JPS6154477A - Ship position detecting equipment - Google Patents
Ship position detecting equipmentInfo
- Publication number
- JPS6154477A JPS6154477A JP17641284A JP17641284A JPS6154477A JP S6154477 A JPS6154477 A JP S6154477A JP 17641284 A JP17641284 A JP 17641284A JP 17641284 A JP17641284 A JP 17641284A JP S6154477 A JPS6154477 A JP S6154477A
- Authority
- JP
- Japan
- Prior art keywords
- ship
- target
- tracking
- ship position
- radar
- 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
Classifications
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S13/00—Systems using the reflection or reradiation of radio waves, e.g. radar systems; Analogous systems using reflection or reradiation of waves whose nature or wavelength is irrelevant or unspecified
- G01S13/02—Systems using reflection of radio waves, e.g. primary radar systems; Analogous systems
- G01S13/06—Systems determining position data of a target
- G01S13/46—Indirect determination of position data
Landscapes
- Engineering & Computer Science (AREA)
- Radar, Positioning & Navigation (AREA)
- Remote Sensing (AREA)
- Computer Networks & Wireless Communication (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Radar Systems Or Details Thereof (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野）
本発明は、レーダ映像の既知物標から船舶の自船位置を
正確に検出するようにした船位検出装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a ship position detection device that accurately detects the position of a ship from known targets in radar images.
（従来技術）
従来、船舶航行における自船位置の検出は、方位と速度
に基づいて自船位置を計算するスピードログによる方式
、あるいは、ロラン、デツカ、ＮＮ５Ｓ等の航法援助シ
ステムを利用しｌζ電波航法機器により自船位置を求め
る方式、更にはこれらの複合方式が知られている。(Prior art) Conventionally, the ship's position during ship navigation has been detected using a speed log method that calculates the ship's position based on direction and speed, or by using lζ radio waves using a navigation aid system such as Loran, Detsuka, or NN5S. Methods of determining own ship's position using navigation equipment, and combination methods thereof are known.
一方、沿岸航行や秋水路航行等の際には、レーダ装置に
より自船位置および他船の監視等を行なっており、レー
ダ映像における自船位置はスピードログや電波航法機器
から得られた位置情報から自船位置を推測している。On the other hand, during coastal navigation or autumn channel navigation, radar equipment monitors the own ship's position and other ships, and the own ship's position in radar images is based on position information obtained from speed logs and radio navigation equipment. The ship's position is estimated from
（発明が解決しようとする問題点）
しかしながら、スピードログや電波航法■器により求め
られた自船位置には必ず各方式特有の誤差が含まれてお
り、実際の自船位置との間に誤着を生ずる。これに対し
レーダ映像は実際の周囲の状況を写し出しており、沿岸
航行のように周囲に明確な物標が存在する場合には、レ
ーダ映像自体で自船の位置を判［Ｏｉシたほうがより正
確な自船位置を知ることができる。(Problem to be solved by the invention) However, the own ship's position determined by speed logs and radio navigation equipment always contains errors peculiar to each method, and there is an error between the own ship's position and the actual own ship's position. produce wear. On the other hand, radar images show the actual surrounding conditions, and when there are clear targets around, such as when sailing along the coast, it is better to use the radar images themselves to determine the own position. You can know the exact position of your ship.
（問題点を解決づるための手段）
本発明は、このような従来の問題点に鑑みてなされたも
ので、レーダ映像から簡単に正確な自船位置を検出する
ことのできる船位検出装置を提供することを目的とし、
次のように構成したものである。(Means for Solving the Problems) The present invention has been made in view of such conventional problems, and provides a ship position detection device that can easily and accurately detect own ship position from radar images. with the aim of
It is structured as follows.
