plurality of radars are output as the target information 4 from the determination means 2.

With respect to the target information 4 obtained by overlapping with a plurality of radars, the track information having the highest radar echo intensity is selected by the radar echo comparison means 11 and output as the track information. Since the received power is proportional to the transmitted power, when the radar echo intensity is compared, it is necessary to standardize with the transmitted power of the radar and equalize the transmission conditions. For example, when the transmission power of radar A is 10 KW, the reception power is aKW, the transmission power of radar B is 50 KW, and the reception power is bKW, the power of radar B is b × 1.
It is necessary to compare with the power a of the radar A with 0/50 = 0.2b. The integrated tracking means 6 performs an integrated tracking process of selecting the track information having the largest radar echo intensity from the target information 3 which is not overlapped by a plurality of radars or the target information 4 which is obtained by a plurality of radars. . The track information, which is one piece of target information subjected to the integrated tracking process, is displayed on the display device 7.
And the track number given by the radar operator is recorded in the recording device 8. Therefore, the radar integrated tracking method of the present invention has an advantage that highly accurate data can be selected even when the radio wave condition deteriorates due to a change in the propagation environment. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Embodiment 5. In the first embodiment of the present invention, one track information is selected by the means for selecting the track with the highest tracking quality from the target information obtained in duplicate, but when the tracking quality calculation algorithm in each radar is different. In some cases, it may be difficult or inappropriate to compare tracking qualities. In such a case, the radar according to the fifth embodiment is configured to create one new estimated track for each scan at a position weighted by the tracking quality level of the target obtained by overlapping from a plurality of radars. An integrated tracking method can be used.

FIG. 6 is a diagram for explaining the flow of the radar integrated tracking method according to the fifth embodiment of the present invention. In FIG. 5, reference numeral 12 is a tracking quality level weighting means 12 for weighting the target information 4 obtained by overlapping with a plurality of radars with the tracking quality level obtained by each radar device.
Since the other reference numerals are the same as those in FIG. 1, the description thereof will be omitted.
Each radar device acquires the track description information and the tracking quality level for each scan, and the track information and the tracking quality level obtained by each radar device are digitized by the digitizer 22 of each radar device and stored in the tracking unit 23. Sent. The tracking quality level weighting means 12 monitors the track information and tracking quality level of each tracking unit 23, and determines the smooth position of the route for the track of each radar based on each tracking quality level corresponding to that radar.

FIG. 7 is an explanatory diagram for obtaining the smooth position of the track. In FIG. 7, the track of the radar A at a certain scan point is U, the tracking quality level is a, the track of the radar B is V, the tracking quality level is b, the track of the radar C is W, the tracking quality level is c, and the smooth position P. X is the distance between the smooth position P and the track V, and z is the distance between the smooth position P and the track W, x, y, and z are a × x = b × y =
It is chosen to satisfy c × z. The track of the smooth position P is determined by x, y, and z thus obtained. Therefore, the radar integrated tracking method of the present invention has an advantage that the errors of the radars can be canceled out, so that there is an advantage that the tracks are smoothly connected. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Sixth Embodiment In the fourth embodiment of the present invention, one track information is selected by selecting the track having the strongest radar echo from the target information obtained in duplicate, but the propagation condition of the radio wave in the atmosphere is bad and the propagation loss is small. If it is large, it may be difficult or inappropriate to compare tracking qualities. In such a case, the radar according to the sixth embodiment is configured so that the smoothed position weighted for each scan by the target radar echo intensity obtained from a plurality of radars is set as a new estimated track. An integrated tracking method can be used.

FIG. 8 is a diagram for explaining the flow of the radar integrated tracking system according to the sixth embodiment of the present invention. In FIG. 8, reference numeral 12 is an echo intensity weighting means 13 for weighting the target information 4 obtained by overlapping with a plurality of radars with the echo intensity obtained by each radar device. Since the other reference numerals are the same as those in FIG. 1, the description thereof will be omitted. Each radar device acquires the track description information and the tracking quality level for each scan, and the track information and the echo intensity obtained by each radar device are digitized by the digitizer 22 of each radar device and sent to the tracking unit 23. To be The echo intensity weighting means 13 monitors the track information and echo intensity of each tracking unit 23, and determines the smooth position of the route for the track of each radar based on the echo intensity corresponding to that radar.

