JP3405267B2 - Tracking device - Google Patents

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a tracking device for predicting and displaying the movement of a target designated for tracking, such as a radar device having a tracking function.

[0002]

2. Description of the Related Art As a radar apparatus having a target tracking function, for example, there is an apparatus shown in FIG. FIG. 1 is a block diagram showing a schematic function related to tracking processing in a conventional radar device, which includes a display indicator 101, a position / orientation correction unit 102 of the device itself, a scan correlation (forward direction) unit 103, and a smoothing filter 107. . Then, this smoothing filter 107
Is composed of a smoothing processing unit 104, a prediction calculation unit 105, and a tracking gate creation (forward direction) unit 106.

Next, the operation of the conventional radar device will be described. In the apparatus shown in FIG. 9, a target instruction is performed based on the radar video displayed on the display indicator 101, and the target video is sent to the own position / orientation correction unit 102 together with the received video after the sweep correlation. The own-vehicle position / orientation correction unit 102 performs own-vehicle position / orientation correction processing based on navigation / attitude information, and the result is scan correlation (forward direction).
Sent to the section 103.

The scan correlation (forward direction) unit 103 performs correlation (forward direction) processing between a target detected in a new scan and a target detected in a past scan within the set tracking gate. To do. The result of this correlation processing is sent to the smoothing filter processing unit 107 including the smoothing processing unit 104, the prediction calculation unit 105, and the tracking gate creation (forward direction) unit 106, and based on the smoothing processing result here. The prediction calculation unit 105 calculates the predicted position for the next scan.

The tracking gate creation (forward direction) unit 106 determines the scan correlation (forward direction) unit 10 based on the above prediction calculation result.
3 sets the tracking gate used for the correlation processing in the next scan on the coordinate space. Further, the result of the prediction calculation unit 105 is used for the smoothing process of the next scan.

[0006]

However, in the tracking processing in the above-mentioned conventional radar device, stable prediction of the course and speed which requires data for several to several tens of scans depending on the target motion performance is required. However, there is a problem that a waiting time of several tens of seconds to several minutes is required for data collection after the start of the tracking process by specifying a target.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to eliminate the waiting time required after the start of the tracking process by the target designation when stably predicting the target course and speed. It is an object of the present invention to provide a tracking device that can immediately display a predicted course and speed on a display device after a target is designated.

[0008]

In order to achieve the above object, the present invention, in a tracking device that displays the trajectory of a moving target, accumulates detection information before the tracking start time for the target in time series. Accumulation means, means for taking a correlation of the target at a plurality of time points before the tracking start time point based on the detection information, and information acquisition means for obtaining movement information of the target point before the tracking start time point from the correlation And means for estimating the trajectory of the target before the tracking start time point based on the motion information, and means for predicting the movement of the target at the tracking start time point based on the estimated trajectory. A tracking device for visually displaying the prediction result is provided.

Preferably, the tracking device according to the present invention further comprises means for controlling the retention period of the detection information in the storage means based on the target motion performance. Further, preferably, the tracking device according to the present invention further includes means for determining a tracking gate region for tracking the target.

Preferably, the tracking device according to the present invention further comprises means for controlling the retention period of the detection information in the storage means based on the target motion performance, and for tracking the target. Means for determining the tracking gate region.

Further, preferably, the tracking device according to the present invention further comprises means for taking a correlation of the target based on the detection probability of the target. Preferably, the tracking device according to the present invention is further based on the movement performance of the target, a means for controlling the retention period of the detection information in the storage means, and based on the detection probability of the target, Means for correlating the goals.

Preferably, the tracking device according to the present invention further comprises means for determining a tracking gate area for tracking the target and means for correlating the target based on the detection probability of the target. With.

Preferably, the tracking device according to the present invention further comprises means for controlling the retention period of the detection information in the storage means based on the target motion performance.
A means for determining a tracking gate region for tracking the target and a means for correlating the target based on the detection probability of the target are provided.

More preferably, in the tracking device according to the present invention, at least the predicted movement of the target is
The target course and speed are included.

