JPH0367593B2 - - Google Patents
Info
- Publication number
- JPH0367593B2 JPH0367593B2 JP62049160A JP4916087A JPH0367593B2 JP H0367593 B2 JPH0367593 B2 JP H0367593B2 JP 62049160 A JP62049160 A JP 62049160A JP 4916087 A JP4916087 A JP 4916087A JP H0367593 B2 JPH0367593 B2 JP H0367593B2
- Authority
- JP
- Japan
- Prior art keywords
- target
- nautical chart
- target data
- radar
- processing section
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Lifetime
Links
- 238000012217 deletion Methods 0.000 claims description 7
- 230000037430 deletion Effects 0.000 claims description 7
- 238000001514 detection method Methods 0.000 claims description 7
- 239000000284 extract Substances 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 4
- 238000000034 method Methods 0.000 description 1
Landscapes
- Radar Systems Or Details Thereof (AREA)
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、船舶塔載用又は港湾等の陸上設置の
レーダを利用して船舶等の目標を自動的に追尾す
る装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a device that automatically tracks a target such as a ship using a radar mounted on a ship or installed on land such as a port.
（従来の技術）
従来、この種の装置は第３図に示す通り、レー
ダビデオ信号から目標データを抽出する目標検出
部１１と、目標検出部１１で抽出された目標デー
タに基づいて目標を自動的に追尾する追尾処理部
１３のみにより構成されていた。(Prior Art) Conventionally, this type of device, as shown in FIG. It was composed only of a tracking processing section 13 that performs tracking.
（発明が解決しようとする問題点）
そのため、船舶等の目標が海上のブイ、灯標等
の近辺を通過する際、船舶からの目標データとブ
イ等の固定目標からの目標データの区別ができ
ず、多くの場合、船舶の自動追尾を失敗するとい
う欠点があつた。(Problem to be solved by the invention) Therefore, when a target such as a ship passes near a buoy, light beacon, etc. on the sea, it is not possible to distinguish between target data from the ship and target data from a fixed target such as a buoy. However, in many cases, automatic tracking of ships failed.
（問題点を解決するための手段）
本発明は、この欠点を解決するためブイ等の固
定目標からの目標データが追尾処理部に入力する
前に固定目標消去処理部に於て自動追尾の妨害と
なるブイ等の固定目標からの目標データを削除す
るようにしたもので、以下図面により詳細に説明
する。(Means for solving the problem) In order to solve this drawback, the present invention prevents automatic tracking in a fixed target deletion processing section before target data from a fixed target such as a buoy is input to the tracking processing section. This is to delete target data from a fixed target such as a buoy, which will be explained in detail below with reference to the drawings.
（実施例）
第１図は本発明の実施例の基本構成図であり、
第３図に示すブロツクと同じ機能のブロツクには
同一番号を付してある。(Embodiment) FIG. 1 is a basic configuration diagram of an embodiment of the present invention,
Blocks having the same functions as those shown in FIG. 3 are given the same numbers.
目標検出部１１は、レーダビデオ信号とレーダ
方位信号を入力として、船舶等の目標エコーを抽
出して目標データとして出力する。目標データの
主要素は位置情報（距離と方位）である。 The target detection unit 11 inputs a radar video signal and a radar azimuth signal, extracts a target echo of a ship, etc., and outputs it as target data. The main element of target data is position information (distance and direction).
海図記憶部１５には、海岸線、ブイ、航路、等
深線等の情報が記憶されており、通常は表示装置
に送られ海図として表示される。 The nautical chart storage unit 15 stores information such as coastlines, buoys, routes, contour lines, etc., and is normally sent to a display device and displayed as a nautical chart.
海図処理部１４は、海図記憶部１５からの海図
情報と、位置（緯度／経度）、速度、針路等の自
船情報を入力として、現在のレーダ処理範囲に有
効な海図情報を抽出する。 The nautical chart processing section 14 inputs the nautical chart information from the nautical chart storage section 15 and own ship information such as position (latitude/longitude), speed, course, etc., and extracts nautical chart information effective for the current radar processing range.
固定目標消去処理部１２は、海図処理部１４か
ら入力された海図情報のうち、ブイ、灯標等の固
定目標を抽出して、座標系を緯度／経度から距
離／方位に変換し、この位置座標データと、目標
検出部１１から入力された目標データとの位置相
関をとり、相関のとれた目標データを棄てる。 The fixed target deletion processing unit 12 extracts fixed targets such as buoys and lighthouses from the nautical chart information input from the nautical chart processing unit 14, converts the coordinate system from latitude/longitude to distance/azimuth, and converts the coordinate system from latitude/longitude to distance/azimuth. The positional correlation between the data and the target data input from the target detection unit 11 is taken, and the target data with a good correlation are discarded.
海図記憶部１５に格納されたブイ、灯標等の固
定目標を、目標検出部１１よりの目標データから
消去する手法に関し、第２図のフローチヤートに
より更に説明する。同図中の乃至はフローの
ステージを示す。 A method for erasing fixed targets such as buoys and lighthouses stored in the chart storage unit 15 from the target data from the target detection unit 11 will be further explained with reference to the flowchart in FIG. In the same figure, the stages of the flow are shown.