FIG. 9 is an explanatory diagram for obtaining the smooth position of the track. In FIG. 9, the track of radar A at a certain scan point is U, the echo intensity is a, the track of radar B is V, the echo intensity is b, the track of radar C is W, the echo intensity is c, the smooth position P and the track U. Between them is x, the distance between the smooth position P and the track V is y, and the distance between the smooth position P and the track W is z.
Then, x, y, and z are selected so as to satisfy axx = bxy = cxz. X obtained in this way,
The track of the smooth position P is determined by y and z. Therefore, the radar integrated tracking method of the present invention has an advantage of canceling out variations in echo intensity due to propagation loss. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Embodiment 7. In the second embodiment of the present invention, the entire monitoring area of a plurality of target radar devices is divided, a priority region is set for each radar device, and the track obtained from the radar device prioritized by the target position is set. Information was selected for each scan, but when each target position is in the vicinity of the boundary of the area and exists over the priority area of each other, the track information obtained by the radar device prioritized by the position of the target Sometimes it was difficult or not appropriate to choose. In such a case, the radar integrated tracking method according to the seventh embodiment configured to select the track information obtained from the radar that the target is approaching can be used.

FIG. 10 is a diagram for explaining the flow of the radar integrated tracking method according to the seventh embodiment of the present invention. Figure 10
In the figure, 14 is a traveling direction determination means 12 for selecting the track information obtained from the radar where the target is approaching. Since the other reference numerals are the same as those in FIG. 1, the description thereof will be omitted. As described above, in the case where each target position is in the vicinity of the boundary line of the area and extends over the mutual priority area, any one of
Since it is not possible to select one of the priority areas, information about the traveling direction of the target obtained by each radar device is digitized by the digitizer 22 and sent to the tracking unit 23.
The traveling direction determination means 14 monitors the track information and the traveling direction information in each tracking unit 23, and selects the route of the radar device where the target is approaching as the route information.

FIG. 11 is an explanatory diagram for obtaining the traveling direction of the track. In FIG. 11, at a certain scan point, the target is located at the midpoint between the radar A and the radar B, and when the radar A and the radar B have the same echo level and tracking quality level, which radar track is the target. It is difficult to decide whether to select it as the track information. In such a case, the track of the target is determined by selecting the track of the radar device where the target is currently approaching. Therefore, the radar integrated tracking method of the present invention has an advantage that the track information can be easily obtained even when the target inside is located at the midpoint between the radar A and the radar B. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Embodiment 8. Embodiment 1 of the present invention,
By combining 2, 3 or 7 with priority,
It is possible to use the radar integrated tracking method of the eighth embodiment configured to select one track information from the track information of the same target that is duplicated.

FIG. 12 is a diagram for explaining the flow of the radar integrated tracking method according to the eighth embodiment of the present invention. Also in the eighth embodiment, track information 1A, 1B, ..., 1X obtained from a plurality of independent radar devices whose scanning is synchronized.
With respect to (1), whether or not the track information of the same target is obtained redundantly from different radar devices is determined for each scan using the track number assigned by the radar operator of each radar device in the determination means 2. Normally, the track numbers given by the radar operator are the same for the same target even if the radars are different. Therefore, in the present invention,
The determining means 2 determines that all the track information to which the same track number is assigned is for the same target, and outputs it as the target information 3 without duplication. On the other hand, the track information rows that are duplicated by a plurality of radars are output as the target information 4 from the determination means 2.