[0015]

BEST MODE FOR CARRYING OUT THE INVENTION Embodiments of the present invention will be described in detail below with reference to the accompanying drawings. Embodiment 1. First, the first embodiment of the present invention will be described. FIG. 1 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The apparatus shown in FIG. 1 includes a display indicator 1, a position / orientation correction unit 2, a scan correlation (positive direction) unit 3, a smoothing filter unit 7, a video storage memory 8, and a scan correlation (reverse direction) unit. It is composed of 10. The smoothing filter unit 7 is a filter including a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9.

Next, the operation of the radar system will be described. The process in the radar device according to the present embodiment can be divided into a process up to the completion of the course / speed prediction process at the target designation time and a process after the completion of the course / speed prediction process at the target designation time. .

<Processing until Completion of Course / Velocity Prediction Processing at Target Designation Time> In the radar apparatus shown in FIG. 1, the target designation is performed based on the radar video displayed on the display indicator 1. “(Tracking) target instruction” shown in FIG. 4) is sent to the own position / orientation correction unit 2 together with the received video after the sweep correlation. The own-vehicle position / attitude correction unit 2 performs own-vehicle position / attitude correction processing based on navigation / attitude information, and the result is sent to the video storage memory 8.
Here, using this video storage memory 8, at any time,
Data for a certain scan is accumulated, and the accumulated contents are added / updated each time new scan data is input.

That is, in the present radar device, the result of the instruction of the target based on the radar video displayed on the display indicator 1 is passed through the own position / orientation correction unit 2 to
As described above, the smoothing processing unit 4, the prediction calculation unit 5, the tracking gate creation (forward direction) unit 6, and the tracking gate creation (reverse direction).
It is sent to the smoothing filter unit 7 which is composed of the unit 9.

Of these, the prediction calculation unit 5 calculates the predicted position of the previous scan, and the tracking gate creation (reverse direction) unit 9
Is the scan correlation (reverse direction) from the result of this prediction calculation.
The tracking gate used in the correlation process in the previous scan is set in the coordinate space in the unit 10. Scan correlation (reverse direction)
The unit 10 makes a correlation based on the detection information of the previous scan stored in the video storage memory 8 included in the tracking gate thus set.

Here, the "reverse direction" means that it is a reverse direction in terms of time, and specifically, it means that tracking is performed while going back in time with respect to past recording. Also,
“Processing in the positive direction” means executing a predetermined process as time passes.

The above result is sent to the smoothing processing unit 4, and the prediction calculation processing unit 5 calculates the predicted position of the pre-previous scan. Then, the calculation result is sent again to the tracking gate creation (reverse direction) unit 9, and the tracking gate of the scan before the previous scan is set in the coordinate space.

The "previous scan" and the "previous scan" mean the scans in the past recording data collection period with reference to the scan at the designated tracking target time. In addition, the scan immediately after the specified tracking target is the "next scan".
Call. Further, the “tracking gate” is a range in which the correlation processing is performed on the tracking target regarding the detection obtained in the next scan (see FIGS. 10 and 11).

The radar device according to the present embodiment performs (correlation processing) on the detection target in the tracking gate, and (1) the distance between the predicted tracking position and the observation position, and (2) parameters such as the signal strength of the tracking track. First, it is determined whether or not they have the same goal. This process is a process for preventing erroneous confusion with another target and performing tracking when different detections exist in the vicinity.

Here, the above series of processing is repeated several times to several tens of times, and several scans are performed for the target to be designated.
The position before several tens of scans and the locus (position and speed) from the past to the target designated time point are specified. Then, based on the target motion information before the target designation estimated by the above-described processing, the processes such as the prediction calculation in the prediction calculation unit 5 and the smoothing process in the smoothing processing unit 4 are repeated until the target is designated. The predicted target course / speed is calculated, and the predicted course / speed information is transmitted to the display indicator 1.

<Processing after Completion of Course / Speed Prediction Processing at Target Designation Time> As processing subsequent to the predicted course / speed calculation processing at the target designation time, this radar device uses the calculated prediction course / speed information as a basis. Then, the tracking gate creation (forward direction) unit 6 sets the tracking gate used in the correlation processing in the next scan by the scan correlation (forward direction) unit 3.

