JP4925845B2 - Multi-sensor control system - Google Patents

Description

  The present invention relates to a multi-sensor control system 100 that controls a plurality of sensors in an observation system that observes a target using a plurality of sensors.

In the observation system, the observation capability can be improved by combining a plurality of different or similar sensors.
JP-A-9-257923

In an observation system that uses multiple sensors, it is necessary to correlate and integrate observation information observed by multiple sensors, and it is necessary to control multiple sensors so that the multiple sensors operate in concert. .
As the number of sensors increases, the control effort increases. In particular, in an observation system mounted on a single-seat aircraft or the like, there is a strong demand for automating control of a plurality of sensors or controlling a plurality of sensors with a small number of instructions.

In addition, there are sensors of a type that observes by radiating radio waves and observes reflected waves, and sensors that observe by receiving radio waves radiated by the other party.
Sensors that emit radio waves have the advantage of being able to observe distances, but there is a risk of being discovered by the other party.

  The present invention has been made to solve the above-described problems, for example, and optimally controls a plurality of different types of sensors to enhance the observation system's observation ability and detectability (discovered by the other party). The purpose is to keep the ease of being low).

The multi-sensor control system according to the present invention includes:
A data correlation / integration unit, a sensor information setting / management unit, an operation level setting / management unit, a control rule setting / management unit, a sensor control method determining unit, and a control command issuing unit,
The data correlation / integration unit inputs observation data of a target from a plurality of sensors, generates target information by correlating and integrating the plurality of input observation data,
The sensor information setting / managing unit stores information representing the capabilities and executable controls of the plurality of sensors,
The operation level setting / management unit stores information representing a determination condition for obtaining a required observation accuracy based on an operation request,
The control rule setting / management unit stores information representing a rule for determining a control method of the plurality of sensors,
The sensor control method determination unit includes target information generated by the data correlation / integration unit, information indicating capabilities and executable control of the plurality of sensors stored by the sensor information setting / management unit, and the operation level. A control method for the plurality of sensors based on information representing the determination condition stored by the setting / management unit and a rule for determining a control method for the plurality of sensors stored by the control rule setting / management unit Decide
The control command issuing unit outputs sensor control commands to the plurality of sensors based on the control method determined by the sensor control method determining unit.

  According to the multi-sensor control system according to the present invention, the sensor control method determination unit 150 determines whether the plurality of sensors are based on the observation results observed by the plurality of sensors based on the rules stored in advance by the control rule setting / management unit. Since the control method is determined, there is an effect that a plurality of sensors can be appropriately controlled according to the situation.

Embodiment 1 FIG.
The first embodiment will be described with reference to FIGS.

FIG. 1 is a system configuration diagram showing an example of the overall configuration of an observation system 800 in this embodiment.
The observation system 800 includes a multi-sensor control system 100, a plurality of sensors 200a to 200c, and an interface unit 300.

The sensors 200a to 200c are, for example, radars, infrared sensors (also referred to as Infrared Sensors, IR sensors), passive radio wave sensors (also referred to as ESM: Electronic Support Measurements, electronic support means), and the like.
The sensors 200a to 200c may be the same type of sensors or different types of sensors.
Further, the number of sensors is not limited to three, and may be more or less.

  Hereinafter, the sensor 200a will be described. Since the sensors 200b and 200c are the same as the sensor 200a, description thereof is omitted here.

  The sensor 200a includes an observation unit 210a, a detection unit 220a, and a sensor control unit 230a.

The observation unit 210a is a device that transmits and receives radio waves, infrared rays, and the like inside the sensor 200a. The observation unit 210a receives an observation control signal and outputs an observation signal.
The observation control signal is a signal output from the sensor control unit 230a and includes information for controlling the observation unit 210a. The observation control signal includes, for example, information indicating the direction in which the radar emits radio waves, the intensity of the radio waves to be emitted, and the like.
The observation unit 210a performs observation according to the observation control signal.
The observation signal is a signal representing the intensity of radio waves or infrared rays received by the sensor.

The detection unit 220a is a device that is inside the sensor 200a and calculates a direction and the like based on the observation result of the observation unit 210a. The detection unit 220a receives the observation control signal and the observation signal output from the observation unit 210a, and outputs detection data.
For example, the detection unit 220a obtains the time and direction when the observation unit 210a emits the radio wave based on the input observation control signal, obtains the time when the reflected wave is received based on the input observation signal, and the information Calculate the direction and distance based on.
The detection data is data representing the direction calculated by the detection unit 220a. The detection data also includes data representing the observation time observed by the observation unit 210a.

The sensor control unit 230a is a device that is inside the sensor 200a and controls the entire sensor 200a.
The sensor control unit 230a inputs a sensor control command and outputs an observation control signal.
The control command is data representing an instruction for the multi-sensor control system 100 to control the operation of the sensor, and is output from the multi-sensor control system 100.
The control command is, for example, a command for instructing a sensor mode change, a search coverage, a sensor pointing direction, and the like.
The sensor control unit determines a specific operation of the observation unit based on the input control command, and outputs an observation control signal instructing the determined operation.

The interface unit 300 is a device that exchanges information with a user.
The interface unit 300 displays the target information of the target information management unit 124, for example.
The interface unit 300 can also input an instruction from a user using an input device and transmit the instruction to the multi-sensor control system 100.
Note that the interface unit 300 may not be included. The multi-sensor control system 100 can be realized even if it does not provide information presentation or operation to the user.

The multi-sensor control system 100 is a system that collects detection data from a plurality of sensors 200a to 200c and gives control instructions to the sensors 200a to 200c using observation results represented by the collected detection data.
The multi-sensor control system 100 includes a data correlation / integration unit 120, a sensor control method determination unit 150, an operation level setting / management unit 160, a sensor information setting / management unit 170, a control rule setting / management unit 180, And a control command issuing unit 190.

The data correlation / integration unit 120 receives detection data output from the sensors 200a to 200c.
The data correlation / integration unit 120 generates target information by correlating and integrating observation results such as the position represented by the input detection data.
The data correlation / integration unit 120 manages the generated target information.

  The data correlation / integration unit 120 includes a detection data correlation / integration unit 123 and a target information management unit 124.

The detection data correlation / integration unit 123 collects the detection data output from the sensors 200a to 200c in one place, correlates and integrates the observation information of a plurality of sensors, and simultaneously executes a tracking process (tracking filter process). That is, tracking processing is performed using detection information observed by a plurality of sensors, and a wake is generated.
The correlation is a process for determining a correspondence relationship between a plurality of pieces of information, and the integration is a process for generating information obtained by integrating corresponding information based on the correlation result. In a system that uses information from a plurality of sensors, there are correlation / integration between information from a plurality of sensors and correlation / integration between time-series information from the same sensor. In the following description, correlation / integration between pieces of sensor information is described as correlation / integration.
In the tracking process, correlation / integration is performed between time-series detection information of sensors. This is a process of performing smoothing or the like using time-series information indicating that there is a correspondence, and calculating a speed or a predicted position from a differentiation of a target time change. Information output as a result of the tracking process is wake information. The track information includes the position and speed of the observation target.

In a conventional single sensor system, track information is generated by tracking processing using time-series detection data from the same sensor. Here, wake information is generated based on time-series detection data of the same sensor, and correlation is determined between the wake information and newly input detection data information, and integration (corresponding detection data is newly added). The generation of the wake information added to (1) is performed.
The detection data correlation / integration unit 123 simultaneously performs correlation / integration and tracking processing. Here, the detection data correlation / integration unit 123 generates wake information in which detection information of a plurality of sensors is mixed. Correlation is determined between the wake and the information of the detection data from a plurality of sensors, and integration (generation of wake information with newly added detection data with correspondence) is performed. By executing such processing, correlation / integration between a plurality of sensors and tracking processing (correlation / integration between time-series information) are simultaneously performed.
Examples of algorithms used in the correlation / integration and tracking processing include an NN (Nearest Neighbor) method and a wake-type MHT (Multiple Hyperthesis Tracking).

In the tracking process, it is possible to predict the observation accuracy for the calculated track information. It is also possible to manage the time at which updating was performed using the detection data for each track information from the detection data correlated with the track.
The detection data correlation / integration unit 123 generates target information. The target information includes wake information, the observation accuracy of the wake information, and the last observation time for each sensor used for the observation.
The items included in the track information and the observation accuracy of the track information depend on the detection data (observation source sensor) used in the track calculation. For example, target information including radar detection data includes distance and angle information, but target information including only detection data of an optical sensor that cannot observe the distance includes only angle information.

The detection data correlation / integration unit 123 correlates and integrates the detected and integrated detection data, and simultaneously executes a tracking process to calculate position / velocity and the like.
The detection data correlation / integration unit 123 generates target information. The target information is information representing the calculated position / speed.
The detection data correlation / integration unit 123 outputs the generated target information.

FIG. 2 is a diagram illustrating an example of target information generated by the detection data correlation / integration unit 123 according to this embodiment.
The target information includes, for example, observation results, observation accuracy, and the last observation time. Observation results include, for example, distance, angle, speed, identification information, and the like. The observation accuracy represents the accuracy of the observation result. The last observation time represents the last observation time. Depending on the type of sensor, only some of the observation items can be observed, and the observation accuracy and the last observation time may differ for each observation item.

The target information management unit 124 manages target information.
That is, the target information management unit 124 inputs the target information output from the detection data correlation / integration unit 123.
The target information management unit 124 classifies and stores the input target information for each corresponding target.

In addition, the target information management unit 124 records information on operations and state changes to the target information.
For example, when the interface unit 300 inputs a user operation, a target operation level, a control mode, and the like are input. The target information management unit 124 inputs and stores information such as the target operation level and control mode input by the interface unit 300.

  The operation level setting / management unit 160 stores determination conditions such as observation accuracy set in advance based on operation requests.

FIG. 3 is a diagram showing an example of the relationship between the determination condition stored in the operation level setting / management unit 160 and the observation accuracy in this embodiment.
Although this figure is in a table format, the determination conditions stored in the operation level setting / management unit 160 are not limited to the table format, and may be in other formats.