即ち、レーダ映像に映し出される既知物標の位置情報を
記憶装置に記憶しておき、船位検出に際してはレーダ映
像の中の位置情報が分っている１又は複数の既知物標を
カーソル設定により捕捉すると共に捕捉した既知物標を
自動的に追尾し、この追尾物標と自船との間の距離及び
方位を検出し、検出距離、方位及び予め記憶した位置情
報とに基づいて自船位置を計算するようにしたものであ
るつ（実施例）
第１図は本発明の一実施例を示したブ［］ツク図である
。In other words, the position information of known targets shown in the radar image is stored in a storage device, and when detecting the ship position, one or more known targets whose position information is known in the radar image is captured by setting a cursor. At the same time, the system automatically tracks the captured known target, detects the distance and direction between the tracked target and the own ship, and determines the own ship's position based on the detected distance, direction, and pre-stored position information. Embodiment FIG. 1 is a block diagram showing an embodiment of the present invention.
まず１１゛４成を説明すると、１はレーダ装置であり、
ＰＰ［表示のためのトリガ信号、ビデオ信号及び空中線
の回転角信号を出力する。２は座標変換装置であり、Ｐ
ＰＩ表示信号をラスクスキャン方式（テレビジョン方式
）の表示信号に変換する。３はグラフィックカラーブラ
ウン管を使用したディスプレイ装置であり、ラスクスキ
ャン方式にＪ：リレーダ映像を表示する。４はレーダ映
像における１または複数の物標の位置情報、即し緯度と
経度で与えられる位置情報（ｘｉ、 ｙｉ）を予め記憶
した記憶装置である。但し、ｉは１，２．・・・ｎで、
位置情報を与える物標の数を表わす。First, to explain the 11゛4 components, 1 is a radar device,
PP [Outputs a trigger signal for display, a video signal, and an antenna rotation angle signal. 2 is a coordinate transformation device, P
Converts the PI display signal to a Rusk Scan method (television method) display signal. 3 is a display device using a graphic color cathode ray tube, which displays J: relayer images in the Rusk scan method. Reference numeral 4 denotes a storage device in which position information of one or more targets in the radar image, ie, position information (xi, yi) given by latitude and longitude, is stored in advance. However, i is 1, 2. ...n,
Represents the number of targets that provide position information.
５は物標追尾装置であり、記憶装置４に対する位置情報
の記憶で予め位置が分かっているレーダ映像の既知物標
をジョイスティックの操作によるカーソルマークのセッ
トで捕捉し、捕捉された既知物標を自動的に追尾する追
尾制御を行ない、更に追尾物標との距離１ｉ及び方位角
θｉ （但し、ｉ−１〜ｎの整数）を逐次検出して出力
する。６は船位計算装置であり、物標追尾装置５で検出
された追尾物標の距離１−ｉ及び方位角θｉと追尾物標
に対応する記憶装置４に記憶された物標位置情報（ｘｉ
、 ｙｉ）とに基づいて、船位位置（ｘ 、 ｙ ）を
計算し、追尾物標が１つのときには計算船位をそのまま
出力し、複数の物標を同時に追尾しているときには各）
８尾物標がら求めた船位の平均値を出力する。尚、７は
キーボードであり、記憶装置４に追尾対象となる物標の
位置情報を締度と経度により設定する。5 is a target tracking device that captures a known target in a radar image whose position is known in advance by storing position information in the storage device 4 with a set of cursor marks operated by a joystick, and Tracking control is performed to automatically track the object, and furthermore, the distance 1i and the azimuth θi (integers from i-1 to i-n) to the tracked target are sequentially detected and output. 6 is a ship position calculation device which calculates the distance 1-i and azimuth θi of the tracked target detected by the target tracking device 5 and the target position information (xi) stored in the storage device 4 corresponding to the tracked target.
, yi), and outputs the calculated ship position as is when there is only one target to be tracked, and outputs the calculated ship position as is when tracking multiple targets at the same time.
Outputs the average value of the ship position determined from the eight targets. In addition, 7 is a keyboard, and the positional information of the target object to be tracked is set in the storage device 4 by tightness and longitude.