The prediction result calculated by the prediction calculator 5 is used for the smoothing process of the next scan. And this result is
Correlation (forward direction) sent to the scan correlation (forward direction) unit 3 and between the target detected in the new scan and the target detected in the past scan within the set tracking gate
Processing is performed.

FIG. 10 and FIG. 11 are diagrams schematically showing tracking processing in the conventional radar apparatus and tracking processing in the radar apparatus according to the present embodiment, respectively, and comparing them. In the figure, circles and black dots in the circles indicate images on the display.

In the conventional apparatus, as shown in FIG. 10, tracking is designated at an arbitrary point in time, and as time passes,
Repeat processing for each scan after the next scan,
Get the wake you need. This makes it possible to predict (display) the course and speed. On the other hand, the radar device according to the present embodiment, as shown in FIG. 11, performs tracking designation at an arbitrary point of time, goes backward with the passage of time, and sequentially repeats processing for each scan while tracing back past records. I do.

By obtaining the locus up to the designated tracking point, it is possible to predict (display) the course / speed at the designated tracking point. That is, the radar device according to the present embodiment can display tracking information without waiting for the next scan.

As described above, according to the present embodiment, instead of the predictive calculation using the collected data for several to several tens of scans after the target designation, the video information accumulated before the target designation is used. By performing correlation processing with the time relationship reversed, the tracking information at the target designation time can be obtained without the waiting time required for data collection, and the predicted course and speed can be calculated instantly after the target designation. It is possible to display on the display indicator.

Embodiment 2. The second embodiment of the present invention will be described below. FIG. 2 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar device shown in the figure has a configuration in which a video storage memory capacity determination unit 11 is newly added to the device according to the first embodiment shown in FIG.

That is, the radar device according to the present embodiment includes the display indicator 1, the own position / orientation correction unit 2, the scan correlation (forward direction) unit 3, the smoothing filter unit 7, the video storage memory 8, and the scan. It is composed of a correlation (reverse direction) unit 10 and a video storage memory capacity determination unit 11. The smoothing filter unit 7 includes the smoothing processing unit 4, the prediction calculation unit 5, the tracking gate creation (forward direction) unit 6, and the tracking gate creation (reverse direction) unit 9 as its constituent elements.

In the radar device according to this embodiment, as shown in FIG.
As shown in, the type of the target is input together with the radar video displayed on the display indicator 1, and the target type is input to the video storage memory capacity determination unit 11 as input data indicating the athletic performance of the target.

The video storage memory capacity determination unit 11 controls data retention in the video storage memory 8 according to the target exercise performance indicated by the input target type. That is, the video storage memory capacity determination unit 11 holds the stored content so that the memory storage period of the data for a certain scan stored in the video storage memory 8 is set to an optimum period according to the target exercise performance, Control discards and updates.

The operation of the components other than the video storage memory capacity determination unit 11, such as the scan correlation (forward direction) unit 3 and the smoothing processing unit 4, is the same as that of the radar device according to the first embodiment. Therefore, their description is omitted here.

As described above, according to the present embodiment, for the data of a certain scan accumulated in the video accumulation memory, the period for holding the memory or the like becomes the optimum period according to the target exercise performance. Control so that the data can be retained in the memory for an optimum period, the memory usage efficiency is improved, and more efficient correlation processing (reverse direction)
Can be executed.

Embodiment 3. The third embodiment of the present invention will be described below. FIG. 3 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar apparatus shown in the figure has a configuration in which a tracking gate area determination unit 12 is added to the apparatus according to the first embodiment shown in FIG.

The radar device according to the present embodiment, like the device according to the first embodiment, has a display indicator 1, a position / orientation correction unit 2, a scan correlation (forward direction) unit 3, a smoothing filter unit. 7, a video storage memory 8, a scan correlation (reverse direction) unit 10, and a tracking gate region determination unit 12. The smoothing filter unit 7 includes the smoothing processing unit 4, the prediction calculation unit 5, the tracking gate creation (forward direction) unit 6, and the tracking gate creation (reverse direction) unit 9 as its constituent elements.