In this example, the operation level setting / management unit 160 stores a determination condition for determining a necessary level of observation accuracy based on a target operation level (operation request) and an observation item.
The target operation level condition 531 represents a condition for the target operation level. The target operational levels include, for example, “separate mobile object guidance target”, “situation recognition target (primary)”, “situation recognition target (within a pair)”, “situation recognition target (within group)”, “situation recognition target (within airspace) "Situation not subject to recognition", "Ignore", etc.
The observation item condition 532 represents a condition for the type of item that can be observed by any of the sensors 200a to 200c. The observation items include, for example, “distance”, “angle”, “speed”, “identification information”, and the like.
The necessary observation level 533 represents the level of observation accuracy required for the target, and is determined based on the target operation level condition 531 and the observation item condition 532. In this example, the intersection of the row corresponding to the target operation level in the target operation level condition 531 and the column corresponding to the observation item in the observation item condition 532 represents the necessary observation level when the condition is satisfied. Yes. For example, if the target operation level is “separate mobile object guidance target” and the observation item is “distance”, it indicates that the observation accuracy of the required observation level “A” is required. The required observation level includes, for example, “A”, “B”, “C”, “D”, and “E”. In this example, the required observation level “A” indicates that the highest accuracy is required, and the required accuracy decreases as the required observation levels “B”, “C”, and “D”. The necessary observation level “E” indicates that observation is unnecessary.

The target operation level is input from the interface unit 300 by the user, for example. Alternatively, the sensor control method determination unit 150 may determine based on information included in the target information such as the target position, speed, and identification information. The target operation level input or discriminated is stored as a part of the target information by the target information management unit 124.
A configuration in which the sensor control method determination unit 150 automatically determines the target operation level is preferable because it can reduce the load on the user.

  Returning to FIG. 1, the description of the functional blocks of the multi-sensor control system 100 will be continued.

  The sensor information setting / management unit 170 stores information indicating the capabilities of the sensors 200a to 200c to be controlled and the control that can be performed. The sensor information setting / managing unit 170 stores information indicating the preset capability of the sensor and executable control.

FIG. 4 is a diagram showing an example of information indicating the capability of the sensor stored in the sensor information setting / managing unit 170 and the control that can be performed in this embodiment.
Although this figure is in a table format, the sensor capability stored in the sensor information setting / management unit 170 is not limited to the table format and may be in other formats.

  The sensor information setting / management unit 170 stores information such as coverage, observable items, accuracy, resolution, presence / absence of radio wave emission, and sensor orientation switching method as sensor capabilities. Moreover, the control command information with respect to each sensor is memorize | stored as control which can be implemented.

The sensor orientation switching method is a method that can instantaneously and arbitrarily change the sensor orientation using electrical control such as radar's APPA (Active Phased Array Antenna) or mechanical control. There is a method in which the directivity direction of the sensor can be changed only to a continuous region.
In this example, a method capable of changing the sensor direction instantaneously and arbitrarily is indicated as “directivity”, and a method capable of changing the directivity direction only to a continuous region is indicated as “no directivity”.

The covered area is a range in a direction in which the sensor can observe. The sensor information setting / management unit 1709 stores a coverage as three-dimensional angle information in a coordinate system centered on the sensor.
In this example, in order to simply explain the covered area, the covered areas of the sensors 200a to 200c are represented by an azimuth angle and an elevation angle. For example, the sensor 200a is mounted in the front direction, and can observe a range of azimuth angle ± 45 degrees and elevation angle ± 45 degrees with the front (azimuth angle 0 degree, elevation angle 0 degree) as the center.

  An observable item is an item that can be observed by the sensor. The items that can be observed vary depending on the type of sensor. In addition, since the observation accuracy and resolution differ for each observation item, the sensor information setting / management unit 170 also stores information such as observation accuracy and resolution for each observation item.

  Since the sensor information setting / management unit 170 stores such information, it is possible to grasp sensor resources that can be used for target observation.

Information representing the control that can be performed is a sensor control command that can be sent to the sensor. The sensor control command includes, for example, a sensor mode change, a search coverage, a sensor pointing direction, and the like. The sensor control command is a control input signal for a sensor as a device.
Search and tracking are examples of typical sensor modes. In the search mode, the specified coverage is scanned and the target detection result is output. In the tracking mode, the sensor is directed in a designated direction. Thereafter, the control for directing the sensor in the direction of the predicted position of the target is continuously performed so that the target can be continuously observed. The search and tracking may be realized as a mode in which various conditions such as search range, control timing, and pulse repetition period are combined.

  By storing such information in the sensor information setting / management unit 170, it is possible to know what sensor control command should be sent to each sensor.

  Returning to FIG. 1, the description of the functional blocks of the multi-sensor control system 100 will be continued.

  The control rule setting / management unit 180 stores sensor control rules set in advance. The sensor control rule is information in which a correspondence relationship between a condition that triggers sensor control and a control bulletin that is implemented when the condition is satisfied is ruled.

FIG. 5 is a diagram showing an example of a sensor control mode which is a part of the sensor control rule in this embodiment. The sensor control mode is information stored internally by the sensor control method determination unit 150 to be used as a criterion for determining the sensor control method.
In this example, the sensor control mode is roughly divided into three, and conditions for transition from each mode to another mode are represented by a state transition diagram.

In this example, there are three sensor control modes: radio wave sealing, observation priority, and balance.
“Radio wave sealing” is a mode in which radio wave emission is suppressed as much as possible. This is because when radio waves are emitted, the possibility of being detected by the target passive radio wave sensor increases. Therefore, for example, sensor control is performed such as suppressing the use of a sensor such as a radar that emits radio waves.
“Observation priority” is a mode in which priority is given to accurately observing a target. For this reason, it is controlled to actively use radars that emit radio waves.
“Balance” is an intermediate mode between “radio wave sealing” and “observation priority”.

In this example, “radio wave sealing” is set to an initial state, and the process starts from “radio wave sealing”.
The sensor control mode can be switched by a user operation. In this case, the interface unit 300 inputs the user's operation.
The sensor control mode also changes depending on the target observation state. When it is estimated from the observation result of the passive radio wave sensor, the sensor control mode is changed from “radio wave sealing” to “observation priority”. This is because it has already been discovered and it has been judged that there is no point in suppressing the emission of radio waves.
It should be noted that a determination condition for transition of the sensor control mode may be provided by using the operation condition and the observed target information, and the transition may be made automatically within the multi-sensor control system 100.

FIG. 6 is a diagram illustrating an example of sensor control rules stored in the control rule setting / management unit 180 according to this embodiment.
In this example, the required observation level, the sensor control mode, and the relative distance to the target are conditions that trigger sensor control. In addition, a control method that is executed when the condition is satisfied is described as a rule. In addition to this, conditions for triggering sensor control include information on observation results, observation accuracy, and last observation time included in the target information output by the target information management unit 124.
Each rule describes a sensor control method performed by the sensors 200a to 200c based on information included in the target information output by the target information management unit 124 when applied.
This figure is based on the three conditions of the required observation level determined based on the determination conditions shown in FIG. 3, the sensor control mode determined based on the sensor control rules shown in FIG. 5, and the distance to the target. This indicates that a rule to be applied is selected.
In this example, the required observation level is 5 levels, the sensor control mode is 3 types, and the distance to the target is divided into 3 levels. Based on these 3 conditions, the rule to be applied is selected from 45 rules. select.
Note that this is an example, and the required observation level may not be five steps, the sensor control mode may not be three types, and the distance from the target may not be three steps. It is possible to set different conditions for any number of stages. It is also possible to change the target type and items.
Also, the rules to be described need not all be different. The 45 rules need not be all different, and the same rule may be selected under different conditions.

For example, the control rule setting / management unit 180 has the following rules as “rule 3” that is applied when the required observation level is “A”, the sensor control mode is “observation priority”, and the distance to the target is “short distance”. Remember the rules.
In “Rule 3”, since the necessary observation level is “A”, control is performed to focus on the target target by concentrating sensor resources advantageous for observation, such as observation accuracy, without considering the presence or absence of radio wave radiation. .
When determining sensor control according to each rule, sensor control is performed in consideration of observation results, observation accuracy, and information of the last observation time included in the target information. For example, when the accuracy of the angle information is low, control for observing the target is performed by pointing a sensor advantageous for angle observation. For example, in the example of FIG. 4, if the sensor 200b is advantageous in angular accuracy, control for directing the sensor 200b is performed.
Further, when the distance accuracy is low, control is performed to observe the target by pointing a sensor advantageous for distance observation. In the example of FIG. 4, since the distance can be observed only by the sensor 200a, control for directing the sensor 200a is performed.

In addition, the control rule setting / management unit 180 has the following as “rule 9” which is a rule applied when the required observation level is “A”, the sensor control mode is “radio wave sealing”, and the distance from the target is “medium distance”. Remember the rules.
In “Rule 9”, since the required observation level is “A” and the sensor control mode is “radio wave sealing”, sensor use with radio wave radiation is suppressed as much as possible, and sensor resources that are advantageous for observation such as observation accuracy are concentrated. Control to observe the target.

  Thus, the sensor control rule stored in the control rule setting / management unit 180 is a rule for determining which sensor is used for observation based on the situation.

  Returning to FIG. 1, the description of the functional blocks of the multi-sensor control system 100 will be continued.

The sensor control method determination unit 150 determines a sensor control method.
That is, the sensor control method determination unit 150 inputs the target information stored by the target information management unit 124.
The sensor control method determination unit 150 includes a determination condition stored in advance by the operation level setting / management unit 160, a sensor capability stored in advance by the sensor information setting / management unit 170, and a control rule setting / management unit 180 configured in advance. The stored sensor control rule is input.
The sensor control method determination unit 150 determines the current situation from the target information generated by the data correlation / integration unit 120 on the basis of the input determination condition, sensor capability, and sensor control rule. The control method of the sensor to be executed is determined.
The sensor control method determination unit 150 outputs information representing the determined sensor control method.

  The control command issuing unit 190 generates a sensor control command to be sent to the sensors 200a to 200c based on the sensor control method determined by the sensor control method determining unit 150.

That is, the control command issuing unit 190 inputs information representing the sensor control method output from the sensor control method determining unit 150.
The control command issuing unit 190 inputs information representing a command that can be sent to each of the sensors 200a to 200c among the sensor capabilities stored by the sensor information setting / managing unit 170.
Based on the sendable command represented by the input information, the control command issuing unit 190 generates a sensor control command that specifically instructs the sensors 200a to 200c about the sensor control method represented by the input information.
The control command issuing unit 190 sends the generated sensor control command to the sensors 200a to 200c.