Regarding the target information 4 obtained by overlapping with a plurality of radars, the tracking quality level selecting means 5 selects the track having the highest level of tracking quality, and the selected one is output as the track information. . When the tracking quality level selecting means 5 cannot select the track having the highest tracking quality level, the priority area determining means 9 divides the monitoring area in advance and prioritizes the allocation to each radar device according to the target position. The priority area is set, and the track information obtained by the radar device in the priority area is selected and output. When the track information in the priority area cannot be selected by the priority area determination means 9, the track information in which the distance between the target and the radar device is closest is selected and output by the target-radar distance comparison means 10. Target·
In the inter-radar distance comparison means 10, when the track information having the shortest distance between the target and the radar device cannot be selected,
The traveling direction determination means 14 determines the track of the target by selecting the track of the radar device to which the target is currently approaching. In this way, the optimum track information can be selected by sequentially changing the comparison or determination means. The integrated tracking means 6 performs an integrated tracking process for selecting the optimum track information obtained from the target information 3 that does not overlap with a plurality of radars or the target information 4 that has obtained overlapping with a plurality of radars. The track information, which is one piece of target information subjected to the integrated tracking process, is displayed on the display device 7, and the track number assigned by the radar operator is recorded on the recording device 8. Therefore, the radar integrated tracking method of the present invention has an advantage that one track data can be reliably selected for a plurality of navigation data even if the tracking quality is the same. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Ninth Embodiment Embodiment 4 of the present invention
Using the radar integrated tracking method according to the ninth embodiment, which is configured to select one track information from the track information of the same target overlapped by combining 2, 3, and 7 in order of priority. You can

FIG. 13 is a diagram for explaining the flow of the radar integrated tracking method according to the ninth embodiment of the present invention. Also in the ninth embodiment, track information 1A, 1B, ..., 1X obtained from a plurality of independent radar devices whose scanning is synchronized.
With respect to (1), whether or not the track information of the same target is obtained redundantly from different radar devices is determined for each scan using the track number assigned by the radar operator of each radar device in the determination means 2. Normally, the track numbers given by the radar operator are the same for the same target even if the radars are different. Therefore, in the present invention,
The determining means 2 determines that all the track information to which the same track number is assigned is for the same target, and outputs it as the target information 3 without duplication. On the other hand, the track information rows that are duplicated by a plurality of radars are output as the target information 4 from the determination means 2.

With respect to the target information 4 obtained by overlapping with a plurality of radars, the radar echo comparing means 11 selects the track information having the largest radar echo intensity and outputs it as the track information. When the radar echo comparison means 11 cannot select the track information having the largest radar echo intensity, the priority area determination means 9 divides the monitoring area in advance and gives priority to each radar device according to the target position. The area is set, and the track information obtained by the radar device in the priority area is selected and output. When the track information in the priority area cannot be selected by the priority area determination means 9, the track information in which the distance between the target and the radar device is closest is selected and output by the target-radar distance comparison means 10. When the target / radar distance comparison unit 10 cannot select the track information of the closest distance between the target and the radar device, the traveling direction determination unit 14 selects the track of the radar device which is currently approaching the target. Wake track is decided. In this way, the optimum track information can be selected by sequentially comparing or changing the determination. The integrated tracking means 6 performs an integrated tracking process for selecting the optimum track information obtained from the target information 3 that does not overlap with a plurality of radars or the target information 4 that has obtained overlapping with a plurality of radars. The track information, which is one piece of target information subjected to the integrated tracking process, is displayed on the display device 7, and the track number assigned by the radar operator is recorded on the recording device 8. Therefore, the radar integrated tracking method of the present invention has an advantage that it is possible to reliably select one track data for a plurality of navigation data even if the echo intensity is the same. Moreover, the present invention can be easily applied to a conventional radar system without modifying the conventional radar system.

Embodiment 10. In the first to ninth embodiments of the present invention, the scan cycles of the target radar device are all synchronized, and the integrated tracking process is performed for each scan. The radar integrated tracking according to the tenth embodiment configured so that the integrated tracking processing cycle is set irrelevant and the latest track information obtained by scanning a plurality of radars is read at a cycle that does not depend on the scan cycle of each radar device. Any scheme can be used.