In the radar device according to this embodiment, as shown in FIG.
As shown in, the target type is input together with the radar video displayed on the display indicator 1, and the target type is input to the tracking gate area determination unit 12 as input data indicating the target's movement performance.

The tracking gate area determination unit 12 creates a tracking gate (in the reverse direction) according to the input target motion performance.
The tracking gate creation area in the unit 9 is determined, and the area information determined there is input to the tracking gate creation (reverse direction) unit 9. As a result, the tracking gate creation (reverse direction) unit 9 coordinates the tracking gate based on the calculation result of the predicted position of the previous scan calculated by the prediction calculation unit 5 based on the determined tracking gate creation region. Set in space.

The operation of the components other than the tracking gate area determination unit 12, such as the scan correlation (forward direction) unit 3 and the smoothing processing unit 4, is the same as that of the radar device according to the first embodiment. , And the description thereof is omitted here.

As described above, according to the present embodiment, the tracking gate is set in the coordinate space on the basis of the tracking gate creation region determined according to the desired motion performance and the calculation result of the predicted position of the previous scan. By setting it above, it becomes possible to use the optimum memory according to the target motion and to perform the efficient correlation processing (reverse direction).

Fourth Embodiment Hereinafter, the fourth embodiment of the present invention will be described. FIG. 4 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar device shown in the figure has a configuration in which a video storage memory capacity determination unit 11 and a tracking gate region determination unit 12 are newly added to the device according to the first embodiment shown in FIG.

That is, the radar device according to the present embodiment has a display indicator 1, a position / orientation correction unit 2, a scan correlation (forward direction) unit 3, a smoothing filter unit 7, a video storage memory 8, a scan. Correlation (reverse direction) unit 10, video storage memory capacity determination unit 11, and tracking gate region determination unit 1
It is composed of two. Then, the smoothing filter unit 7 creates the smoothing processing unit 4, the prediction calculation unit 5, and the tracking gate creation (forward direction).
A section 6 and a tracking gate creation (reverse direction) section 9 are provided.

In the radar device according to this embodiment, as shown in FIG.
As shown in, the target type is input together with the radar video displayed on the display indicator 1, and the target type is input as data indicating the target's motion performance, and the video storage memory capacity determination unit 11 and the tracking gate area determination are performed. Input to the section 12.

The video storage memory capacity determination unit 11 is shown in FIG.
Similar to the radar device according to the second embodiment shown in FIG. 2, the data holding in the video storage memory 8 is controlled according to the target motion performance indicated by the input target type. In other words, the video storage memory capacity determination unit 11 sets the storage content of the data for a certain scan stored in the video storage memory 8 to be the optimum period according to the target exercise performance. Control the retention, destruction, and updating of.

On the other hand, the tracking gate area determining section 12 is shown in FIG.
Similarly to the radar device according to the third embodiment shown in FIG.
In accordance with the input target motion performance, the tracking gate creation area in the tracking gate creation (reverse direction) unit 9 is determined, and the determined area information is used to create the tracking gate (reverse direction).
Input to section 9. As a result, create a tracking gate (reverse direction)
The section 9 determines, based on the determined tracking gate creation area,
The tracking gate is set on the coordinate space based on the calculation result of the predicted position of the previous scan calculated by the prediction calculation unit 5.

Also in the present embodiment, the operation of the components other than the video correlation memory capacity determination unit 11 and the tracking gate region determination unit 12, such as the scan correlation (forward direction) unit 3 and the smoothing processing unit 4, is the same as described above. Since this is the same as the case of the radar device according to the first embodiment, the description thereof is omitted here.

As described above, according to the present embodiment, the target exercise performance is input to the video storage memory capacity determination unit as input data, and the data for a certain scan in the video storage memory is correspondingly input. For optimal control of the memory retention period, the tracking gate is created in the coordinate space based on the tracking gate creation area determined according to the target motion performance and the calculation result of the predicted position of the previous scan. By setting to, the data can be retained in the memory for an optimal period, the memory usage efficiency is improved, and optimal memory usage according to the target exercise and efficient correlation processing (reverse direction) can be executed. It will be possible.