Note that the interface control unit 300 may display the sensor control method determined by the sensor control method determination unit 150 to notify the user.
In this case, the interface unit 300 may input whether to accept the sensor control method displayed by the user.
If the sensor control method displayed by the user is not accepted, the interface unit 300 inputs the sensor control method selected by the user by inputting the user's operation.
In that case, the control command issuing unit 190 generates a sensor control command based on the sensor control method input by the interface unit 300.
Thereby, when the user is not satisfied with the sensor control method determined by the sensor control method determination unit 150, the user can forcibly instruct the change of the sensor control method.

  Next, the operation of the observation system 800 in this embodiment will be described.

  FIG. 7 is a flowchart showing an example of the flow of target observation processing that is observed by the observation system 800 in this embodiment.

First, in the observation step S21, the observation unit 210a of the sensor 200a inputs the observation control signal output from the sensor control unit 230a. The observation unit 210a performs observation according to the input observation control signal. The observation unit 210a outputs an observation signal.
Similarly, in the sensors 200b and 200c, the observation units 210b and 210c perform observation.

In the detection step S22, the detection unit 220a of the sensor 200a receives the observation signal output from the observation unit 210a in the observation step S21. The detection unit 220a generates detection data based on the input observation signal. For example, the detection unit 220a generates detection data by performing signal processing on an observation signal representing the intensity of the radio wave observed by the observation unit 210a. The detection unit 220a outputs the generated detection data to the multi-sensor control system 100.
Similarly, in the sensors 200b and 200c, the detection units 220b and 220c generate detection data based on the observation signals output from the observation units 210b and 210c.

Next, in the correlation integration step S11, the detection data correlation / integration unit 123 inputs the detection data output from the detection units 220a to 220c of the sensors 200a to 200c in the detection step S22.
The detection data correlation / integration unit 123 performs correlation / integration and tracking processing simultaneously using the input detection data. As a result of the correlation / integration and tracking processing, the target information including the wake information, the observation accuracy of the wake information, and the last observation time for each sensor used for the observation is output.

  The target information generated by the detection data correlation / integration unit 123 includes information detected by the plurality of sensors 200a to 200c. Also included is speed information calculated by time differentiation of the tracking process. In addition, the target observation accuracy and the last observation time for each sensor are also included. These pieces of information are output as a set for each target.

The target information management unit 124 inputs the target information output from the detection data correlation / integration unit 123.
The target information management unit 124 stores the input target information.

In the control method determination step S13, the sensor control method determination unit 150 inputs the target information stored by the target information management unit 124 in the correlation integration step S11 and the sensor control mode.
The target operation level may be specified by the user from the interface unit 300, or may be calculated based on the target information in the multi-sensor control system 100.
The sensor control method determination unit 150 inputs the determination condition stored by the operation level setting / management unit 160.
The sensor control method determination unit 150 calculates the necessary observation level with reference to the determination condition based on the input or calculated target operation level.
The sensor control method determination unit 150 acquires a relative distance (short distance, medium distance, or long distance) from the target based on the input target information.

The sensor control method determination unit 150 inputs the sensor control rules stored by the control rule setting / management unit 180.
The sensor control method determination unit 150 applies the input sensor control mode, the calculated necessary observation level, and the acquired distance to the target to the input sensor control rule, and acquires a rule to be applied to the current situation. .
The sensor control method determination unit 150 inputs the sensor capability stored by the sensor information setting / management unit 170.
The sensor control method determining unit 150 determines the sensor control method by applying the target direction acquired based on the input target information, the prediction error for each item, the input sensor capability, and the like to the acquired rule.

As described above, in the sensor control rules, information such as the accuracy of observation of the current target represented by the target information managed by the target information management unit 124, and the observation accuracy required for each operation level managed by the operation level setting / management unit 160 Further, a rule for calculating an appropriate sensor control method is set by combining conditions such as sensor capability as a control resource managed by the sensor information setting / management unit 170.
The sensor control method determination unit 150 determines the control method of each of the sensors 200a to 200c according to this rule.

  Sensor control method determining unit 150 outputs information representing the determined sensor control method to control command issuing unit 190.

In the command issuing step S14, the control command issuing unit 190 inputs information representing the sensor control method output by the sensor control method determining unit 150 in the control method determining step S13.
The control command issuing unit 190 inputs information representing a command that can be sent to the sensor, out of the sensor capabilities stored by the sensor information setting / managing unit 170.
Based on the sendable command represented by the input information, the control command issuing unit 190 generates a sensor control command that specifically instructs each of the sensors 200a to 200c about the sensor control method represented by the input information.
The control command issuing unit 190 outputs the generated sensor control command to the sensors 200a to 200c.

  Thereafter, the multi-sensor control system 100 returns to the correlation integration step S11 and repeats the process.

In the control step S23, the sensor control unit 230a of the sensor 200a inputs the sensor control command output from the control command issuing unit 190 to the sensor 200a in the command issuing step S14.
The sensor control unit 230a generates an observation control signal for controlling the observation unit 210a according to the input sensor control command.
The sensor control unit 230a outputs the generated observation control signal.
Similarly, in the sensors 200b and 200c, the sensor control units 230b and 230c output observation control signals in accordance with the sensor control commands output from the control command issuing unit 190 to the sensors 200b and 200c, respectively.

  Thereafter, the sensors 200a to 200c return to the observation step S21, the observation control signals output by the sensor control units 230a to 230c in the control step S23 are input by the observation units 210a to 210c, respectively, and according to the input observation control signals, Observe.

As described above, the multi-sensor control system 100 according to this embodiment changes various determination conditions stored in the operation level setting / management unit 160 and sensor control rules stored in the control rule setting / management unit 180. Various types of sensor control can be realized.
The operation level setting / management unit 160 and the control rule setting / management unit 180 store the determination conditions and sensor control rules set in advance, so that the sensor control method determination unit 150 automatically selects the sensor control method. Therefore, it is not necessary for the user to carry out detailed control for each sensor, and a multi-sensor control system that reduces the control load on the user can be realized.

The multi-sensor control system 100 in this embodiment includes:
Data correlation / integration unit 120, sensor information setting / management unit 170, operation level setting / management unit 160, control rule setting / management unit 180, sensor control method determination unit 150, and control command issue unit 190 It is characterized by having.
The data correlation / integration unit 120 receives target observation data (detection data) from a plurality of sensors 200a to 200c, and correlates and integrates the plurality of input observation data (detection data) to generate target information. It is characterized by that.
The sensor information setting / management unit 170 is characterized by storing information indicating the capabilities of the plurality of sensors 200a to 200c and executable control.
The control rule setting / management unit 180 stores information (sensor control rules) representing rules for determining a control method for the plurality of sensors 200a to 200c.
The sensor control method determination unit 150 includes target information generated by the data correlation / integration unit 120, information indicating the capabilities and executable controls of the plurality of sensors 200a to 200c stored by the sensor information setting / management unit 170, and operation. Based on the information indicating the determination condition stored by the level setting / managing unit 160 and the rule (sensor control rule) for determining the control method of the plurality of sensors 200a to 200c stored by the control rule setting / managing unit 180. The method for controlling the plurality of sensors 200a to 200c is determined.
The control command issuing unit 190 outputs a sensor control command to the plurality of sensors 200a to 200c based on the control method determined by the sensor control method determining unit 150.

  According to the multi-sensor control system 100 in this embodiment, a plurality of sensor control method determination units 150 are provided according to observation results observed by a plurality of sensors based on rules stored in advance by the control rule setting / management unit 180. Since the sensor control method is determined, it is possible to appropriately control a plurality of sensors according to the situation.

The multi-sensor control system 100 described above is
A data correlation / integration unit 120 that generates target information by correlating and integrating observation information (detection data) input from the sensors 200a to 200c;
A sensor control method for determining a current control status based on the generated target information and determining a sensor control method to be performed for a plurality of sensors based on preset control determination conditions, sensor capabilities, control rules, and the like A determination unit 150;
An operation level setting / management unit 160 for setting in advance judgment conditions such as observation accuracy required based on the operation request;
Sensor information setting / management section that sets in advance information on the capabilities of the control target sensor (observable areas and items, observation accuracy, etc.) and control that can be performed on the control target sensor (control commands that can be sent) 170,
And a sensor command issuing unit (control command issuing unit 190) that issues a sensor control command according to the determined control content.

Embodiment 2. FIG.
The second embodiment will be described with reference to FIG.

  Since the overall configuration of the observation system 800 and the hardware resources and functional blocks of the multi-sensor control system 100 in this embodiment are the same as those described in the first embodiment, description thereof is omitted here.

As described in the first embodiment, the multi-sensor control system 100 can rewrite the determination conditions stored by the operation level setting / management unit 160 and the sensor control rules stored by the control rule setting / management unit 180 to Various types of sensor control can be realized.
In this embodiment, an example of a sensor control rule for realizing preferable sensor control will be described.

FIG. 8 is a diagram showing an example of the arrangement of the sensors 200a to 200c in this embodiment.
In this example, the sensors 200a to 200c are the same type of sensors.
The sensors 200a to 200c have different coverage because they are attached at different positions.
The sensor 200a can observe a range of azimuth angles from −60 degrees to +60 degrees.
The sensor 200b can observe a range of azimuth angles of −180 degrees to −60 degrees.
The sensor 200c can observe an azimuth angle range of +60 degrees to +180 degrees.
The sensor coverage is stored as a type of sensor capability by the sensor information setting / management unit 170.

The sensor control method determination unit 150 determines whether or not the sensor can be observed based on the sensor capability (coverage area) stored by the sensor information setting / management unit 170.
When a sensor capable of observing the direction is found, a sensor control method for using the sensor is determined. If not found, it is determined whether another sensor can observe the direction.

  Thereby, the sensor control method determination unit 150 can automatically determine a sensor control method suitable for the situation and optimally control the sensor.

  In this embodiment, an example of a plurality of sensors having an exclusively covered area has been described, but the same effect can be obtained when the covered areas of a plurality of sensors overlap each other. For example, a radar having an APAA that can electrically switch the radiation direction of radio waves has the advantage that the radiation direction can be switched instantaneously, but the observation is disadvantageous in a region near the edge of the covered area. By using the multi-sensor control system 100, it is possible to perform control such that a sensor advantageous for observation is selected and directed to a target in an overlapping coverage area. In this case, there is an effect of realizing multi-sensor control in which an advantageous sensor can be selected and observation can be performed.

Embodiment 3 FIG.
The third embodiment will be described with reference to FIGS.
FIG. 9 is a block configuration diagram showing an example of the overall configuration of the observation system 800 in this embodiment.
Note that blocks common to the functional blocks of the observation system 800 described in Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted here.