FIG. 14 is a diagram for explaining a timing chart of the radar integrated tracking system according to the tenth embodiment of the present invention. In FIG. 14, the timing shown in (a) is the track information transmitted by the scan unit of the radar A,
The timing shown in (b) is the track information transmitted in the scan unit of the radar B. On the other hand, the timing shown in (c) is the timing indicating the unit of data clipping in the integrated tracking means 6. In the integrated tracking means 6, (c)
By reading the navigation information of the radar A and the radar B at the timing shown in (3), the latest navigation information can be read asynchronously with the scanning timing of the radar A and the radar B. Therefore, it is not necessary to synchronize the scan cycle of each radar device, and a synchronizing circuit between each radar device is not required, which makes the device economical.

[0052]

According to the radar integrated tracking system of the first aspect of the present invention, the track number entered by the operator for the track information of the target obtained by a plurality of independent radar devices for monitoring the overlapping areas. Means for determining for each scan whether the target has been tracked by one radar or the targets tracked by multiple radars, and the track with the highest tracking quality level among the track information of the targets tracked by multiple radars Tracking quality level selecting means for selecting information, tracking information of a target tracked by one radar, and tracking information of a tracking quality of a target selected by a plurality of radars. By choosing one,
Since the integrated tracking means for determining the target track is provided, it is not necessary to feed back the control signal from the integrated tracking processing side to the radar device, and the effect that it can be easily applied to the existing radar device is obtained. is there.

The radar integrated tracking method according to the second aspect of the present invention divides the entire monitoring area of a plurality of radars, sets a priority area for each radar device, and sets each target in the above priority area. Since it is configured to include the priority area selection means for selecting the track information, it is not necessary to feed back the control signal from the integrated tracking processing side to the radar device, and there is an effect that it can be easily applied to existing radar devices. .

The radar integrated tracking system according to the third aspect of the present invention is provided with a target-radar distance comparison means for selecting, for each scan, track information in which the distance between each radar device and the target is the shortest. Since it is configured, it is not necessary to feed back the control signal from the integrated tracking processing side to the radar device, and there is an effect that it can be easily applied to the existing radar device.

In the radar integrated tracking method according to the fourth aspect of the present invention, the target radar echo intensities obtained from a plurality of radar devices are compared for each scan, and the radar device with the strongest radar echo is used. Since the radar echo intensity comparing means for selecting the track information is provided, it is not necessary to feed back the control signal from the integrated tracking processing side to the radar device, and the effect that it can be easily applied to the existing radar device is obtained. is there.

In the radar integrated tracking method according to the fifth aspect of the present invention, the track of each target obtained by overlapping from a plurality of radar devices is weighted by the tracking quality level of each corresponding radar, and the smooth position of the target is calculated. Is configured to include a tracking quality level weighting unit that calculates for each scan, there is no need to feed back a control signal from the integrated tracking processing side to the radar device, and an effect that can be easily applied to existing radar devices There is.

In the radar integrated tracking method according to the sixth aspect of the present invention, the track of each target obtained by overlapping from a plurality of radar devices is weighted by the radar echo intensity of each corresponding radar, and the smooth position of the target is calculated. Since it is configured to include a radar echo intensity weighting unit that calculates for each scan,
It is not necessary to feed back the control signal from the integrated tracking processing side to the radar device, and there is an effect that it can be easily applied to the existing radar device.

The radar integrated tracking system according to the seventh aspect of the present invention is configured to include a traveling direction track selecting means for selecting the track information obtained from the approaching radar device according to the traveling direction of the target. It is not necessary to feed back the control signal from the integrated tracking processing side to the radar device, and there is an effect that it can be easily applied to the existing radar device.

The radar integrated tracking system according to an eighth aspect of the present invention is a track information having the maximum tracking quality level among the plural track information of the target tracked by a plurality of radars. When there is no track information selected by the tracking quality level selecting means for selecting the tracking quality level selecting means, all monitoring areas of a plurality of radars are divided, and a priority area is set for each radar device. , If there is no track information selected by the priority area selection means for selecting the track information of each target in the priority area, the priority area selection means, the distance between each of the plurality of radar devices and the target is the most If there is no target / radar distance comparison means that selects near track information for each scan, and if there is no track information selected by the above target / radar distance comparison means, the target approaches according to the direction of travel of the target. The integrated tracking processing side is configured to include an execution unit that obtains optimum track information by executing the traveling direction track selection unit that selects the track information obtained from the radar device with priority order in that order. Therefore, it becomes unnecessary to feed back the control signal to the radar device, and there is an effect that it can be easily applied to the existing radar device.