Embodiment 5. Hereinafter, the fifth embodiment of the present invention will be described. FIG. 5 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar apparatus shown in the figure has a configuration in which a multiple correlation determination unit 13 is added to the apparatus according to the first embodiment shown in FIG.

The radar device according to the present embodiment, like the device according to the first embodiment, has a display indicator 1, a position / orientation correction unit 2, a scan correlation (forward direction) unit 3, a smoothing filter unit. 7, a video storage memory 8, a scan correlation (reverse direction) unit 10, and a multiple correlation determination unit 13. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9.

In the radar device according to this embodiment, as shown in FIG.
As shown in, the target type is input together with the radar video displayed on the display indicator 1, and the target type is input to the multiple correlation determination unit 13 as the target detection probability. Here, the target detection probability is obtained from the effective reflection area (RCS) and radar performance by inputting the type of target to be detected. The effective reflection area is a statistical approximate value that needs to be registered in advance.

As a result, the multiple correlation determination unit 13 acts on the video storage memory 8 and the scan correlation (reverse direction) unit 10, and the scan correlation (reverse direction) unit 10 performs correlation processing (corresponding to the target type). Reverse direction). That is, the multiple correlation determination unit 13 determines whether or not the above-described target detection probability is small, and thus scan detection may not be obtained. Therefore, the multiple correlation determination unit 13 determines the necessity of performing (multiple) correlation processing over a plurality of scans.

The operations of the scan correlation (forward direction) unit 3, the smoothing processing unit 4 and the like are the same as those of the radar device according to the first embodiment, and therefore their explanations are omitted here.

As described above, according to the present embodiment, the target detection probability is input to the multiple correlation determination unit, and the scan correlation (reverse direction) unit performs the correlation processing based on the output thereof, thereby obtaining the target Accurate correlation processing (reverse direction) according to the type can be performed.

Sixth Embodiment The sixth embodiment of the present invention will be described below. FIG. 6 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar device shown in the figure has a configuration in which a video storage memory capacity determination unit 11 and a multiple correlation determination unit 13 are added to the device according to the first embodiment shown in FIG.

The radar device according to the present embodiment, like the device according to the first embodiment, has a display indicator 1, a position / orientation correction unit 2, a scan correlation (forward direction) unit 3, a smoothing filter unit. 7, a video storage memory 8, a scan correlation (reverse direction) unit 10, a video storage memory capacity determination unit 11, and a multiple correlation determination unit 13. The smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction) unit 9.
Have.

As shown in FIG. 6, the radar device according to the present embodiment inputs the target type together with the radar video displayed on the display indicator 1, and indicates the target type with the target motion performance. The input data (target motion performance) is input to the video storage memory capacity determination unit 11, while the target detection probability is input to the multiple correlation determination unit 13.

As a result, the video storage memory capacity determination unit 1
1 controls data retention in the video storage memory 8 according to the target exercise performance indicated by the input target type. In other words, the video storage memory capacity determination unit 11
Controls the holding, discarding, and updating of the stored contents so that the memory holding period of the data for a certain scan accumulated in the video accumulation memory 8 is set to the optimum period according to the target exercise performance.

On the other hand, since the multiple correlation determining unit 13 acts on the video storage memory 8 and the scan correlation (reverse direction) unit 10, the scan correlation (reverse direction) unit 10 performs the correlation processing according to the above target type. Execute (reverse direction).

The operations of the scan correlation (forward direction) unit 3 and the smoothing processing unit 4 are the same as those of the radar apparatus according to the first embodiment, and therefore their explanations are omitted here.

As described above, according to the present embodiment, for the data of a certain scan accumulated in the video accumulation memory, the period for holding the memory or the like becomes the optimum period according to the target exercise performance. Control, on the other hand,
The target detection probability is input to the multiple correlation determination unit, and the correlation processing is performed in the scan correlation (reverse direction) unit based on the output of the target detection probability, so that data can be retained in the memory for an optimum period and the memory usage efficiency is improved. At the same time, accurate correlation processing (reverse direction) according to the target type can be performed, and more efficient correlation processing (reverse direction) can be performed.