The sensor 200b further includes a tracking unit 240b.
The tracking unit 240b performs tracking based on the detection data output from the detection unit 220b, and calculates a track. This tracking process is basically the same as the tracking process of the detection data correlation / integration unit 123 described in the first embodiment, and the observed data is added to the existing track data to generate a track. . However, the difference is that the detection data used by the tracking unit 240b is only the detection data output by the detection unit 220b of the same sensor 200b. The track information calculated by the tracking unit 240b is a set of time-series detection data output by the detection unit 220b.
The tracking unit 240b outputs tracking data. The tracking data is data representing the track of the target such as the estimated position and speed of the target.

The tracking data output by the tracking unit 240b is input by the sensor control unit 230b.
The sensor control unit 230b predicts the position of the target when the sensor is directed based on the input track information, and generates an observation control signal for directing the sensor to the predicted position to the observation unit 210b.

  Similarly, the sensor 200c has a tracking unit 240c. Since the tracking unit 240c is the same as the tracking unit 240b, description thereof is omitted.

The data correlation / integration unit 120 further includes a wake correlation / integration unit 125.
The wake correlation / integration unit 125 inputs the wake information output by the sensor 200c.
The wake correlation / integration unit 125 inputs the target information output by the detection data correlation / integration unit 123.
The track correlation / integration unit 125 correlates and integrates the track represented by the input tracking data and the track represented by the input target information. The wake information is generated using time-series detection information, and thus has speed information. The wake correlation / integration unit 125 calculates the predicted position at the time when the correlation / integration is performed from the speed information and the time at which the wake is generated, and determines the correlation of the wake information observed by different sensors from the difference between the predicted positions. Then, the wakes targeted for correlation are integrated. In this integration, information on items that cannot be observed is complemented, or processing for synthesizing information between wakes is performed based on observation accuracy to calculate an integrated wake.
The track correlation / integration unit 125 outputs the calculated integrated track to the target information management unit 124. Note that the track information output by the detection data correlation / integration unit 123 and the tracking unit 240c includes information such as observation accuracy as in the first embodiment. This information and the calculated integrated track information are combined and output to the target information management unit 124 as target information.

FIG. 10 is a flowchart showing an example of the flow of target observation processing that is observed by the observation system 800 in this embodiment.
Note that steps common to the target observation process described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted here.

In the tracking step S24, the tracking unit 240b of the sensor 200b inputs the detection data output from the detection unit 220b.
The tracking unit 240b performs tracking processing based on the input detection data and calculates track information.
The tracking unit 240b outputs track information representing the estimated track of the target.
Similarly, in the sensor 200c, the tracking unit 240c performs tracking processing and calculates wake information.

In the wake correlation integration step S12, the wake correlation / integration unit 125 inputs the wake information output by the sensor 200c in the tracking step S24.
The wake correlation / integration unit 125 inputs the target information output by the detection data correlation / integration unit 123 in the correlation integration step S11.

The wake correlation / integration unit 125 performs wake correlation / integration processing between the wake information output by the input sensor 200c and the target information output by the detection data correlation / integration unit 123. As a result of correlation / integration processing between wakes, an integrated wake is calculated.
The integrated track is output to the target information management unit 124. Note that the track information output by the detection data correlation / integration unit 123 and the tracking unit 240c includes information such as observation accuracy as in the first embodiment. This information and the calculated integrated track information are combined and output to the target information management unit 124 as target information.

In this way, when a sensor having a tracking function is connected on the sensor side, whether it is a sensor that has input detection data or a track information of the tracking processing result, operation conditions, target observation status, sensor capability, A multi-sensor control system capable of appropriately controlling a plurality of sensors can be realized using a control method or the like as a criterion.
In this embodiment, the example in which the sensor 200b that inputs the detection result and the sensor 200c that inputs only the tracking information are mixed has been described, but a configuration of a plurality of sensors that input only the tracking information may be used. In such a case, the same effect as in the first embodiment can be obtained. In this case, since there is no data to be input to the detection data correlation / integration unit 123, the data correlation / integration unit 120 may be configured without the detection data correlation / integration unit 123.

  As described above, the multi-sensor control system 100 according to this embodiment uses the detection data correlation / integration unit 123 and the wake correlation / integration unit 125 to correlate the information of the sensor that inputs the detection data and the sensor that inputs the wake information. It is possible to integrate and control a plurality of sensors based on the target information as a result. Therefore, it is possible to realize a multi-sensor control system capable of appropriately controlling a plurality of sensors by arbitrarily combining sensors for inputting detection data and sensors for inputting track information.

As described above, the multi-sensor control system 100 according to this embodiment collects the detection data output from the sensors 200a and 200b in one place and performs correlation / integration, and the sensor 200c outputs the detection data correlation / integration unit 123. An observation system 800 using various types of sensors is realized by combining the track correlation / integration unit 125 that collects tracking data and performs correlation / integration.
When there are differences in the items that can be observed, the observation accuracy, the observation cycle, etc. among multiple sensors used, the detection data correlation / integration and the wake correlation / integration are applied in the right place and combined. The system configuration is valid. For this reason, this apparatus has an advantage with a wide application range.

The sensor may be a sensor that integrates the functions of a plurality of sensors as one sensor. Such a sensor includes, for example, a radio wave sensor in which one aperture surface is shared by a radar and a passive radio wave sensor.
Thus, the same effect can be exhibited even in a multi-sensor system in which sensors having a plurality of sensor functions are combined.
Since the multi-sensor control system 100 described above further includes a wake / correlation integration execution unit (a wake correlation integration unit), not only detection data but also wake information (tracking data) can be used.

Embodiment 4 FIG.
The fourth embodiment will be described with reference to FIGS.

FIG. 11 is a block configuration diagram showing an example of the overall configuration of the observation system 800 in this embodiment.
Note that blocks common to the functional blocks of the observation system 800 described in Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted here.

  The multi-sensor control system 100 further includes a sensor status management unit 136, an observation status determination unit 137, and a radio wave radiation amount recording unit 147.

  The sensor status management unit 136 manages the current status of the sensor.

In the sensors 200a to 200c, the sensor control units 230a to 230c periodically output sensor status signals representing the current status of the sensors.
The sensor status management unit 136 inputs a sensor status signal.
The sensor status management unit 136 acquires the current status of each of the sensors 200a to 200c based on the input sensor status signal.
The sensor status management unit 136 stores information representing the current information of the acquired sensors 200a to 200c.

  In addition, the sensor status management unit 136 stores the time when the sensor status signal for each of the sensors 200a to 200c is input. Since the sensors 200a to 200c should periodically output a sensor status signal, if the next sensor status signal is not input even after a predetermined time has elapsed since the previous sensor status signal was input, the sensor status The management unit 136 determines that the sensor has failed and stores the determination result.

The sensor control method determination unit 150 inputs information representing the current state of the sensor stored by the sensor state management unit 136.
The sensor control method determination unit 150 acquires the current state of the sensor based on the input signal.
The sensor control method determination unit 150 determines a sensor control method based on the acquired current state of the sensor.

  For example, the sensor control method determination unit 150 determines whether or not the sensor 200a is out of order based on the input signal. When it is determined that the sensor 200a has failed, the sensor control method determination unit 150 determines a sensor control method so that the sensor 200a is not used.

Alternatively, when the sensor 200b is a mechanical radar that switches the observation direction mechanically, the sensor control method determination unit 150 acquires the directivity direction of the sensor 200b based on the input signal.
The mechanical radar changes the orientation direction by changing the direction of a control board or the like on which a sensor is mounted under mechanical control. For this reason, if the difference between the current pointing direction and the designated pointing direction is large, it takes time to change the pointing direction.
The sensor control method determination unit 150 selects a sensor control method that is advantageous for observation in consideration of the time required for changing the directivity direction from the current directivity direction of the sensor 200b.
To continuously observe the target information, it is necessary to continuously point the sensor in the target direction. The target may not simply be a uniform linear motion. When dealing with a high mobility target, if it takes time from observation to pointing of the sensor, the range in which the target can move is widened, and the probability that the sensor can be pointed at the target decreases.
By selecting sensor control with a short time until sensor orientation, there is an advantage that a sensor system with high observation ability can be realized by continuously directing the sensor in the target direction.

  The observation status determination unit 137 determines the effectiveness (observation status) of observation by the sensor.

The observation status determination unit 137 inputs the target information stored by the target information management unit 124. The observation status determination unit 137 inputs information representing the current status of the sensor stored by the sensor status management unit 136.
The observation state determination unit 137 compares the current state of the sensor with the target observation information, determines the effectiveness of the sensor observation, and outputs the result to the sensor control method determination unit 150.
For example, in radar, when Doppler (target approach speed, speed component in the target direction) becomes small, observation may be disadvantageous (the target maneuver method in which observation is disadvantageous is called beam maneuver). The observation state determination unit 137 compares the current state of the sensor with the observation information of the target, and in the case where the radar observes the target where the Doppler is close to 0, determines the sensor control method determination as to the information that makes radar observation disadvantageous. Output to the unit 150.

  As described above, there is an advantage that the method of using the sensor can be changed according to the current state of the sensor.

  The radio wave radiation amount recording unit 147 records the radio wave radiation amount emitted by the sensor.

The radio wave radiation amount recording unit 147 receives information representing the sensor control method output from the sensor control method determination unit 150.
The radio wave radiation amount recording unit 147 calculates and records information on the radio wave radiation amount radiated by the sensor (radiated power, radiation time, etc.) based on the input sensor control method.

The radio wave radiation amount recording unit 147 inputs the target information stored by the target information management unit 124.
The radio wave radiation amount recording unit 147 calculates and records a radio wave radiation amount (radiated power, radiation time, etc.) for each target based on the input target information.

Further, the radio wave radiation amount recording unit 147 integrates the radio wave radiation recorded, and the total radio wave radiation and radiation time radiated to each target (total radiation time, radiation interval, elapsed time from radiation). Etc.).
The radio wave radiation amount recording unit 147 outputs information indicating the calculated total radio wave radiation amount and radiation time for each target.

The sensor control method determination unit 150 inputs information representing the total radio wave radiation amount and radiation time for each target output from the radio wave radiation amount recording unit 147.
The sensor control method determination unit 150 determines a sensor control method based on the input information so that the total radiation amount of radio waves for each target does not exceed a predetermined value.