ここで、船位計算装置６にょるレーダ追尾物標から得ら
れた距離し、方位角θ、更に記憶装置４から得られた位
置情報（ｘｉ、 ｙｉ）に基づく船位計算の原理を説明
する。Here, the principle of ship position calculation based on the distance and azimuth θ obtained from the radar tracked target by the ship position calculation device 6, and the position information (xi, yi) obtained from the storage device 4 will be explained.
例えばディスプレイ装置３に、第２図に示すようなレー
ダ映像が映し出されていたとする。尚、第２図のレーダ
映像はレーダ映像を分かり易くするため、記憶装置４等
に記憶された海図データに基づく海岸線を併せて表示さ
せている。For example, assume that a radar image as shown in FIG. 2 is displayed on the display device 3. Incidentally, in order to make the radar image easier to understand, the radar image in FIG. 2 also displays a coastline based on nautical chart data stored in the storage device 4 or the like.
第２図のレーダ映像において自船位置がＡ （Ｘ 。In the radar image in Figure 2, the ship's position is A (X).
ｙ）であり、自船位置△を中心としたレーダ映（ｚ；の
中でＢ、Ｃ，Ｄの３点のレーダエコーが位置情報が明ら
かな既知物標とし、その位置をＢ（Ｘｉ。y), and the radar echoes at three points B, C, and D in the radar image (z; centered on own ship position Δ) are known targets whose position information is clear, and their position is B(Xi.
ｙｌ）、Ｃ（ｘ２．ｙ２）、Ｄ（ｘ３．ｙ３）で表わす
ものとする。yl), C(x2.y2), and D(x3.y3).
このように、既知物標Ｂ、Ｃ，Ｄが特定したならば、カ
ーソル設定により各既知物標Ｂ、Ｃ，Ｄのそれぞれを捕
捉して自動追尾を行ない、各物標８、Ｃ，Ｄと自船位置
Ａとの距１！１ｌｔＬ１．Ｌ２．Ｌ３及びノースアップ
を基準とした方位角θ１．θ２、θ３のそれぞれを求め
る。In this way, once the known targets B, C, and D have been identified, each known target B, C, and D are captured and automatically tracked by the cursor settings, and the targets 8, C, and D are automatically tracked. Distance from own ship position A 1!1ltL1. L2. Azimuth angle θ1 with reference to L3 and north up. Find each of θ2 and θ3.
このように、追尾物標との距離１ｉ及びノースアップを
’Ｑ４％とした方位角θｉが検出されたならば、自船位
置Ａを原点とした２次元座標における各象限ｆσに自９
）１位置Ａの座標（Ｘ 、 Ｖ ） 、即ち自船位１ａ
の緯度ど経度を求めることができ、各象限ｔυに次のＪ
Ｌ停式で求める。In this way, if the distance 1i to the tracking target and the azimuth θi with northup as 'Q4% are detected, then the distance 1i to the tracking target and the azimuth θi with the northup as
) 1 Coordinates of position A (X, V), i.e. own ship position 1a
The latitude and longitude of tυ can be found, and the following J
Find it using the L-stop formula.
第１象限の既知物標；
第２象限の既知物標；
第３象限の既知物標；
第４象限の既知物標；
次に第３図のフローチャー１〜を参照して、第１図の実
施例による船位計算処理を説明する。Known target in the first quadrant; Known target in the second quadrant; Known target in the third quadrant; Known target in the fourth quadrant; The ship position calculation process according to the embodiment will be explained.