Embodiment 7. The seventh embodiment of the present invention will be described below. FIG. 7 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar device shown in the figure has a configuration in which a tracking gate region determination unit 12 and a multiple correlation determination unit 13 are added to the device according to the first embodiment shown in FIG.

The radar device according to the present embodiment, like the device according to the first embodiment, has a display indicator 1, a position / orientation correction unit 2, a scan correlation (forward direction) unit 3, a smoothing filter unit. 7, a video storage memory 8, a scan correlation (reverse direction) unit 10, a tracking gate region determination unit 12, and a multiple correlation determination unit 13. The smoothing filter unit 7 includes the smoothing processing unit 4, the prediction calculation unit 5, the tracking gate creation (forward direction) unit 6, and the tracking gate creation (reverse direction) unit 9 as its constituent elements.

In the radar device according to the present embodiment, as shown in FIG.
As shown in, the target type is input together with the radar video displayed on the display indicator 1, and the target type is input to the tracking gate area determination unit 12 as input data indicating the target's movement performance. Further, this target type is input to the multiple correlation determination unit 13 as the target detection probability.

Therefore, the tracking gate area determination unit 12 determines a tracking gate creation area in the tracking gate creation (reverse direction) unit 9 according to the input target motion performance, and the determined area information is used as the tracking gate. Input to the creation (reverse direction) unit 9. As a result, the tracking gate creation (reverse direction) unit 9
The tracking gate is set in the coordinate space based on the calculation result of the predicted position of the previous scan calculated by the prediction calculation unit 5 based on the determined tracking gate creation area.

On the other hand, the multiple correlation determination unit 13 acts on the video storage memory 8 and the scan correlation (reverse direction) unit 10 on the basis of the input target detection probability, and receives the scan correlation (inverse direction). The (direction) unit 10 performs a correlation process (reverse direction) according to the target type.

The operations of the scan correlation (forward direction) unit 3 and the smoothing processing unit 4 etc. are the same as those in the radar apparatus according to the first embodiment, and therefore their explanations are omitted here.

As described above, according to the present embodiment, the tracking gate is set in the coordinate space based on the tracking gate creation area determined according to the target motion performance and the calculation result of the predicted position of the previous scan. On the other hand, on the other hand, the target detection probability is input to the multiple correlation determination unit, and the correlation processing is performed by the scan correlation (reverse direction) unit based on the output, so that the optimum correlation according to the target motion can be obtained. It becomes possible to use the memory, improve its use efficiency, and perform efficient correlation processing (reverse direction).

Eighth Embodiment The eighth embodiment of the present invention will be described below. FIG. 8 is a block diagram showing a functional configuration of the radar device according to the present embodiment. The radar device shown in the figure is different from the device according to the first embodiment shown in FIG. 1 in that a video storage memory capacity determination unit 11, a tracking gate region determination unit 12, and a multiple correlation determination unit are newly added. 13 is added.

Therefore, the radar device according to the present embodiment includes the display indicator 1, the own position / orientation correction unit 2, the scan correlation (positive direction) unit 3, the smoothing filter unit 7, the video storage memory 8, and the scan. The correlation (reverse direction) unit 10, the video storage memory capacity determination unit 11, the tracking gate region determination unit 12, and the multiple correlation determination unit 13 are included. Then, the smoothing filter unit 7 includes a smoothing processing unit 4, a prediction calculation unit 5, a tracking gate creation (forward direction) unit 6, and a tracking gate creation (reverse direction).
The unit 9 is provided.

As shown in FIG. 8, the radar apparatus according to the present embodiment inputs the target type together with the radar video displayed on the display indicator 1 and indicates the target type as the target's movement performance. Input data (target exercise performance) is input to the video storage memory capacity determination unit 11 and the tracking gate area determination unit 12.

The video storage memory capacity determination unit 11 controls data retention in the video storage memory 8 according to the target exercise performance indicated by the input target type. That is, the video storage memory capacity determination unit 11 holds the stored contents so that the memory storage period of the data for a certain scan stored in the video storage memory 8 is set to an optimum period according to the target exercise performance. Control discards, discards, and updates.

