JPH04208891A - Automatic tracking processing method with plural radars - Google Patents
Automatic tracking processing method with plural radarsInfo
- Publication number
- JPH04208891A JPH04208891A JP40016790A JP40016790A JPH04208891A JP H04208891 A JPH04208891 A JP H04208891A JP 40016790 A JP40016790 A JP 40016790A JP 40016790 A JP40016790 A JP 40016790A JP H04208891 A JPH04208891 A JP H04208891A
- Authority
- JP
- Japan
- Prior art keywords
- tracking
- radar
- target
- data
- processing method
- 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.)
- Pending
Links
- 238000003672 processing method Methods 0.000 title claims description 9
- 238000001514 detection method Methods 0.000 description 4
- 238000010586 diagram Methods 0.000 description 4
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
［０００１１ [00011
【産業上の利用分野］本発明は複数レーダ自動追尾処理
方式に関し、特にレーダ覆域が一部重なり合った領域を
広範囲にわたり連続的に自動追尾する複数レーダ自動追
尾処理方式に関する。
［０００２］
【従来の技術】従来、この種の複数レーダ自動追尾処理
方式は、レーダ覆域の一部を互いに重複し合って配置さ
れた複数のレーダの取得データをそれぞれディジタル化
し、目標信号検出と目標位置判別を行なう複数のディジ
タイザと、これら複数のディジタイザの出力にもとづい
て目標の追尾処理を行なう複数の追尾部と、これら複数
の追尾部で得られる各レーダごとの追尾情報のトラック
クォリティ（ｔｒａｃｋ ｑｕａｌｉｔｙ） の比較
にもとづいて、重複覆域においてトラッククォリティの
最高のレーダの追尾情報データをシステムデータとして
採用しつつ目標の追尾を行なう追尾制御部と、追尾制御
部で特定した目標を表示する表示部とを備えて目標の追
尾を行なっていた。
上述したトラッククォリティとは、どれほど小さい存在
予測日の中に目標を捕捉しているかを示す尺度で、存在
予測円内に目標を捕捉する都度、次第に半径が狭められ
つつ設定される。従って、このトラッククォリティが高
い程、目標探知確度が高いこととなる。
［０００３］BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-radar automatic tracking processing method, and more particularly to a multi-radar automatic tracking processing method for automatically tracking a wide range of areas where radar coverage areas partially overlap. [0002] Conventionally, this type of automatic multi-radar tracking processing method digitizes the data acquired by a plurality of radars arranged so as to overlap a part of the radar coverage area, and detects a target signal. a plurality of digitizers that perform target position determination, a plurality of tracking units that perform target tracking processing based on the outputs of these digitizers, and a track quality ( A tracking control unit that tracks the target while adopting the tracking information data of the radar with the highest track quality in the overlapping coverage area as system data based on a comparison of the track quality), and displays the target identified by the tracking control unit. It was equipped with a display unit to track targets. The above-mentioned track quality is a measure indicating how small the target is captured within the predicted presence date, and is set as the radius is gradually narrowed each time a target is captured within the predicted presence circle. Therefore, the higher the track quality, the higher the target detection accuracy. [0003]
【発明が解決しようとする課題】上述した従来の複数レ
ーダ自動追尾処理方式は、レーダの重複覆域において各
レーダごとの追尾情報のトラッククォリティの比較を行
い、トラッククォリティの一番高いレーダの追尾情報デ
ータを選択しつつ統合追尾をかけている。
［０００４］この場合、各レーダの位置からの距離や目
標の形状等によって目標検出位置の精度が異るため、複
数レーダの重複覆域を目標が移動する場合、トラックク
ォリティが短時間で複数レーダの間で順位変動し、第３
図に示すように追尾航跡１１がふらつくという問題があ
った。