The upper limit value of the total radio wave radiation amount is determined by the sensor control method determination unit 150 based on the sensor control rules stored in the control rule setting / management unit 180, for example.
The sensor control method determination unit 150 acquires target identification information (type, model, etc.) based on the target information stored by the target information management unit 124, and the total radiation amount of radio waves according to the target type. The upper limit value may be changed. For example, if it is determined that the target is of a type not equipped with a passive radio wave sensor, the upper limit value of the total radio wave radiation amount is increased or not limited. Conversely, if it is determined that the target is of a type equipped with a highly sensitive passive radio wave sensor, the upper limit value of the total radio wave radiation is reduced.
As a result, the probability of being detected by the target can be minimized.

  Even if the same amount of radio waves are radiated to the target, if the distance from the target is long, the radio wave reaching the target becomes weak and the probability of being detected decreases. Therefore, the radio wave emission amount recording unit 147 may calculate the total amount of radio waves reaching the target in consideration of the distance to the target.

In this example, the example of controlling the radio wave radiation amount for each target has been described. However, the radio wave radiation amount recording unit 147 outputs information representing the radio wave radiation amount for each direction, not the radio wave radiation amount for each target, The control method determination unit 150 may determine the sensor control method so that the total radiation amount of radio waves in each direction does not exceed a predetermined value.
Thereby, for example, even if there is a target that has not been detected yet, the risk of being detected by the target can be reduced. In addition, there is an effect that it is possible to reduce the amount of radio wave radiation in the direction in which a threat exists.

  Instead of the radio wave radiation amount recording unit 147, a sensor control recording unit that records the sensor control method determined by the sensor control method determining unit 150 is provided, and sensor control is performed based on the sensor control method recorded by the sensor control recording unit. The method determining unit 150 may calculate the amount of radio wave radiation.

FIG. 12 is a flowchart showing an example of the flow of target observation processing that is observed by the observation system 800 in this embodiment.
Note that steps common to the target observation processing described in the first embodiment are denoted by the same reference numerals, and description thereof is omitted here.

In the reporting step S25, the sensor control unit 230a of the sensor 200a outputs a sensor status signal to the multi-sensor control system 100, and reports the current status of the sensor.
Similarly, in the sensors 200b and 200c, the sensor control units 230b and 230c output sensor status signals.

In the situation grasping step S16, the sensor situation managing unit 136 inputs the sensor situation signals output from the sensors 200a to 200c in the reporting step S25.
The sensor status management unit 136 grasps the status of the sensors 200a to 200c based on the input sensor status signal.
The sensor status management unit 136 stores information indicating the status of the grasped sensors 200a to 200c.

In the validity determination step S17, the observation state determination unit 137 stores information indicating the sensor control method output from the sensor control method determination unit 150 in the control method determination step S13 and the target information management unit 124 stores in the tracking step S12. The target information and signals representing the statuses of the sensors 200a to 200c stored by the sensor status management unit 136 in the status grasping step S16 are input.
The observation status determination unit 137 determines the effectiveness of observation based on the input information.
The observation status determination unit 137 outputs information indicating the effectiveness of the determined observation.

In the radiation amount calculation step S18, the radio wave radiation amount recording unit 147 stores information indicating the sensor control method output from the sensor control method determination unit 150 in the control method determination step S13 and the target information management unit 124 in the tracking step S12. Target information entered.
The radio wave radiation amount recording unit 147 calculates the radio wave radiation amount radiated to the target based on the input information.
The radio wave radiation amount recording unit 147 outputs information representing the calculated radio wave radiation amount.

In the control method determination step S13, the sensor control method determination unit 150 further determines the observation status in the validity determination step S17 and information indicating the status of the sensors 200a to 200c stored in the sensor status management unit 136 in the status grasping step S16. The information indicating the validity of the observation output from the unit 137 and the information indicating the radiation amount of the radio wave output from the radio wave radiation amount recording unit 147 in the radiation amount calculation step S18 are input.
The sensor control method determination unit 150 determines a sensor control method based on the input information.

In this example, the situation grasping step S16, the effectiveness determining step S17, and the radiation amount calculating step S18 are performed in this order, and the example in which the control method determining step S13 is performed has been described, but by carrying out in the following steps, Individual effects can also be obtained.
By performing the control method determining step S13 after the situation grasping step S16, the effect of the sensor situation managing unit 136 can be obtained with the configuration in which the sensor situation managing unit 136 is added.
By implementing the control method determining step S13 after the situation grasping step S16 and the effectiveness judging step S17, the sensor situation managing unit 136 and the observation situation judging unit are configured by adding the sensor situation managing unit 136 and the observation situation judging unit 137. The effect of 137 can be obtained.
By executing the control method determining step S13 after the radiation amount calculating step S18 (the situation grasping step S16 and the effectiveness determining step S17 are not performed), the radio wave radiation amount recording unit 147 has a configuration in which the radio wave radiation amount recording unit 147 is added. An effect can be obtained.

  The multi-sensor control system 100 in this embodiment has an advantage that the sensor control can be performed in consideration of the current state of the sensor. For this reason, when the sensor is damaged or damaged, there is an advantage that optimal sensor control can be performed with a sensor other than the target sensor.

  The multi-sensor control system 100 according to this embodiment has an advantage that sensor control can be performed in consideration of whether or not current sensor observation is effective. For example, in situations where observation is temporarily disadvantageous, such as radar beam motion, there is an advantage that appropriate sensor control can be performed such as observation with another sensor.

  The multi-sensor control system 100 in this embodiment records the time and electric power when radio waves are radiated to each target, and controls the sensor in consideration of the information. For this reason, there exists an advantage which can implement the sensor control which considered the detectability in detail with respect to the target.

The multi-sensor control system 100 in this embodiment further includes a radio wave radiation amount recording unit 147.
The radio wave radiation amount recording unit 147 records the amount of radio waves radiated to the target so that the plurality of sensors 200a to 200c observe the target.
The sensor control method determination unit 150 includes a plurality of sensors 200a to 200c based on the amount of radio waves recorded by the radio wave radiation amount recording unit 147 so that the amount of radio waves radiated to the target is equal to or less than a predetermined value. The control method is determined.

  According to the multi-sensor control system 100 in this embodiment, based on the amount of radio waves recorded by the radio wave radiation amount recording unit 147, the sensor is configured so that the amount of radio waves radiated to the target is less than a predetermined value. Since the control method determination unit 150 determines the sensor control method, there is an effect that the probability of being found as a target can be minimized.

The multi-sensor control system 100 in this embodiment further includes an observation state determination unit 137.
The observation status determination unit 137 determines whether or not the observation by the plurality of sensors 200a to 200c is effective.
The sensor control method determination unit 150 determines the control method of the plurality of sensors based on the determination result determined by the observation state determination unit 137 so as not to use a sensor whose observation is not effective.

According to the multi-sensor control system 100 in this embodiment, the sensor control method determination unit 150 determines the sensor control method so that the sensor determined by the observation state determination unit 137 that the observation is not valid is not used. Even if a failure occurs, the remaining sensors can be controlled appropriately.
Since the multi-sensor control system 100 described above further includes a radio wave radiation amount recording unit that records the radio wave radiation amount with respect to the target, the sensor control can be performed in consideration of the detectability by the radio wave radiation amount.

  Since the multi-sensor control system 100 described above further includes a sensor control recording unit that records the control execution contents of the sensor, it is possible to perform sensor control in consideration of past sensor control.

  Since the multi-sensor control system 100 described above manages the current state of the sensor, sensor control according to the current state of the sensor can be performed.

Embodiment 5 FIG.
A fifth embodiment will be described.
The overall configuration of observation system 800 in this embodiment is the same as that described in Embodiment 1, and therefore description thereof is omitted here.

The control rule setting / management unit 180 stores sensor control rules in consideration of a time-series sensor control method for continuous times.
Some single sensors can perform time-series control with respect to consecutive times such that the search and tracking of the sensors are switched in time division and observed. However, there is no function for controlling the control of a plurality of sensors by a time-division control procedure set in advance.
For example, in order to carry out a search of a plurality of areas so as not to have a time interval while dealing with a plurality of targets, a combination of the sensors 200a and 200b can be used to perform a four-cycle search and a one-cycle tracking in a time-sharing manner. The control procedure can be registered in the control rule setting / management unit 180 and executed.

  As described above, the multi-sensor control system 100 according to the present embodiment performs time-series sensor control over a plurality of times by controlling a plurality of sensors, and thus has an advantage that the sensors can be used in a time division manner.

Embodiment 6 FIG.
Embodiment 6 will be described with reference to FIG.

FIG. 13 is a block configuration diagram showing an example of the overall configuration of the observation system 800 in this embodiment.
Note that blocks common to the functional blocks described in Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted here.

  The multi-sensor control system 100 further includes a moving body position / posture management unit 111, a moving body motion prediction unit 112, a moving body motion control unit 115, and a radio wave radiation amount recording unit 147.

  In this embodiment, the sensors 200a to 200c (or the entire observation system 800 including the multi-sensor control system 100) are mounted on a moving body 821 (not shown). Note that the moving body 821 is also referred to as a multi-sensor mounting platform. The multi-sensor mounting platform is a moving body on which the multi-sensor control system 100 and the sensors 200a to 200c are mounted.

The moving body position / posture management unit 111 observes the position, speed, orientation, posture, and the like of the moving body 821. The moving body position / posture management unit 111 includes, for example, a GPS (Global Positioning System) receiver, an acceleration sensor, an angular velocity sensor, and the like, and observes the position of the moving body 821 and the like.
The mobile object position / posture management unit 111 outputs information representing the observed position of the mobile object 821 and the like.

The mobile body motion prediction unit 112 inputs information representing the position of the mobile body 821 output from the mobile body position / posture management unit 111.
The mobile body motion prediction unit 112 receives a mobile body motion control signal. The mobile body motion control signal is a signal for controlling the motion of the mobile body 821. The mobile unit motion control signal represents, for example, instructions such as acceleration, deceleration, left turn, right turn, ascent and descent. For example, the user inputs the mobile control signal from the interface unit 300 or the like. Or the mobile body mobility control part 115 mentioned later outputs.
The mobile body 821 moves based on the mobile body motion control signal, and changes its position, speed, direction, posture, and the like. Changes in the position or the like of the moving body 821 are observed by the moving body position / posture management unit 111. However, by knowing what instructions are issued in advance, the mobile body position / posture management unit 111 can predict the change. can do.