The tracking gate area determination unit 12 determines the tracking gate creation (reverse direction) unit 9 according to the input target motion performance.
The tracking gate creation area is determined, and the determined area information is input to the tracking gate creation (reverse direction) unit 9. Therefore, the tracking gate creation (reverse direction) unit 9 uses the prediction calculation unit 5 based on the determined tracking gate creation region.
The tracking gate is set in the coordinate space based on the calculation result of the predicted position of the previous scan calculated in.

The multiple correlation determination unit 13 also inputs the above-mentioned target type as the target detection probability. As a result, the multiple correlation determination unit 13 acts on the video storage memory 8 and the scan correlation (reverse direction) unit 10. The scan correlation (reverse direction) unit 10 performs the correlation processing (reverse direction) according to the target type. )
Run

The operations of the scan correlation (forward direction) section 3, the smoothing processing section 4, etc. are the same as those of the radar apparatus according to the first embodiment, and therefore their explanations are omitted here.

As described above, according to the present embodiment, the target exercise performance is input to the video storage memory capacity determination unit as input data, and the data for a certain scan in the video storage memory is correspondingly input. For optimal control of the memory retention period, the tracking gate is created in the coordinate space based on the tracking gate creation area determined according to the target motion performance and the calculation result of the predicted position of the previous scan. , And at the same time, the target detection probability is input to the multiple correlation determination unit, and the correlation processing is performed in the scan correlation (reverse direction) unit based on the output, so that the data is retained in the memory for the optimum period. Therefore, it is possible to improve the efficiency of use of the memory, optimally use the memory according to the movement of the target, and execute accurate and efficient correlation processing (reverse direction) according to the type of the target.

[0078]

As described above, according to the present invention,
In a tracking device that displays the trajectory of a moving target, with respect to the target, a storage unit that accumulates the detection information before the tracking start time in time series, and based on the detection information, at a plurality of time points before the tracking start time. Means for correlating the target, information acquisition means for obtaining the motion information of the target before the tracking start time point from the correlation, and estimating the trajectory of the target before the tracking start time point based on the motion information. And a means for predicting the movement of the target at the tracking start time point based on the estimated trajectory, and the prediction result is visually displayed, so that the target course / speed of the target visually displayed as the tracking information is displayed. The predicted value can be obtained immediately, and after the target is specified, the predicted course /
It is possible to calculate speed and display it.

In particular, with respect to the target, the detection information before the tracking start time is accumulated in time series, and the correlation of the targets at a plurality of times before the tracking start time is obtained based on this detection information. In order to obtain the target motion information before the tracking start time, the data for several to several tens of scans after the target specification, which was conventionally required for stable prediction calculation, is no longer necessary, and the time required for the data collection can be reduced. Can be shortened.

The tracking device according to the present invention further comprises
Since the means for controlling the retention period of the detection information in the accumulating means based on the target exercise performance is provided, the information can be retained in the accumulating means in an optimum period, and the use efficiency of the accumulating means is improved. , More efficient correlation processing can be executed.

The tracking device according to the present invention further comprises:
By providing the means for determining the tracking gate area for tracking the target, it is possible to use the optimum storage means according to the target motion and to perform the efficient correlation processing.

The tracking device according to the present invention further includes means for controlling the retention period of the detection information in the storage means and a tracking gate area for tracking the target based on the target motion performance. Since it has a means for determining, the information can be stored in the storage means in an optimum period, the use efficiency of the means is improved, and the optimum use of the storage means according to the target exercise and efficient correlation processing are performed. Execution becomes possible.

The tracking device according to the present invention further comprises:
By providing a means for correlating the target based on the detection probability of the target, it is possible to perform accurate correlation processing according to the type of the target.

The tracking device according to the present invention further includes means for controlling the retention period of the detection information in the storage means based on the target motion performance, and the target detection probability. Since it has a means for correlating goals,
Information can be held in the storage means in an optimum period, the efficiency of use of the means can be improved, and accurate correlation processing can be performed according to the type of target, and more efficient correlation processing can be performed.