［０００５］[Problems to be Solved by the Invention] The conventional multiple radar automatic tracking processing method described above compares the track quality of tracking information for each radar in overlapping radar coverage areas, and then tracks the radar with the highest track quality. Integrated tracking is performed while selecting information data. [0004] In this case, since the accuracy of the target detection position differs depending on the distance from the position of each radar and the shape of the target, if the target moves in the overlapping coverage area of multiple radars, the track quality will be The ranking changed between
As shown in the figure, there was a problem in that the tracking track 11 was unstable. [0005]
【課題を解決するための手段】本発明の複数レーダ自動
追尾処理方式は、互いにレーダ覆域の一部を重複させて
配置した複数のレーダの追尾情報にもとづいてレーダ覆
域間を移動する目標を追尾する複数レーダ自動追尾処理
方式において、同一目標を追尾する複数のレーダ装置か
ら提供される追尾情報のうち追尾データの確度を表わす
指標としてのトラッククォリティの最高のものをシステ
ム追尾データとして採用するとともに、採用した前記シ
ステム目標データを新たなシステム追尾データに切り替
える場合には、切替対象の追尾情報の速度ベクトルが、
それまでの追尾情報の速度ベクトルとの連続性を保持す
る範囲内に含まれることを必要条件とする構成を有する
。
［０００６］[Means for Solving the Problems] The multiple radar automatic tracking processing method of the present invention provides a target that moves between radar coverage areas based on tracking information of a plurality of radars arranged such that a portion of the radar coverage area overlaps with each other. In the multiple radar automatic tracking processing method that tracks the same target, the system tracking data uses the highest track quality as an index representing the accuracy of tracking data among the tracking information provided by multiple radar devices tracking the same target. In addition, when switching the adopted system target data to new system tracking data, the velocity vector of the tracking information to be switched is
It has a configuration that requires the tracking information to be included within a range that maintains continuity with the velocity vector of the tracking information up to that point. [0006]
【実施例】次に、本発明について図面を参照して説明す
る。
［０００７１図は、本発明の一実施例の構成図である。
図１の実施例は３台のレーダを運用する場合を例とし、
＃ル−ダｌａ、＃２レーダ１ｂおよび＃３レーダ１ｃと
、これら各レーダの取得信号をディジタル化し、目標信
号検出と目標位置判別を行なうディジタイザ２ａ、２ｂ
および２ｃと、これら各ディジタイザからの目標位置デ
ータにもとついで目標の追尾を行う追尾部３ａ、３ｂお
よび３ｃと、これら各追尾部からのデータにもとづき表
示部５からの指定によって追尾部３ａ〜３Ｃを制御する
とともに目標情報をシステムデータとして管理する追尾
制御部４と、全レーダの生ビデオ映像を一台の表示器に
表示し、追尾目標の初期選択を行なうとともにシステム
データとして選択された目標データを表示する表示部５
とを備えて構成される。
［０００８１次に、図２を併用しつつ本実施例の動作に
ついて説明する。
［０００９］＃ル−ダ１ａ〜＃３レーダ１ｃはそれぞれ
＃ル−ダ位置１３〜＃３レーダ位置１５に設置され、覆
域６ａ〜６ｃ内を移動目標１２が追尾指定開始位置７か
ら航跡１１に沿って移動しているものとする。このとき
、複数のレーダが追尾可能な目標位置８． ９． １０
において、トラッククォリティが最も高いレーダの追尾
情報を移動目標１２のシステム追尾データとして採用す
る。
［００１０１すなわち、目標位置８では＃ル−ダ１ａの
トラッククォリティが第一順位であるため、システム追
尾データとしては＃ル−ダ１ａの追尾情報が選択される
。次に目標位置９では、＃２レーダ１ｂの追尾情報のト
ラッククォリティが第一順位になったとき、システム追
尾データを＃２レーダ追尾情報に切替える。さらに、こ
のとき、目標の速度と方向を含む速度ベクトルの針路デ
ータを監視し、目標の移動方向も考慮して連続性が保持
されるように切替選択動作を行う。
［００１１］例えば、＃ル−ダ１ａの追尾情報から＃２
レーダ１ｂの追尾情報に切り替える場合、＃２レーダ１
ｂの追尾情報のトラッククォリティが＃ル−ダ１ａの追
尾情報のトラッククォリティより大きく、且つ追尾目標
の針路が＃ル−ダ覆域の覆域６ａから＃２レーダ覆域の
覆域６ｂへ向いている条件を満足した時点で、＃ル−ダ
追尾情報から＃２レーダ追尾情報に切り替える。また、
目標が停止した場合は、停止する前のベクトルを記憶し
前述と同様に処理を行う。
［００１２］DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, the present invention will be explained with reference to the drawings. [00071] FIG. 00071 is a configuration diagram of an embodiment of the present invention. The embodiment shown in Fig. 1 is based on the case where three radars are operated.