いま、ディスプレイ装置３に第２図に示すレーダ映像が
表示されていたとすると、記１０装置１・に予め記憶さ
れている位置情報の分かっている物標、例えば物標Ｂ、
Ｃ，Ｄのそれぞれを既知物標として定め、これらの既知
物標Ｂ、’Ｃ，Ｄをレーダエコーから見つけ出し、物標
追尾装置５に設けたジョイスティックの操作により、例
えば既知物４？Ｋ Ｂに丞すようにカーソルをレットす
ることで）０尾対象として捕捉する。このカーソル設定
に１二る物標捕捉は既知物標Ｃ，Ｄについても同様にし
てブロック８で行なう。Now, if the radar image shown in FIG. 2 is displayed on the display device 3, a target whose position information is known, for example, target B, which is stored in advance in the device 1.
Each of C and D is determined as a known target, these known targets B, 'C, and D are found from the radar echo, and by operating the joystick provided on the target tracking device 5, for example, known object 4? (by moving the cursor so as to move it to K B), capture it as the 0-tail target. Target acquisition according to this cursor setting is similarly performed for known targets C and D in block 8.
このように、３つの既知物標Ｂ、Ｃ，Ｄが捕捉されると
、例えばトルーモーション方式によりレーダ映像を固定
して自船位置へが移動したとしても、常に既知物標Ｂ−
Ｄを捕捉する捕捉物標の追尾制御がブロックって行なわ
れる。In this way, once the three known targets B, C, and D are captured, even if the radar image is fixed using the true motion method and the ship moves to its own position, the known targets B-
Tracking control of the captured target that captures D is performed in a block manner.
続いて、ブロック１０において追尾物標Ｂ−Ｄとの距離
り、１．Ｌ２．Ｌ３及び方位角θ１．θ２゜θ３を検出
する。Next, in block 10, the distance to the tracked target B-D, 1. L2. L3 and azimuth angle θ1. Detect θ2°θ3.
続いて、ブロック１１で追尾物標として捕捉した既知物
標Ｂ、Ｃ，Ｄの位置情報を記憶装置４ ｂｓら読み出し
、船位計算装置６にスタックする。Subsequently, in block 11, the position information of the known targets B, C, and D captured as tracked targets is read out from the storage device 4 bs and stacked in the ship position calculation device 6.
このように、追尾物標８〜Ｄの距離と方位角及び各追尾
物標の位置情報が得られたならば、ブロック１２におい
て各追尾物標毎に自船位置（×。In this way, once the distances and azimuths of the tracked targets 8 to D and the position information of each tracked target are obtained, in block 12, the own ship position (×) is determined for each tracked target.
■）の計算を実行する。■) Execute the calculation.
この自船位置の計算は、例えば自船位置Ａを原点とした
２次元座標において、第３象限に存在する既知物標Ｂに
ついては前記第（３）式により自船位置を求め、また第
４象限に存在する既知物標Ｃについては前記第（４）式
により自船位置を求め、更に第２象限に存在する既知物
標りについては前記第（２）式により自船位置を計算す
る。This calculation of own ship's position is performed by, for example, calculating the own ship's position using equation (3) above for known target B existing in the third quadrant in two-dimensional coordinates with own ship's position A as the origin; For the known target C existing in the quadrant, the own ship's position is calculated using the above equation (4), and for the known object existing in the second quadrant, the own ship's position is calculated using the above equation (2).
続いて、判別ブロック１３で追尾物標が複数か否かが判
別され、このとき、追尾物標は３つであることからブロ
ック１４に進み、）Ｇ尾物標Ｂ−Ｄのそれぞれについて
得られた３つの計算船位の平均値を求め、ブロック１５
で計算船位を出力する。Subsequently, in the determination block 13, it is determined whether or not there are a plurality of targets to be tracked.At this time, since there are three targets to be tracked, the process proceeds to block 14, and the results are obtained for each of the G tail targets B-D. Calculate the average value of the three calculated ship positions, and proceed to block 15.
Outputs the calculated ship position.
勿論、追尾物標が１つのときには、ブロック１４の平均
船位計算は行なわれず、そのままブロック１５で計算船
位が出力される。Of course, when there is only one target to be tracked, the average ship position calculation in block 14 is not performed, and the calculated ship position is directly output in block 15.