The mobile body motion prediction unit 112 predicts how the position of the mobile body 821 represented by the input information changes based on the input mobile body trajectory control signal. Specifically, based on the control method determined by the sensor control method determination unit 150, the position of the moving body 821 at the time when the sensors 200a to 200c observe the target is predicted.
In the control of the sensor mounted on the moving body, the amount of change in the posture of the moving body itself is corrected and the sensor is directed to the target. The amount of change in the posture of the moving body is acquired by the moving body position / posture management unit 111 and transmitted to the sensor, but the calculation result of the amount of change in posture shifts depending on the time required for this information transmission, and the sensor is targeted. There are cases where it cannot be oriented.
Therefore, it is more optimal to predict the position of the moving body 821 at a future time and determine the sensor control method based on the position of the moving body 821 at the time when the sensors 200a to 200c actually observe the target. You can decide how.

  The mobile body motion prediction unit 112 outputs information representing the predicted position of the mobile body 821 and the like.

  The sensor control method determination unit 150 inputs information representing the position of the moving body 821 and the like output from the moving body position / posture management unit 111 and the moving body motion prediction unit 112. The information output by the moving body position / posture management unit 111 is information representing the position of the moving body 821 observed at the present time (or a little in the past). The information output by the mobile body motion prediction unit 112 is information representing the position of the mobile body 821 predicted for a slightly future time. The sensor control method determination unit 150 may input both information indicating the current and future positions of the moving body 821, or may input only one of them.

The sensor control method determination unit 150 determines a sensor control method based on the position, speed, orientation, orientation, and the like of the moving body 821 represented by the input information.
For example, if the direction of the moving body 821 changes, even if the target direction is the same, the sensor that can observe the target direction may change.
The sensor control method determination unit 150 determines a sensor control method in consideration of the position of the moving body 821 and the like. Thereby, optimal sensor control can be implemented.

The radio wave radiation amount recording unit 147 records the radio wave radiation amount emitted by the sensor.
The radio wave radiation amount recording unit 147 is the same as the radio wave radiation amount recording unit 147 described in the fourth embodiment, except for the following points.
The radio wave radiation amount recording unit 147 further receives information representing the position of the moving body 821 output from the moving body position / posture management unit 111.
The radio wave radiation amount recording unit 147 calculates the radio wave radiation amount radiated to the target based on the input information.
If the position, orientation, etc. of the moving body 821 change, the reference for the direction changes. Therefore, the radio wave radiation amount recording unit 147 calculates and records the radio wave radiation amount in consideration of the position and orientation of the moving body 821.

The sensor control method determination unit 150 inputs information representing the radio wave radiation output from the radio wave radiation recording unit 147.
The sensor control method determination unit 150 determines a sensor control method based on the input information so that the amount of radio wave radiation in each direction does not exceed a predetermined value.

The sensor control method determination unit 150 further determines a moving body control method. The moving body control method is a method of controlling the movement of a moving body, such as which route to select when there are a plurality of routes moving to a certain target point, the direction of the moving body 821 when moving, and the altitude. That is.
The sensor control method determination unit 150 determines a moving body control method so that observation by the sensors 200a to 200c is advantageous. For example, when the sensor control method determination unit 150 wants to observe a certain item for a certain target, the sensor control method determination unit 150 determines the moving body control method so that the sensor capable of observing the item is directed toward the target.
Alternatively, the sensor control method determination unit 150 determines the moving body control method so that when a necessary item cannot be observed because the distance to the target is too long, the item to be observed can be observed by approaching the target. Conversely, when the distance to the target is too close, the moving body control method may be determined so that the distance to the last distance that the sensor can observe is reduced in order to reduce the risk of being detected by the target.

  The sensor control method determination unit 150 outputs information representing the determined moving body control method.

The mobile body motion control unit 115 receives information representing the mobile body control method output from the sensor control method determination unit 150.
The mobile body motion control unit 115 generates a mobile body motion control signal based on the mobile body control method represented by the input information.
The mobile body motion control unit 115 outputs the generated mobile body motion control signal.
The mobile body motion control signal output from the mobile body motion control unit 115 is input by a propulsion device or a steering device of the mobile body 821, and the mobile body 821 is accelerated, decelerated, changed in direction, or the like. Thereby, the mobile body motion control unit 115 controls the position, speed, direction, posture, and the like of the mobile body 821.

  The mobile body motion control signal generated by the mobile body motion control unit 115 may not completely follow the mobile body control method determined by the sensor control method determination unit 150. For example, when the user (operator) performs an operation different from the mobile body control method determined by the sensor control method determination unit 150, the interface unit 300 inputs the user's operation, and the mobile body motion control unit 115 You may generate | occur | produce the mobile body mobility control signal according to a user's operation.

  The moving body control method determined by the sensor control method determination unit 150 may be displayed by the interface unit 300 and notified to the user. The user inputs an operation only when there is a difference in the moving body control method, and does not perform any operation unless there is a difference. As a result, semi-automatic operation becomes possible.

  In addition, the moving body control method may be merely displayed on the interface unit 300. The user determines the moving method with reference to the displayed moving body control method, and the moving body motion control unit 115 generates the moving body motion control signal based on the user's operation input by the interface unit 300. .

  The multi-sensor control system 100 according to this embodiment has an advantage that sensor control can be performed in consideration of the current position, speed, posture, and the like of the moving body. In the moving object, the observable region of the sensor changes as its posture changes. The multi-sensor control system 100 has an advantage that appropriate sensor control can be performed even when mounted on a moving body.

  The multi-sensor control system 100 described above further includes a mobile body position / posture management unit 111 that manages the current position / velocity / posture of the mobile body 821, so that sensor control in consideration of the position / speed / posture of the mobile body is performed. Is possible.

  The multi-sensor control system 100 described above further includes a mobile body motion prediction unit 112 that predicts the future position / velocity / posture of the mobile body 821, and can perform sensor control in consideration of the predicted motion of the mobile body 821. It is.

  The multi-sensor control system 100 described above further provides a moving method of the moving body 821 that is advantageous for sensor observation, or has the moving body motion control unit 115 that moves automatically. It can be moved to a position superior to observation.

  The multi-sensor control system 100 in this embodiment has an advantage that sensor control can be performed in consideration of the predicted position, speed, orientation, posture, etc. of the moving body 821. In particular, in the moving body 821 having excellent exercise capability, if the sensor control method is determined based on the current platform position, speed, orientation, and posture, the control of the sensor may be delayed. For this reason, it is effective to control the sensor based on the predicted position.

The moving body 821 changes the direction in which radio waves are radiated depending on the position, speed, direction, posture, and the like.
Even if the multi-sensor control system 100 in this embodiment is mounted on the moving body 821, there is an advantage that the sensor control can be performed by grasping the radio wave radiation amount for each direction.

  In the multi-sensor control system 100 according to this embodiment, the sensor control method determining unit 150 determines a moving method suitable for sensor observation, and the interface unit 300 presents the moving method so that the driver or the conductor of the moving object is presented. Can be notified of the movement method suitable for observation.

  Furthermore, in the multi-sensor control system 100 according to this embodiment, the sensor control method determination unit 150 determines a movement method suitable for sensor observation, and the mobile body motion control unit 115 generates a mobile body motion control signal. There is an advantage that the automatic operation control of the moving body 821 can be performed. Thereby, the moving body 821 can be unmanned.

The multi-sensor control system 100 in this embodiment further includes a moving body position / posture management unit 111.
The moving body position / orientation management unit 111 acquires information indicating at least one of the position and orientation of the moving body 821 in which the plurality of sensors 200a to 200c are installed.
The sensor control method determination unit 150 determines a control method for the plurality of sensors 200a to 200c based on information representing at least one of the position and orientation of the moving body 821 acquired by the moving body position and orientation management unit 111. Features.

  According to the multi-sensor control system 100 in this embodiment, the sensor control method determination unit 150 determines the sensor control method based on the information representing the position and orientation of the mobile body 821 acquired by the mobile body position and orientation management unit 111. Therefore, even if the range in which the sensor can be observed changes due to the change in the position and orientation of the moving body 821, there is an effect that it can be appropriately controlled.

The multi-sensor control system 100 in this embodiment further includes a mobile body mobility control unit 115.
The sensor control method determination unit 150 determines a mobile body control method for controlling at least one of the position and orientation of the mobile body 821 so that observation by a plurality of sensors 200a to 200c is advantageous.
The mobile body motion control unit 115 controls at least one of the position and orientation of the mobile body 821 based on the mobile body control method determined by the sensor control method determination unit 150.

  According to the multi-sensor control system 100 in this embodiment, a sensor control method determination unit is provided so that observation by a sensor is advantageous, such as controlling the position and orientation of the moving body 821 so that the sensor can be directed in the direction to be observed. Since 150 determines the moving body control method, there is an effect that the sensor can be effectively used and advantageous observation can be performed.

Embodiment 7 FIG.
The seventh embodiment will be described with reference to FIGS.
FIG. 14 is a block configuration diagram showing an example of the overall configuration of the observation system 800 in this embodiment.
Note that blocks common to the functional blocks described in Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted here.

  The data correlation / integration unit 120 further includes a tracking specification control unit 126.

The tracking specification control unit 126 controls parameters for the detection data correlation / integration unit 123 to perform correlation / integration / tracking processing.
Hereinafter, in order to describe an example of parameters for performing the correlation / integration / tracking process, a case where a wake-type MHT is used as an algorithm for realizing the tracking process will be described.

FIG. 15 is a diagram illustrating an example of a relationship between observation signals output from the observation units 210a to 210c of the sensors 200a to 200c and detection data output from the detection units 220a to 220c in this embodiment.
In the sensor observation (detection processing in the detection units 220a to 220c), the detection probability (false alarm probability) of clutter is reduced, and only the target detection probability is increased. Thus, only the observation results above a certain threshold (threshold) are used as detection data.
As shown in FIG. 15, when the threshold value is increased, the number of detected detection data decreases and the false alarm probability decreases, but the target detection probability also decreases. On the other hand, if the threshold value is reduced, the number of detected detection data increases, and the target detection probability increases, but the false alarm probability also increases. In addition, when tracking processing is performed in an environment with a high false alarm probability, it is known that an advanced tracking algorithm such as a wake type MHT is effective.
Since the threshold in the sensor detection process has such a trade-off relationship, the threshold value is a value calculated in advance taking into consideration the specifications of the sensor generally used for observation and the tracking algorithm used. Set.
On the other hand, the detection units 220a to 220c in this embodiment set the threshold value (detection threshold) as a parameter. From the specifications and capabilities of each sensor, default values are set for the detection threshold parameters.