# radar la, # 2 radar 1 b, and # 3 radar 1 c, and digitizers 2 a and 2 b that digitize the acquired signals of these radars and perform target signal detection and target position determination.
and 2c, tracking units 3a, 3b, and 3c that track the target based on the target position data from each of these digitizers, and tracking units 3a to 3c based on the data from each of these tracking units and specified from the display unit 5. A tracking control unit 4 that controls the 3C and manages target information as system data, displays raw video images of all radars on one display, performs initial selection of tracking targets, and displays selected targets as system data. Display section 5 that displays data
It is composed of: [00081] Next, the operation of this embodiment will be explained with reference to FIG. [0009] The # radars 1a to #3 radars 1c are installed at the # radar positions 13 to #3 radar positions 15, respectively, and the moving target 12 moves from the specified tracking start position 7 to the wake 11 within the coverage areas 6a to 6c. Assume that the vehicle is moving along the At this time, the target position 8. which can be tracked by multiple radars. 9. 10
In this step, the tracking information of the radar with the highest track quality is adopted as the system tracking data of the moving target 12. [00101 That is, at target position 8, since the track quality of # router 1a is in the first order, the tracking information of # router 1a is selected as the system tracking data. Next, at the target position 9, when the track quality of the tracking information of the #2 radar 1b becomes the first priority, the system tracking data is switched to the #2 radar tracking information. Furthermore, at this time, the course data of the speed vector including the speed and direction of the target is monitored, and the switching selection operation is performed so that continuity is maintained, taking into consideration the moving direction of the target. [0011] For example, #2 from tracking information of router 1a
When switching to radar 1b tracking information, #2 radar 1
The track quality of the tracking information of b is greater than the track quality of the tracking information of # radar 1a, and the course of the tracking target is from the coverage area 6a of the # router coverage area to the coverage area 6b of the #2 radar coverage area. When the following conditions are satisfied, the # radar tracking information is switched to the #2 radar tracking information. Also,
When the target stops, the vector before the stop is stored and the same processing as described above is performed. [0012]
【発明の効果】以上説明したように本発明は、目標デー
タのトラッククォリティと目標の速度ベクトルの示す針
路の連続性を考慮してシステム追尾目標の選択を行なう
ことにより、複数のレーダ覆域間を移動する目標を連続
的かつ円滑に自動追尾をすることができるという効果が
ある。
［００１３］また、重覆探知領域での目標の追尾航跡の
ふらつきを無くし、より信頼性の高い目標追尾が可能と
なる効果がある。As explained above, the present invention selects a system tracking target in consideration of the track quality of the target data and the continuity of the course indicated by the target's velocity vector. This has the effect of automatically tracking a moving target continuously and smoothly. [0013] Further, there is an effect that the fluctuation of the target tracking track in the heavily covered detection area is eliminated, and more reliable target tracking becomes possible.
【図１】本発明の一実施例の構成図である。FIG. 1 is a configuration diagram of an embodiment of the present invention.
【図２】本発明の自動追尾処理の概念を示す説明図であ
る。FIG. 2 is an explanatory diagram showing the concept of automatic tracking processing of the present invention.
【図３】従来の自動追尾処理の概念を示す説明図である
。FIG. 3 is an explanatory diagram showing the concept of conventional automatic tracking processing.