The tracking device according to the present invention further comprises means for determining a tracking gate area for tracking the target, and means for correlating the target based on the detection probability of the target. Thus, it becomes possible to use the optimum accumulating means according to the target exercise, improve its use efficiency, and perform efficient correlation processing.

Further, the tracking device according to the present invention further comprises means for controlling the retention period of the detection information in the storage means based on the movement performance of the target, and a tracking gate for tracking the target. By providing the means for determining the area and the means for correlating the target based on the detection probability of the target, the information can be held in the storage means for an optimum period, and the use efficiency of the storage means is improved. It is possible to use the optimum storage means according to the target movement and the accurate and efficient correlation processing according to the target type.

Furthermore, in the tracking device according to the present invention,
By including at least the course and speed of the target in the predicted motion of the target, it is possible to accurately grasp the target.

[Brief description of drawings]

FIG. 1 is a block diagram showing a functional configuration of a radar device according to a first embodiment of the present invention.

FIG. 2 is a block diagram showing a functional configuration of a radar device according to a second embodiment of the present invention.

FIG. 3 is a block diagram showing a functional configuration of a radar device according to a third embodiment of the present invention.

FIG. 4 is a block diagram showing a functional configuration of a radar device according to a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a functional configuration of a radar device according to a fifth embodiment of the present invention.

FIG. 6 is a block diagram showing a functional configuration of a radar device according to a sixth embodiment of the present invention.

FIG. 7 is a block diagram showing a functional configuration of a radar device according to a seventh embodiment of the present invention.

FIG. 8 is a block diagram showing a functional configuration of a radar device according to an eighth embodiment of the present invention.

FIG. 9 is a block diagram showing a configuration of a conventional radar device.

FIG. 10 is a diagram schematically showing a tracking process in a conventional radar device.

FIG. 11 is a diagram schematically showing a tracking process in the radar device according to the present invention.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 ... Display indicator, 2 ... Own position / orientation correction | amendment part, 3 ... Scan correlation (forward direction) part, 4 ... Smoothing process part, 5 ... Prediction calculation part, 6 ... Tracking gate creation (forward direction) part, 7 ... smoothing filter section, 8 ... video storage memory, 9 ... tracking gate creation (reverse direction) section, 10 ... scan correlation (reverse direction) section, 11
... video storage memory capacity determination unit, 12 ... tracking gate region determination unit, 13 ... multiple correlation determination unit

Continuation of front page (56) Reference JP-A-6-347541 (JP, A) JP-A-10-246778 (JP, A) JP-A-8-233936 (JP, A) JP-A-8-75437 (JP , A) JP-A-6-130145 (JP, A) JP-A-9-43346 (JP, A) JP-A-8-5730 (JP, A) (58) Fields investigated (Int.Cl. ⁷ , DB) Name) G01S 7/00-7/42 G01S 13/00-13/95

Claims (5)

(57) [Claims] 1. A tracking device for displaying a trajectory of a moving target, wherein a storage means for accumulating detection information before the tracking start time point in time series for the target, and the tracking start time point based on the detection information. Information acquisition means for obtaining the movement information of the target before the tracking start time point from the means for obtaining the correlation of the target points at a plurality of previous time points, and the target point before the tracking start time point based on the movement information. Means for estimating the trajectory of the target in the direction opposite to the flow of time, means for predicting the movement of the target after the tracking start time point based on the trajectory estimated in the reverse direction, and motion performance of the target. And a means for controlling the retention period of the detection information in the storage means, and visually displaying the prediction result. 2. The tracking device according to claim 1, further comprising means for determining a tracking gate region for tracking the target. 3. Further, based on the detection probability of the target,
The tracking device according to claim 1, further comprising means for obtaining a correlation between the targets. 4. The apparatus further comprises means for determining a tracking gate region for tracking the target, and means for correlating the target based on the detection probability of the target. 1. The tracking device according to 1. 5. The movement of the target to be the prediction is least, the tracking device according to any one of claims 1 to 4, characterized in that include course and speed of the target.