  In the wake type MHT, when generating a wake from the input detection data, a wake candidate (hereinafter referred to as a temporary wake) is generated. For each generated temporary track, reliability is calculated and assigned from the observation status (difference between detection data and predicted position, signal strength of detection data, etc.). When the reliability exceeds a certain threshold value, the system treats it as a formal wake (hereinafter, this wake). The tentative track is data held in the algorithm. For example, only the main track recognized as the official track is output from the detection data correlation / integration unit 123 to the target information management unit.

The parameters for tracking process control of the wake type MHT include, for example, a new wake generation parameter and a wake maintenance parameter.
The new wake generation parameter is a parameter that represents a reliability threshold value for upgrading the temporary wake to the main wake. That is, when the reliability of the temporary track exceeds the threshold value indicated by the new track generation parameter, the track is treated as the main track. If the new track generation parameter (threshold value) is high, this track will be difficult to generate, and the probability of generating an incorrect track due to a false alarm will be low. Become slow. On the other hand, when the new wake generation parameter is low, the main wake is easily generated and the tracking starts earlier, but the generation probability of the erroneous wake increases.

In general, the tracking process has a function of maintaining track information even if detection data is not input for a certain period of time (referred to as a memory track). In the wake type MHT, when the reliability of the main wake once generated becomes below a certain level, the main wake is deleted. The threshold value that is the determination condition for this deletion is the track maintenance parameter.
Increasing the value of the tracking maintenance parameter makes it easier to delete this track, but when tracking is lost due to the influence of clutter, etc., the time required to present information at the wrong position on the memory track can be shortened. On the other hand, if the value of the tracking maintenance parameter is lowered, the main track becomes difficult to delete, and there is an advantage that the target can be continuously tracked for a long time, but there is a disadvantage that the memory track becomes long.

The new track generation parameter and the tracking maintenance parameter are trade-off parameters, and are often set as fixed values in advance based on the specifications of the sensor used for observation. In the first to sixth embodiments, the case where a fixed value is set for a parameter has been described.
On the other hand, in this embodiment, the tracking specification control unit 126 is provided to control to change the new track generation parameter and the tracking maintenance parameter.
The detection data correlation / integration unit 123 manages new track generation parameters and tracking maintenance parameters as changeable parameters. An initial value of a default setting is set for this parameter and can be changed by an instruction from the tracking specification control unit 126.

The sensor control method determination unit 150 determines the tracking specification parameters based on the observation status indicated by the target information.
The tracking specification control unit 126 controls parameters for the detection data correlation / integration unit 123 to perform correlation / integration / tracking processing based on the tracking specification parameters determined by the sensor control method determination unit 150.

The sensor control method determination unit 150 determines a sensor control method for controlling the detection threshold value of the sensor.
Here, the detection threshold value of the sensor is a parameter referred to by the detection units 220a to 220c in the process of generating detection data.

  Based on the sensor control method determined by the sensor control method determination unit 150, the control command issuing unit 190 generates a sensor control command, the detection units 220a to 200c control the detection threshold value, and the sensor control units 230a to 230c control.

  Next, a specific example of tracking specification control will be described.

  FIG. 16 is a diagram showing an example of control rules stored in the control rule setting / management unit 180 in this embodiment.

  It is assumed that there are targets that are approaching the observation system 800 from a certain direction and the number thereof (predicted number of targets) is known as prior information based on the observation results of the long-range observation system and the front observation system. .

  When the user operates the interface unit 300, the interface unit 300 inputs the information. The sensor control method determination unit 150 acquires the target estimated number from the information input by the interface unit 300.

The sensor control method determination unit 150 compares the estimated target number with the number of main tracks generated by the data correlation / integration unit 120 based on the rules stored by the control rule setting / management unit 180.
When the target estimation number is larger, the sensor control method determination unit 150 determines a sensor control method for lowering the detection threshold. In addition, the sensor control method determination unit 150 determines a tracking parameter that lowers the threshold for generating a new track.
When the target estimated number is equal to the number of generated main wakes or when the number of generated main wakes is larger, the sensor control method determination unit 150 determines a sensor control method for increasing the detection data generation threshold. In addition, the sensor control method determination unit 150 determines a tracking parameter that increases the threshold value for generating a new track.

In the initial state, since no detection data exists yet, the number of main tracks generated by the data correlation / integration unit 120 is zero. Therefore, there are more target guesses.
Under this condition, the detection threshold is lowered to increase the probability of obtaining detection data for the target. At the same time, the threshold value for generating a new wake is lowered, and control for facilitating the generation of the main wake from input detection data is performed. Thereby, tracking start can be made early.
In a system equipped with a sensor, it is often possible to perform control on a target only after outputting track information by starting tracking. By speeding up the tracking start, there is an effect that the capability of the sensor system and the entire system equipped with the sensor system can be improved.

Next, a description will be given of the control in a state in which the number of main wakes reaches the target estimated number after performing control to accelerate the tracking start.
In a state where the detection threshold and the new track generation threshold are lowered, the detection probability of the clutter is high, the main track is likely to be generated, and a false track due to the clutter is likely to be generated. For this reason, after the number of main tracks reaches the target estimated number, the detection threshold value and the new track generation threshold value are increased to return to the normal set values.
By implementing this control, after the main track reaches the target estimated number, the detection probability of clutter can be suppressed, the generation of a new main track can be suppressed, and the occurrence of a false track can be suppressed. .

  As described above, the multi-sensor control system 100 in this embodiment simultaneously controls the sensor observation threshold value (detection threshold value) and the new track generation threshold value in accordance with the observation conditions. Thereby, the start of tracking can be accelerated, and the occurrence of erroneous wakes can be suppressed. These two performance requirements are usually a trade-off. When one is improved, the other is worsened. However, there is an effect that both of the two performance requirements can be improved at the same time.

  FIG. 17 is a diagram showing another example of the control rules stored in the control rule setting / management unit 180 in this embodiment.

  As in the example of FIG. 16, it is assumed that the number of targets is known in advance.

In this example, the detection data correlation / integration unit 123 also outputs information on the number of detection data input from the sensors 200a to 200c to the sensor control method determination unit 150 as part of the target information.
The sensor control method determination unit 150 compares the target estimated number with the number of detection data input from the sensors 200a to 200c.
When the target estimation number is larger than the detection data number, the sensor control method determination unit 150 determines a sensor control method for lowering the detection data generation threshold. In addition, the sensor control method determination unit 150 determines a tracking specification control method for increasing the threshold value for generating a new track.
When the number of detection data is larger than the target estimation number, the sensor control method determination unit 150 determines a sensor control method for increasing the detection data generation threshold. In addition, the sensor control method determination unit 150 determines a tracking specification control method that lowers the threshold for generating a new track.

  If the number of detected data is less than the target estimate, it is likely that the target is difficult to observe, and in response to such a situation, the detection conditions are relaxed and the target detection probability is increased. It has the effect of increasing the tracking speed and facilitating the start of tracking by facilitating the generation of the main wake.

  If the number of detection data is greater than the target guess, the sensor is likely to detect a false alarm, and in response to this situation, the detection conditions are tightened and the false alarm detection probability is suppressed. It is possible to perform control that can suppress the generation of erroneous wakes.

Note that the target estimated number may be calculated from internal information that can be acquired by the multi-sensor control system 100 and the sensors 200a to 200c, instead of being input by the user operating the interface unit 300. Even if such control is performed, the same effect can be obtained.
As a method of calculating the target guess number, there is a method of setting the number of targets detected simultaneously by the sensors 200a to 200c and a sensor detection threshold for the target guess number and using the target observation number exceeding the set value. . In addition, there is a method of setting the number of tracks of the target azimuth output by other sensors not involved in the current control as the target estimated number.

  FIG. 18 is a diagram showing still another example of the control rules stored in the control rule setting / management unit 180 according to this embodiment.

  In this example, a description will be given of a situation in which the target object generated by the data correlation / integration unit 120 is used to guide the guided object to the target position that is the guidance target.

The sensor control method determination unit 150 compares the reliability of the main track corresponding to the guidance target with the threshold value indicated by the tracking maintenance parameter based on the control rule stored by the control rule setting / management unit 180.
When the reliability of the guidance target track decreases and approaches the threshold value of the tracking maintenance parameter, the sensor control method determination unit 150 determines a control that decreases the threshold value of the tracking maintenance parameter and also decreases the detection threshold value.
After lowering the tracking maintenance parameter threshold and the detection threshold, if the reliability of the guidance target track becomes high and sufficiently larger than the initially set tracking maintenance parameter threshold, the sensor control method determination unit In step 150, the tracking maintenance parameter threshold and the detection threshold are increased and restored.

In a situation where the guided object is guided to the target position which is the guidance target, guidance cannot be continued unless tracking is maintained. In particular, if the guided object is a flying object, it is important to maintain tracking because it cannot be paused just because the target is lost.
Therefore, when the reliability of the track of the guidance target decreases and approaches the threshold value of the tracking maintenance parameter, the threshold value of the tracking maintenance parameter is decreased to make it difficult to delete the main track and to maintain tracking. At the same time, the detection threshold is lowered to increase the detection probability, maintain tracking, and restore the reliability of the guidance target track.

  Thereby, since tracking can be maintained, a guided object can be guided. On the other hand, if the threshold value of the tracking maintenance parameter is lowered, the probability that the main track is maintained by the memory track increases, and there is a risk that the wrong target is continuously tracked.

  Therefore, after lowering the tracking maintenance parameter threshold and the detection threshold, the reliability of the track of the guidance target becomes high, and when the tracking maintenance parameter threshold is sufficiently larger than the initially set tracking maintenance parameter threshold, The control to raise the threshold value and return to the original value is performed to reduce the risk of continuing to track the wrong target by the memory track. In addition, since it is considered that the observation conditions for the guidance target have also been improved, the control for raising the detection threshold value and returning it to the original value is performed to control the clutter observation.

  As described above, the multi-sensor control system 100 in this embodiment simultaneously controls the sensor observation threshold value (detection threshold value) and the tracking maintenance threshold value simultaneously in accordance with the observation conditions. Thereby, tracking can be maintained and the time of the memory track with respect to the erroneous target can be shortened. These two performance requirements are usually a trade-off. When one is improved, the other is worsened. However, there is an effect that both of the two performance requirements can be improved at the same time.

As described above, the sensor control method determination unit 150 determines the control method for controlling the detection threshold value of the sensor, thereby enabling observation according to the situation.
In addition, the sensor control method determination unit 150 can perform observation according to the situation by determining parameters for the data correlation / integration unit 120 to estimate a state such as a target position.
Furthermore, the sensor control method determination unit 150 further determines the control method for controlling the sensitivity of the sensor and the parameters for the data correlation / integration unit 120 to estimate the state such as the target position in association with each other. Observation that is optimal for the situation becomes possible.