このにうに、レーダ映像の既知物標の自動追尾により計
算された船位出力は、１舛えばロラン受信機や衛星航行
受信装置（ＮＮＳＳ）で求められている推定船位位置を
補正するために使用することができ、更には推定船位位
置と１７−ダ映像に基づく計算船位とを比較し、両者の
差が所定髄以」二となったとぎに警報出力を行なってロ
ランやｔＱｉ 望航行受信装置ａの誤動作を知らせても
良い。In this way, the ship position output calculated by automatic tracking of known targets in radar images is used to correct the estimated ship position determined by the Loran receiver or navigation satellite receiver (NNSS). In addition, the estimated ship position and the calculated ship position based on the 17-da image are compared, and when the difference between the two becomes more than a predetermined value, an alarm is output and the tQi navigation receiving device a It is also possible to report malfunctions.
尚、第１図の実施例ではレーダ装置１の出力を座標変換
装置ににリラスタスキャン方式に変換して表示するよう
にしているが、ＰＰＪ表示方式のレーダ映像についても
そのまま適用することができる。In the embodiment shown in FIG. 1, the output of the radar device 1 is converted into the reraster scan method using the coordinate conversion device and displayed, but the method can also be applied to radar images using the PPJ display method. .
更に、既知物標の自動追尾を行なわずにマニュアル操作
による既知物標へのカーソル設定で距離し及び方位角θ
を求めて自船位置を計算し、四ランや衛星航行受信装置
等で求めた自船推定位置の補正を行なうようにしても良
い。Furthermore, without automatically tracking the known target, you can manually set the cursor to the known target to determine the distance and azimuth θ.
The ship's own position may be calculated by determining the ship's own position, and the estimated own ship's position obtained using a four-run system, a satellite navigation receiver, etc. may be corrected.
（発明の効果）
以上説明してきたように本発明によれば、レーダ映像に
映し出される既知物標の位置情報を記憶装置に記憶して
ａ５き、船位検出に際してはレーダ映への中の位置情報
が分かっている１または複数の既知物標をカーソル設定
により捕捉すると共に捕捉した既知物標を自動的に追尾
し、この追尾物標と自船との間の距離及び方位を検出し
、検出路ｂｔ 、方位、及び予め記憶した位置情報とに
基づいて自船位置を計算するようにしたため、実際の周
囲の状況を映し出しているレーダ映像に基づいて船位位
置が計算されるため、極めて正確な自船位置を求めるこ
とができ、沿１′Ｃ航行や秋水路航行における安全性を
大幅に向上することかで−きる。また、レーダ映像から
計算された船位を使用して四ランや衛星航行受信装置等
で求められた自船ｌｌ１ｊ定位買を補正することで、推
測航法にＪ３ける自船位置の碓からしさをより一層高め
ることができる。(Effects of the Invention) As described above, according to the present invention, the position information of a known target shown in a radar image is stored in a storage device, and the position information in the radar image is used for ship position detection. One or more known targets are captured by setting the cursor, the captured known targets are automatically tracked, the distance and direction between the tracked target and own ship are detected, and the detection path is automatically tracked. Since the ship's position is calculated based on the radar image showing the actual surrounding situation, the ship's own position is calculated based on the azimuth, bearing, and pre-stored position information. The ship's position can be determined, greatly improving safety when navigating along the 1'C or along the Autumn Channel. In addition, by using the ship position calculated from radar images to correct the own ship's ll1j position determined by four runs or satellite navigation receivers, it is possible to improve the accuracy of own ship's position in J3 during dead reckoning. It can be further improved.
第１図は本発明の一実施例を示したブロックｌｚ、第２
図は本発明におけるレーダ映像の一例を示した説明図、
第３図は第１図の実施例による船位計ｌ’ｉｕ理を示し
たフローチャートである。
１：レーダ装置
２：座標位置変換装置
３：ディスプレイ装置
４：記憶装置
５：物標追尾装置
６：船位計算装置
７：キーボードFIG. 1 shows a block lz and a second block showing an embodiment of the present invention.