ｌａ、ｌｂ、ｌｃ レーダ装置
２ａ、２ｂ、２ｃ ディジタイザ
３ａ、 ３ｂ、 ３ｃ 追尾部４ 追尾制御
部
５ 表示部
６ａ、 ６ｂ、 ６ｃ 覆域
７ 追尾指定開始位置
８、 ９． １０ 目標位置
１１ 航跡
１２ 移動目標
１３ ＃ル−ダ位置
１４ ＃２レーダ位置
１５ ＃３レーダ位置la, lb, lc Radar devices 2a, 2b, 2c Digitizers 3a, 3b, 3c Tracking section 4 Tracking control section 5 Display section 6a, 6b, 6c Coverage area 7 Tracking designated start position 8, 9. 10 Target position 11 Wake 12 Moving target 13 #Roader position 14 #2 radar position 15 #3 radar position
Claims (1)
した複数のレーダの追尾情報にもとづいてレーダ覆域間
を移動する目標を追尾する複数レーダ自動追尾処理方式
において、同一目標を追尾する複数のレーダ装置から提
供される追尾情報のうち追尾データの確度を表わす指標
としてのトラッククォリティの最高のものをシステム追
尾データとして採用するとともに、採用した前記システ
ム目標データを新たなシステム追尾データに切り替える
場合には、切替対象の追尾情報の速度ベクトルが、それ
までの追尾情報の速度ベクトルとの連続性を保持する範
囲内に含まれることを必要条件とすることを特徴とする
複数レーダ自動追尾処理方式。Claim 1: Tracking the same target in a multiple radar automatic tracking processing method that tracks a target moving between radar coverage areas based on tracking information of a plurality of radars arranged such that their radar coverage areas partially overlap each other. Among tracking information provided by multiple radar devices, the one with the highest track quality as an index representing the accuracy of tracking data is adopted as system tracking data, and the adopted system target data is used as new system tracking data. Multiple radar automatic tracking characterized in that when switching, a necessary condition is that the velocity vector of the tracking information to be switched is included within a range that maintains continuity with the velocity vector of the previous tracking information. Processing method.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP40016790A JPH04208891A (en) | 1990-12-03 | 1990-12-03 | Automatic tracking processing method with plural radars |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP40016790A JPH04208891A (en) | 1990-12-03 | 1990-12-03 | Automatic tracking processing method with plural radars |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH04208891A true JPH04208891A (en) | 1992-07-30 |
Family
ID=18510085
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP40016790A Pending JPH04208891A (en) | 1990-12-03 | 1990-12-03 | Automatic tracking processing method with plural radars |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH04208891A (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6262689B1 (en) | 1997-12-22 | 2001-07-17 | Nec Corporation | Antenna for communicating with low earth orbit satellite |
| JP2005121496A (en) * | 2003-10-17 | 2005-05-12 | Toyota Motor Corp | Obstruction detecting radar installation of vehicle |
| WO2007102520A1 (en) * | 2006-03-01 | 2007-09-13 | Toyota Jidosha Kabushiki Kaisha | Object detection device |
-
1990
- 1990-12-03 JP JP40016790A patent/JPH04208891A/en active Pending
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6262689B1 (en) | 1997-12-22 | 2001-07-17 | Nec Corporation | Antenna for communicating with low earth orbit satellite |
| JP2005121496A (en) * | 2003-10-17 | 2005-05-12 | Toyota Motor Corp | Obstruction detecting radar installation of vehicle |
| WO2007102520A1 (en) * | 2006-03-01 | 2007-09-13 | Toyota Jidosha Kabushiki Kaisha | Object detection device |
| US7889116B2 (en) | 2006-03-01 | 2011-02-15 | Toyota Jidosha Kabushiki Kaisha | Object detecting apparatus |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| A02 | Decision of refusal |
Free format text: JAPANESE INTERMEDIATE CODE: A02 Effective date: 19990615 |