The multi-sensor control system 100 in this embodiment is characterized by the following points.
The sensor control method determination unit 150 determines a control method for controlling the observation threshold value of each of the plurality of sensors 200a to 200c, and based on the observation threshold value of the plurality of sensors 200a to 200c controlled by the determined control method. The data correlation / integration unit 120 determines parameters for correlation / integration (new track generation parameters / tracking maintenance parameters).
The data correlation / integration unit 120 is characterized by correlating and integrating a plurality of observation data input from the plurality of sensors 200a to 200c based on the parameters determined by the sensor control method determination unit 150.

According to the multi-sensor control system 100 in this embodiment, the sensor control method determination unit 150 determines a control method for controlling the observation thresholds of the plurality of sensors 200a to 200c, and the data correlation / integration unit 120 accordingly. Since parameters for correlation and integration (new track generation parameter / tracking maintenance parameter) are determined, there is an effect that optimum sensor control can be performed according to the situation.
The multi-sensor control system 100 described above can simultaneously control the sensor threshold value and the tracking processing parameter.

Embodiment 8 FIG.
An eighth embodiment will be described with reference to FIG.

FIG. 19 is a block configuration diagram showing an example of the overall configuration of the observation system 800 in this embodiment.
Note that blocks common to the functional blocks of the observation system 800 described in Embodiment 1 are denoted by the same reference numerals, and description thereof is omitted here.

The multi-sensor control system 100 further includes an information transmission / reception unit 127.
The information transmission / reception unit 127 transmits / receives data to / from other observation systems 800 and base stations using the communication device 915.

For example, the information transmission / reception unit 127 receives detection data output from sensors of other observation systems 800 from other observation systems 800 or base stations. The information transmitting / receiving unit 127 outputs the received detection data. The detection data output by the information transmitting / receiving unit 127 is input by the detection data correlation / integration unit 123. The detection data correlation / integration unit 123 handles the input detection data in the same manner as the detection data input from the sensors 200a to 200c, and performs correlation / integration processing together.
Or the information transmission / reception part 127 inputs the detection data which the sensors 200a-200c output, and transmits with respect to the other observation system 800 or a base station.

In addition, the information transmission / reception unit 127 receives target information generated by another observation system 800 from another observation system 800 or a base station. The information transmitting / receiving unit 127 outputs the received target information. The target information output by the information transmission / reception unit 127 is input by the target information management unit 124. The target information management unit 124 handles the input target information in the same manner as the target information input from the detection data correlation / integration unit 123, and manages both.
Alternatively, the information transmission / reception unit 127 inputs the target information generated by the detection data correlation / integration unit 123 among the target information managed by the target information management unit 124, and transmits the target information to other observation systems 800 and base stations. .

  As described above, the multi-sensor control system 100 in this embodiment sends sensor observation information to the outside using the communication function. Moreover, the information observed from the outside is input by the communication function and used for sensor control.

  Alternatively, the information transmitter / receiver 127 may receive tracking data generated by another observation system 800. In that case, the tracking data received by the information transmitting / receiving unit 127 is input to the wake correlation / integration unit 125 described in the third embodiment, and target information is generated.

Thereby, even if the observation information input from the outside is tracking data, the same effect can be exhibited.
Alternatively, the information transmitting / receiving unit 127 may receive information representing the sensor control method determined by the base station. In this case, the sensor control method determination unit 150 inputs information representing the sensor control method received by the information transmission / reception unit 127. When the information transmission / reception unit 127 receives the sensor control method, the sensor control method determination unit 150 determines the sensor control method according to the instruction of the base station, and the information transmission / reception unit 127 does not receive the sensor control method. Therefore, the sensor control method is determined independently.

  Thereby, a sensor can be controlled in accordance with an external sensor control instruction.

  As described above, when there are a plurality of observation systems 800, the information transmission / reception unit 127 transmits and receives data to and from other observation systems 800 and base stations, thereby integrating the data observed by all the sensors included in the plurality of observation systems 800. Thus, the sensor control method can be determined and optimum observation can be performed.

FIG. 3 is a system configuration diagram showing an example of the overall configuration of an observation system 800 in the first embodiment. FIG. 10 is a diagram illustrating an example of target information generated by the detection data correlation / integration unit 123 according to the first embodiment. FIG. 6 is a diagram illustrating an example of a relationship between determination conditions stored in an operation level setting / management unit 160 according to Embodiment 1 and observation accuracy. FIG. 5 is a diagram illustrating an example of information indicating sensor capability and executable control stored in the sensor information setting / management unit 170 according to the first embodiment. FIG. 6 is a diagram illustrating an example of a sensor control mode that is part of the sensor control rule according to the first embodiment. FIG. 6 is a diagram illustrating an example of sensor control rules stored in a control rule setting / management unit 180 according to the first embodiment. The flowchart figure which shows an example of the flow of the target observation process which the observation system 800 in Embodiment 1 observes. FIG. 10 is a diagram illustrating an example of the arrangement of sensors 200a to 200c in the second embodiment. FIG. 9 is a block configuration diagram showing an example of the overall configuration of an observation system 800 in Embodiment 3. The flowchart figure which shows an example of the flow of the target observation process which the observation system 800 in Embodiment 3 observes. FIG. 10 is a block configuration diagram showing an example of the overall configuration of an observation system 800 in a fourth embodiment. The flowchart figure which shows an example of the flow of the target observation process which the observation system 800 in Embodiment 4 observes. FIG. 10 is a block configuration diagram showing an example of the overall configuration of an observation system 800 in a sixth embodiment. FIG. 18 is a block configuration diagram showing an example of the overall configuration of an observation system 800 in a seventh embodiment. The figure which shows an example of the relationship between the observation signal which the observation parts 210a-210c of the sensors 200a-200c in Embodiment 7 output, and the detection data which the detection parts 220a-220c output. FIG. 20 is a diagram illustrating an example of control rules stored in a control rule setting / management unit 180 according to the seventh embodiment. FIG. 20 is a diagram illustrating another example of control rules stored in the control rule setting / management unit 180 according to the seventh embodiment. FIG. 20 is a diagram illustrating still another example of control rules stored in the control rule setting / management unit 180 according to the seventh embodiment. FIG. 20 is a block configuration diagram showing an example of the overall configuration of an observation system 800 in an eighth embodiment.

Explanation of symbols

  DESCRIPTION OF SYMBOLS 100 Multi-sensor control system, 111 Mobile body position and orientation management part, 112 Mobile body motion prediction part, 115 Mobile body motion control part, 120 Data correlation / integration part, 123 Detection data correlation / integration part, 124 Target information management part, 125 Track correlation / integration unit, 126 tracking specification control unit, 127 information transmission / reception unit, 136 sensor status management unit, 137 observation status determination unit, 147 radio wave radiation amount recording unit, 150 sensor control method determination unit, 160 operation level setting / management Unit, 170 sensor information setting / management unit, 180 control rule setting / management unit, 190 control command issuing unit, 200a to 200c sensor, 210a to 210c observation unit, 220a to 220c detection unit, 230a to 230c sensor control unit, 240a to 240c tracking unit, 300 interface unit, 511- 16 the detection data, 520-526 target information, 611-614 threshold 800 observation system, 821 mobile.

Claims (6)

Data correlation / integration unit, sensor information setting / management unit, operation level setting / management unit, control rule setting / management unit, sensor control method determining unit, control command issuing unit , radio wave radiation amount recording unit, Have
The data correlation / integration unit inputs observation data of a target from a plurality of sensors, generates target information by correlating and integrating the plurality of input observation data,
The sensor information setting / managing unit stores information representing the capabilities and executable controls of the plurality of sensors,
The operation level setting / management unit stores information representing a determination condition for obtaining a required observation accuracy based on an operation request,
The control rule setting / management unit stores information representing a rule for determining a control method of the plurality of sensors,
The sensor control method determination unit includes target information generated by the data correlation / integration unit, information indicating capabilities and executable control of the plurality of sensors stored by the sensor information setting / management unit, and the operation level. A control method for the plurality of sensors based on information representing the determination condition stored by the setting / management unit and a rule for determining a control method for the plurality of sensors stored by the control rule setting / management unit Decide
The control command issuing unit outputs sensor control commands to the plurality of sensors based on the control method determined by the sensor control method determining unit ,
The radio wave radiation amount recording unit records the amount of radio waves emitted,
The multi-sensor control system , wherein the sensor control method determination unit determines a control method of the plurality of sensors based on the amount of radio waves recorded by the radio wave radiation amount recording unit . The multi-sensor control system further includes a sensor control recording unit,
The sensor control recording unit records the control method of the plurality of sensors determined by the sensor control method determination unit,
The multi-sensor control system according to claim 1 , wherein the sensor control method determination unit determines a control method for the plurality of sensors based on a past control method recorded by the sensor control recording unit. The control rule setting / management unit stores information representing a rule for determining a time-series control method of the plurality of sensors,
The sensor control method determination unit determines the control method of the plurality of sensors based on a rule for determining a time-series control method of the plurality of sensors stored by the control rule setting / management unit. The multi-sensor control system according to claim 1 or 2 , characterized in that The multi-sensor control system further includes a moving body position and orientation management unit,
The mobile body position and orientation management unit obtains information representing the position, speed, and orientation of the mobile body in which the plurality of sensors are installed,
The sensor control method determination unit determines a control method of the plurality of sensors based on information representing the position, speed, and posture of the moving body acquired by the moving body position and orientation management unit. The multi-sensor control system according to any one of claims 1 to 3 . The multi-sensor control system further includes an observation state determination unit,
The observation status determination unit determines the observation status of the plurality of sensors,
The sensor control method determination unit determines a control method of the plurality of sensors so that observation is advantageous based on a determination result determined by the observation state determination unit. Item 5. The multi-sensor control system according to any one of Items 4 to 6. The sensor control method determination unit determines a control method for controlling the observation threshold value of each of the plurality of sensors, and based on the observation threshold values of the plurality of sensors controlled by the determined control method, the data correlation / The integration unit determines the parameters for correlation and integration,
The data correlation and integration unit based on the parameters determined above sensor control method determining unit, according to claim 1 to claim, characterized in that correlate and integrate a plurality of observation data inputted from the plurality of sensors 5 The multi-sensor control system according to any one of the above.

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