The figure is an explanatory diagram showing an example of a radar image in the present invention,
FIG. 3 is a flowchart showing the ship position indicator l'iu procedure according to the embodiment of FIG. 1: Radar device 2: Coordinate position conversion device 3: Display device 4: Storage device 5: Target tracking device 6: Ship position calculation device 7: Keyboard
Claims (1)
置情報を予め記憶した記憶装置と、レーダ表示画面上で
捕捉した１または複数の既知物標を追尾する物標追尾手
段と、 該物標追尾手段で追尾捕捉しているレーダ既知物標と自
船との距離及び方位を検出し、前記記憶手段に記憶した
既知物標の位置情報に基づいて自船位置を計算する自船
位置計算装置を具備したことを特徴とする船位検出装置
。[Scope of Claims] A radar display device that displays radar images, a storage device that stores in advance position information of one or more known targets in the radar display image, and one or more known targets captured on the radar display screen. A target tracking means for tracking a known target, and detecting the distance and direction between the own ship and the radar known target tracked and captured by the target tracking means, and storing the position of the known target in the storage means. A ship position detection device characterized by comprising a own ship position calculation device that calculates own ship position based on information.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17641284A JPS6154477A (en) | 1984-08-24 | 1984-08-24 | Ship position detecting equipment |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP17641284A JPS6154477A (en) | 1984-08-24 | 1984-08-24 | Ship position detecting equipment |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS6154477A true JPS6154477A (en) | 1986-03-18 |
Family
ID=16013230
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP17641284A Pending JPS6154477A (en) | 1984-08-24 | 1984-08-24 | Ship position detecting equipment |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6154477A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01207173A (en) * | 1988-02-15 | 1989-08-21 | Hakko Co Ltd | Method for lining and repairing inside surface of pipe |
| JPH01207171A (en) * | 1988-02-15 | 1989-08-21 | Hakko Co Ltd | Method for lining and repairing inside surface of pipe |
| JPH01207172A (en) * | 1988-02-15 | 1989-08-21 | Hakko Co Ltd | Method for lining and repairing inside surface of pipe |
| CN110986947A (en) * | 2019-11-29 | 2020-04-10 | 重庆交通大学 | Multi-target self-propelled ship model track tracking measurement method |
Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55126875A (en) * | 1979-03-08 | 1980-10-01 | Virnot Alain D | Method and device for automatically detecting position of ship by data from radar |
| JPS58146876A (en) * | 1982-02-25 | 1983-09-01 | Hitachi Zosen Corp | Ship position measuring device |
-
1984
- 1984-08-24 JP JP17641284A patent/JPS6154477A/en active Pending
Patent Citations (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55126875A (en) * | 1979-03-08 | 1980-10-01 | Virnot Alain D | Method and device for automatically detecting position of ship by data from radar |
| JPS58146876A (en) * | 1982-02-25 | 1983-09-01 | Hitachi Zosen Corp | Ship position measuring device |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH01207173A (en) * | 1988-02-15 | 1989-08-21 | Hakko Co Ltd | Method for lining and repairing inside surface of pipe |
| JPH01207171A (en) * | 1988-02-15 | 1989-08-21 | Hakko Co Ltd | Method for lining and repairing inside surface of pipe |
| JPH01207172A (en) * | 1988-02-15 | 1989-08-21 | Hakko Co Ltd | Method for lining and repairing inside surface of pipe |
| CN110986947A (en) * | 2019-11-29 | 2020-04-10 | 重庆交通大学 | Multi-target self-propelled ship model track tracking measurement method |
| CN110986947B (en) * | 2019-11-29 | 2023-05-02 | 重庆交通大学 | Multi-target self-navigation ship model track tracking measurement method |
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