固定目標消去処理部１２は、目標検出部１１
で抽出された船舶およびブイからの位置座標
（Ｒ，θ）を目標データとして受信する。海図
処理部１４は、海図記憶部１５からレーダカバレ
ージ内のブイを捜し入力する。この時ブイの位置
は緯度、経度で示される。又、この固定目標のデ
ータは、海図記憶部１５からのみ入力するのでは
はなく、レーダ表示装置（図示されない）から手
動により入力することもできる。この海図処理
部１４で入力したブイの位置座標系を（緯度、経
度）から自船位置からの（距離、方位）に変換す
る。このブイの位置座標（R′，θ′）を海図処理
部１４から固定目標消去処理部１２へ転送する。
固定目標消去処理部１２に於て、海図からのブ
イ位置データ（R′，θ′）を基準として、基準から
（△Ｒ，△θ）以内にある目標データ（Ｒ，θ）
を捜す。もし（△Ｒ，△θ）以内に目標データが
あればこデータはブイからのデータと判断する。
これらはブイの位置データと目標データとの位置
相関をとることである。又、２目標以上が（△
Ｒ，△θ）以内にあれば、最も近い１目標をブイ
とする。ブイからのデータと判定された目標デ
ータは、追尾処理部１３へ転送せず棄てる。ブ
イからのデータでないと判定された目標データ
は、追尾処理のため追尾処理部１３へ転送する。 The fixed target deletion processing section 12 includes the target detection section 11
The position coordinates (R, θ) from the ship and buoy extracted in are received as target data. The nautical chart processing section 14 searches for a buoy within the radar coverage from the nautical chart storage section 15 and inputs it. At this time, the position of the buoy is indicated by latitude and longitude. Further, the fixed target data can be input not only from the chart storage section 15, but also manually from a radar display device (not shown). The nautical chart processing unit 14 converts the input buoy position coordinate system from (latitude, longitude) to (distance, azimuth) from the own ship's position. The position coordinates (R', θ') of this buoy are transferred from the chart processing section 14 to the fixed target deletion processing section 12.
In the fixed target deletion processing unit 12, based on the buoy position data (R', θ') from the nautical chart, target data (R, θ) that is within (△R, △θ) from the reference
Search for. If there is target data within (ΔR, Δθ), this data is determined to be data from the buoy.
These are to establish a positional correlation between buoy position data and target data. Also, 2 or more goals (△
R, Δθ), the nearest target is set as a buoy. The target data determined to be data from the buoy is not transferred to the tracking processing section 13 and is discarded. Target data determined not to be data from a buoy is transferred to the tracking processing unit 13 for tracking processing.
（発明の効果）
以上説明したように、追尾処理部の入力目標デ
ータは、ブイ等の固定目標からのものは削除され
て、必要とする船舶の目標データのみとなる。従
つて船舶の自動追尾がブイ等の固定目標からの影
響を受けることがなく、良好な自動追尾を行なう
ことができる。(Effects of the Invention) As explained above, the input target data of the tracking processing section is data from a fixed target such as a buoy, and only the target data of the necessary ship is deleted. Therefore, automatic tracking of the ship is not affected by fixed targets such as buoys, and good automatic tracking can be performed.
第１図は本発明の一実施例の基本構成図、第２
図は第１図の動作を説明するフローチヤート、第
３図は従来装置の基本構成図である。
１１……目標検出部、１２……固定目標消去処
理部、１３……追尾処理部、１４……海図処理
部、１５……海図記憶部。
Figure 1 is a basic configuration diagram of an embodiment of the present invention, Figure 2 is a basic configuration diagram of an embodiment of the present invention.
The figure is a flowchart explaining the operation of FIG. 1, and FIG. 3 is a basic configuration diagram of the conventional device. 11...Target detection unit, 12...Fixed target deletion processing unit, 13...Tracking processing unit, 14...Nautical chart processing unit, 15...Nautical chart storage unit.