The radar integrated tracking system according to the ninth aspect of the present invention is to measure the following from the following means, that is, the radar echo intensities of the target obtained redundantly from a plurality of radar devices are compared for each scan, Radar echo intensity comparison means for selecting the track information from the radar device with the strongest radar echo, if there is no track information selected by the above radar echo intensity comparison means, divide the entire monitoring area of multiple radars , A priority area selecting means for setting a priority area for each radar device and selecting track information of each target in the priority area, and if there is no track information selected by the priority area selecting means, a plurality of Target-radar distance comparison means for selecting, for each scan, track information in which the distance between each radar device and the target is closest, and the navigation information selected by the target-radar distance comparison means. When there is no information, the optimum track information is obtained by executing the track direction selection means for selecting the track information obtained from the approaching radar device according to the target traveling direction with priority sequence in that order. Since the integrated tracking processing side does not need to feed back the control signal to the radar device, it is possible to easily apply the control signal to the existing radar device.

In the radar integrated tracking system according to the tenth aspect of the present invention, the integrated tracking means reads out each track information obtained by scanning a plurality of radars in a cycle that does not depend on the scan cycle of each radar device, and optimizes it. Since the integrated tracking processing side does not need to feed back the control signal to the radar device, the integrated tracking processing side can be easily applied to the existing radar device.

[Brief description of drawings]

FIG. 1 is a diagram illustrating a flow of a radar integrated tracking method according to a first embodiment of the present invention.

FIG. 2 is a diagram illustrating a flow of a radar integrated tracking method according to a second embodiment of the present invention.

FIG. 3 is a diagram showing a relationship between a radar priority area and a radar coverage area according to a second embodiment of the present invention.

FIG. 4 is a diagram illustrating a flow of a radar integrated tracking method according to a third embodiment of the present invention.

FIG. 5 is a diagram illustrating a flow of a radar integrated tracking method according to a fourth embodiment of the present invention.

FIG. 6 is a diagram illustrating a flow of a radar integrated tracking method according to a fifth embodiment of the present invention.

FIG. 7 is a diagram illustrating a concept of smoothed position calculation according to a fifth embodiment of the present invention.

FIG. 8 is a diagram illustrating a flow of a radar integrated tracking method according to a sixth embodiment of the present invention.

FIG. 9 is a diagram illustrating a concept of smoothed position calculation according to a sixth embodiment of the present invention.

FIG. 10 is a diagram illustrating a flow of a radar integrated tracking method according to a seventh embodiment of the present invention.

FIG. 11 is a diagram illustrating a concept of selecting a radar track in a traveling direction of a target according to a seventh embodiment of the present invention.

FIG. 12 is a diagram illustrating a flow of a radar integrated tracking method according to an eighth embodiment of the present invention.

FIG. 13 is a diagram illustrating a flow of a radar integrated tracking method according to a ninth embodiment of the present invention.

FIG. 14 is a diagram illustrating a timing chart of the asynchronous radar integrated tracking system according to the tenth embodiment of the present invention.

FIG. 15 is a diagram illustrating a flow of a conventional multiple radar automatic tracking processing method.

FIG. 16 is a diagram illustrating a tracking data switching operation in a tracking control unit in a conventional multiple radar automatic tracking processing method.

FIG. 17 is a diagram illustrating an operation of a conventional multiple radar automatic tracking processing method.

[Explanation of symbols]

1A, 1B, 1C Target track information from radar devices 2 Means for determining whether or not overlapping track information 3 Target track information obtained from only one radar device 4 Targets obtained by multiple radar devices Track information 5 Means for selecting a track having the highest level of tracking quality 6 Integrated tracking means 7 Track information display device 8 Track information recording device 9 Means for selecting track information in priority area 10 Distance between target and radar device Means for selecting the closest track information 11 means for selecting the track information having the strongest radar echo intensity 12 tracking quality level weighting means 13 radar echo intensity weighting means 14 means 21A, 21B, 21C for selecting the approaching track information 22A, 22B, 22C Digitizer 23A, 23B, 23C Tracking unit

Continuation of front page (56) Reference JP-A-3-245081 (JP, A) JP-A-3-248073 (JP, A) JP-A-2-156183 (JP, A) JP-A-4-48285 (JP , A) JP 4-77689 (JP, A) JP 9-72957 (JP, A) JP 10-300836 (JP, A) JP 11-64504 (JP, A) JP 11-160413 (JP, A) Actual development 5-59375 (JP, U) (58) Fields investigated (Int.Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13 / 95

Claims (10)

(57) [Claims] 1. A target tracked by one radar or a plurality of radars according to a track number input by an operator with respect to target track information obtained by a plurality of independent radar devices that monitor mutually overlapping areas. means for determining whether the target for each scan that is, a tracking quality level selection means the level of the tracking quality selects the maximum track information of the target plurality track information that is tracked by a plurality of radars, the By selecting either the track information of the target tracked by one radar or the track information of the target tracked by a plurality of radars, the track information having the maximum level of tracking quality is selected. Integrated tracking means for determining the track of the track, means for displaying the track information output from the integrated tracking means, and means for recording the track information output from the integrated tracking means The provided, radar integration tracking system and determining the track of the target. 2. The target track information obtained by a plurality of independent radar devices that monitor mutually overlapping areas is tracked by one radar or by a plurality of radars according to a track number input by an operator. And a means for determining for each scan whether or not the target has been set, and the entire monitoring area of the plurality of radars is divided to set a priority area for each radar device, and track information of each target in the priority area is set. Priority area selecting means for selecting, and either the track information of the target tracked by the one radar or the track information of the target located in the priority area selected by the priority area selecting means. Integrated tracking means for determining a target track, means for displaying track information output from the integrated tracking means, and recording track information output from the integrated tracking means. The radar integrated tracking method is characterized by determining the target track. 3. The target track information obtained by a plurality of independent radar devices that monitor mutually overlapping areas, the target tracked by one radar or the plurality of radars by a track number input by an operator. A target-radar distance comparison means for selecting, for each scan, track information in which the distance between each of the plurality of radar devices and the target is closest for each scan; The target track is determined by selecting either the track information of the target tracked in <1> or the track information of the target located at the shortest distance from the radar obtained by the target-radar distance comparison means. Integrated tracking means, a means for displaying the track information output from the integrated tracking means, and a means for recording the track information output from the integrated tracking means, A radar integrated tracking method characterized by determining the track of a target. 4. A target tracked by one radar or a plurality of radars tracked by a track number input by an operator with respect to track information of a target obtained by a plurality of independent radar devices that monitor mutually overlapping areas. Means for each scan to determine whether the target has been scanned, the radar echo intensity of the target obtained by overlapping from the plurality of radar devices is compared for each scan, the track information from the radar device with the strongest radar echo Either the radar echo intensity comparing means to be selected, the target track information tracked by the one radar, or the target track information having the strongest radar echo obtained by the radar echo strength comparing means. Integrated tracking means for determining the target track by selecting or, and means for displaying the track information output from the integrated tracking means, And a means for recording the track information output from the integrated tracking means of (1) and determining the target track. 5. The target track information obtained by a plurality of independent radar devices that monitor mutually overlapping areas is tracked by one radar or by a plurality of radars by a track number input by an operator. Means for determining whether each target is a scanned target, and the track of each target overlappingly obtained from the plurality of radar devices is weighted by the tracking quality level of each corresponding radar, and the smooth position of the target is scanned for each scan. Tracking quality level weighting means for calculating, and either the target track information tracked by the one radar or the smooth position track information obtained by the tracking quality level weighting means. By
An integrated tracking unit for determining a target track, a unit for displaying the track information output from the integrated tracking unit, and a unit for recording the track information output from the integrated tracking unit, the target track A radar integrated tracking method characterized by deciding. 6. The target track information obtained by a plurality of independent radar devices that monitor mutually overlapping areas is tracked by one radar or by a plurality of radars by a track number input by an operator. Means for determining each target for each scan, and the track of each target overlappingly obtained from the plurality of radar devices is weighted by the radar echo intensity of each corresponding radar and the smooth position of the target is scanned for each scan. The radar echo intensity weighting means for calculating, and either the target track information tracked by the one radar or the smooth position track information obtained by the radar echo intensity weighting means is selected. The integrated tracking means for determining the target track, the means for displaying the track information output from the integrated tracking means, and the integrated tracking means. And a means for recording the track information output from the radar integrated tracking method for determining a target track. 7. The track information of a target obtained by a plurality of independent radar devices that monitor mutually overlapping areas is tracked by one radar or by a plurality of radars by a track number input by an operator. Means for each scan to determine whether the target has been tracked, traveling direction track selecting means for selecting track information obtained from the approaching radar device according to the traveling direction of the target, and the target tracked by the one radar. by selecting one of the radar track information located in the traveling direction of the target selected by the traveling direction track selection means of track information or <br/> said, an integrated tracking means for determining the track of the target, the Of the integrated tracking means, and means for recording the track information output from the integrated tracking means, and determines the target track. A radar integrated tracking method characterized by the following. 8. The track information of a target obtained by a plurality of independent radar devices for monitoring overlapping areas is tracked by one radar or by a plurality of radars according to a track number input by an operator. A method for determining for each scan whether the target is a tracked target, and a method from the following to the following, that is, the tracking quality that selects the track information with the maximum tracking quality level from the multiple track information of the target tracked by multiple radars. Level selection means, when there is no track information selected by the tracking quality level selection means, divides all monitoring areas of a plurality of radars, sets priority areas for each radar device, and sets the priority areas Priority area selection means for selecting the track information of each target in, when there is no track information selected by the priority area selection means, the distance between each radar device and the target Target-radar distance comparison means for selecting near-track information for each scan, and radar information that is approaching depending on the target traveling direction when there is no track information selected by the target-radar distance comparison means. Execution means for obtaining the optimum track information by executing the traveling direction track selection means for selecting the track information obtained from the priority order in that order, and the track information of the target tracked by the one radar. Integrated tracking means for determining the target track by selecting one of the optimal track information obtained above, means for displaying the track information output from the integrated tracking means, and the integrated tracking And a means for recording the track information output from the means, and determining the target track, the radar integrated tracking method. 9. The target track information obtained by a plurality of independent radar devices that monitor mutually overlapping areas is tracked by a single radar or a plurality of radars by a track number input by an operator. From the radar device with the strongest radar echo, comparing the radar echo intensities of the targets obtained by duplicating from multiple radar devices. Radar echo intensity comparison means for selecting the track information of each of the scans, when there is no track information selected by the radar echo intensity comparison means, the entire monitoring area of a plurality of radar is divided, The priority area selecting unit that sets the priority area of the target area and selects the track information of each target in the priority area, and the track information selected by the priority area selecting unit is In the case of failure, the target / inter-radar distance comparison means for selecting, for each scan, the track information in which the distance between each of the radar devices and the target is closest, and the track information selected by the target / inter-radar distance comparison means. If there is not, the executing means for obtaining the optimum track information by executing the track direction selecting means for selecting the track information obtained from the approaching radar device according to the traveling direction of the target in the order of priority And integrated tracking means for determining the target track by selecting either the target track information tracked by the one radar or the optimum track information obtained above, and the integrated tracking means. And a means for displaying the track information output from the integrated tracking means, and a means for recording the track information output from the integrated tracking means. Da integrated tracking method. 10. The radar integrated tracking method according to claim 1, wherein the integrated tracking means obtains each track information obtained by scanning a plurality of radars in a cycle that does not depend on a scan cycle of each radar device. The radar integrated tracking method is characterized by eliminating the need for synchronization between a plurality of radar devices by reading out.