Claims (1)
けエコーの存在する個所のビデオ信号を方位およ
び距離についてデイジタル化し目標データを抽出
する目標検出部と、目標検出部からの目標データ
に基づいて目標の自動追尾を行なう追尾処理部
と、海図情報が記憶された海図記憶部と、該海図
記憶部からレーダ処理範囲に有効な海図情報を抽
出する海図処理部と、前記追尾処理部の入力情報
のうち追尾目標がブイ、灯標等の近辺を通過する
際に自動追尾の妨害となるブイ、灯標等の固定目
標からの目標データを前記海図処理部から受けて
削除を行なう固定目標消去処理部とを具備するこ
とを特徴とする自動追尾処理装置。1 A target detection unit that receives a radar video signal and a radar azimuth signal, digitizes the video signal of the location where an echo exists and extracts target data, and automatically tracks the target based on the target data from the target detection unit. a nautical chart storage section that stores nautical chart information; a nautical chart processing section that extracts nautical chart information valid for the radar processing range from the nautical chart storage section; and a fixed target deletion processing section that receives target data from fixed targets such as buoys and lighthouses that obstruct automatic tracking when passing near the buoys and lighthouses from the chart processing section and deletes the target data. Features automatic tracking processing device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62049160A JPS63215983A (en) | 1987-03-04 | 1987-03-04 | Automatic tracking processor |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62049160A JPS63215983A (en) | 1987-03-04 | 1987-03-04 | Automatic tracking processor |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63215983A JPS63215983A (en) | 1988-09-08 |
| JPH0367593B2 true JPH0367593B2 (en) | 1991-10-23 |
Family
ID=12823339
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62049160A Granted JPS63215983A (en) | 1987-03-04 | 1987-03-04 | Automatic tracking processor |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS63215983A (en) |
Families Citing this family (11)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH05131990A (en) * | 1991-10-03 | 1993-05-28 | Niigata Eng Co Ltd | Apparatus for taking measure to cope with accident of fall in sea |
| JP2883042B2 (en) * | 1996-06-28 | 1999-04-19 | 住友重機械工業株式会社 | Target detection system for ship radar |
| GB2441247B (en) * | 2005-04-20 | 2009-03-25 | Sicom Systems Ltd | Low-cost, high-performance radar networks |
| US7940206B2 (en) | 2005-04-20 | 2011-05-10 | Accipiter Radar Technologies Inc. | Low-cost, high-performance radar networks |
| JP2009047550A (en) * | 2007-08-20 | 2009-03-05 | Tokyo Keiki Inc | Unnecessary tracking target removal device |
| US7840075B2 (en) * | 2009-01-26 | 2010-11-23 | Honeywell International, Inc. | Marine radar system with three-dimensional memory |
| CA3157660C (en) | 2011-09-09 | 2023-03-14 | Accipiter Radar Technologies, Inc. | Device and method for 3d sampling with avian radar |
| US8988230B2 (en) | 2011-10-25 | 2015-03-24 | Accipiter Radar Technologies Inc. | Device and method for smart, non-habituating, automatic bird deterrent system |
| US9625720B2 (en) | 2012-01-24 | 2017-04-18 | Accipiter Radar Technologies Inc. | Personal electronic target vision system, device and method |
| US8860602B2 (en) | 2012-10-09 | 2014-10-14 | Accipiter Radar Technologies Inc. | Device and method for cognitive radar information network |
| JP6415384B2 (en) * | 2015-05-19 | 2018-10-31 | 三菱電機株式会社 | Radar equipment |
-
1987
- 1987-03-04 JP JP62049160A patent/JPS63215983A/en active Granted
Also Published As
| Publication number | Publication date |
|---|---|
| JPS63215983A (en) | 1988-09-08 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| JPH0367593B2 (en) | ||
| US20230038494A1 (en) | Administrative server in ship navigation assistance system, ship navigation assistance method, and ship navigation assistance program | |
| FR2557971B1 (en) | PILOTLESS AIRCRAFT MONITORING SYSTEM FOR OBJECTIVE LOCATION | |
| EP3926364A1 (en) | Ship target object detection system, method of detecting ship target object and reliability estimating device | |
| EP2047291B1 (en) | Radar display and processing apparatus | |
| NO143245B (en) | PROCEDURE FOR AA PREVENT INFLUENCE IN AN ENTRY DATA FIELD IN THE MEMORY OF A COLLISION AVAILABILITY SYSTEM, FOR AA AVOID COLLISIONS BETWEEN SEAWATING VEHICLES THROUGH ANOTHER ROADS | |
| GB1432448A (en) | Target evaluation apparatus for collision avoidance | |
| JP2002071796A (en) | Radar tracking device | |
| JP3629328B2 (en) | Target motion estimation device | |
| US3374313A (en) | Cathode ray tube overlay including a rotatable disc with a plurality of range scales | |
| JP2003315439A (en) | Marine radar apparatus | |
| JP2804145B2 (en) | Automatic radar plotting device | |
| JP3007430B2 (en) | Target monitoring device | |
| JPH03251782A (en) | Automatic radar plotting apparatus | |
| Chase et al. | INCAS integrated navigation and collision avoidance system | |
| JP2559707B2 (en) | Ship monitoring equipment | |
| JP3323292B2 (en) | Radar image true position measurement device | |
| JPH068855B2 (en) | Methods for directing dangerous movements of opponents who may cause collisions during voyage and coastal navigation | |
| JPH03282280A (en) | Radio wave emitting source locator | |
| Scherbatjuk et al. | Integrated positioning system for underwater autonomous vehicle MT-88 | |
| JPH06201819A (en) | Method and device for evaluating track of underwater sailing body | |
| JP2023124260A (en) | Target monitoring system, target monitoring method, and program | |
| Wawruch et al. | Model of the integrated vessel traffic control system for Polish national maritime safety system | |
| JPH0394186A (en) | Target tracking device | |
| JPH0347713B2 (en) |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |