JPH0949876A - Multi-target tracking device - Google Patents

Abstract

(57) [Abstract] [Purpose] Even if the target moves from a quarter space in one hemisphere space to a quarter space in the adjacent hemisphere space, target tracking is not canceled. [Structure] Radar signal processing devices 2a, 2b, 2c, 2d
The target detection data is detected by the target correlation device 3a, 3b,
In 3c and 3d, the target detection data and the already tracked target are correlated, and tracking filter control devices 4a, 4b, 4c, and 4d.
Controls which tracking filter is activated. The target parameters are estimated and predicted by the tracking filters 5aa to 5an, 5ba to 5bn, 5ca to 5cn, and 5da to 5dn.
The beam control device 6 calculates radar control data and radar signal processing control data, outputs the radar signal processing control data to any of the radar signal processing devices, and outputs the radar control data to any of the radars. .

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a multi-target tracking device for automatically detecting and tracking a plurality of targets existing in a hemispherical space.

[0002]

2. Description of the Related Art FIG. 9 is an overall configuration diagram of an embodiment of a conventional multi-target tracking device. In FIG. 9, reference numeral 1a denotes a first portion that radiates a radar beam and receives a radar video within a quarter space (azimuth angle of 90 degrees, depression angle of 90 degrees) within a hemispherical space.
Of the first phased array radar 2a, a first radar signal processing device 3a for detecting target detection data based on the radar reception video detected from the first phased array radar 1a, 3a a first radar signal processing device 2a The first to obtain the correlation between the target detection data detected from the object and the tracked target
Target tracking device 4a of the first tracking filter control device 5aa controls which tracking filter is activated based on the target correlation result obtained from the first target correlation device 3a.
To 5an receive a start instruction from the first tracking filter control device 4a, estimate the present target specifications, and predict the target specifications at the next beam irradiation time. The a-th target tracking filter of the 5th target, 5an is the n-th target tracking filter of the n-th target, and 11a is the target specification at the next beam irradiation time predicted from the tracking filter 5aa to the tracking filter 5an. Based on this, the beam irradiation angle and the center value of the radar video detection gate are calculated, and the beam irradiation angle and the center value of the radar video detection gate are output to the first radar signal processing device 2a, and the first phased array radar 1a is output. First beam control device 1b, 2b, 3 for requesting beam irradiation
b, 4b, 5ba to 5bn and 11b are the phased array radar 1a, the radar signal processing device 2a, the target correlation device 3a, the tracking filter control device 4a,
A second device having the same characteristics as the device group including the tracking filters 5aa to 5an and the beam control device 11a.
Phased array radar, second radar signal processing device, second target correlation device, second tracking filter control device, second tracking filter and second beam control device, 1c, 2c, 3c, 4c 5ca to 5cn and 11c are the phased array radar 1a, the radar signal processing device 2a, the target correlation device 3a, the tracking filter control device 4a, and the tracking filters 5aa to 5a.
n and the beam control device 11a, the third phased array radar having the same characteristics as the device group,
Radar signal processor, third target correlator, third tracking filter controller, third tracking filter and third beam controller, similarly 1d, 2d, 3d, 4d, 5d
a to 5dn and 11d are a group of devices including the phased array radar 1a, the radar signal processing device 2a, the target correlation device 3a, the tracking filter control device 4a, the tracking filters 5aa to 5an, and the beam control device 11a. The fourth phased array radar, the fourth radar signal processing device, the fourth target correlation device, the fourth tracking filter control device, the fourth tracking filter, and the fourth beam control device having the same characteristics as the above.

FIG. 10 is a flow chart showing the operation of an embodiment of a conventional multi-target tracking device. In FIG. 10, the first phased array radar 1a surface is irradiated with a radar beam within a quarter of the hemispherical space (step 12).
a), the first radar signal processing device 2a detects target detection data based on the radar reception video detected from the first phased array radar 1a (step 13a), and the first target correlation device In 3a, the target detection data and the already tracked target are correlated (step 14a), and the current target specifications are estimated in the first tracking filter control device 4a and the first tracking filters 5aa to 5an. The target specifications at the next beam irradiation time are predicted (step 15a), and in the beam controller, the radar signal such as the beam irradiation angle and the radar video detection gate center value is based on the target specifications at the next beam irradiation time. Processing control data is calculated (step 22a), and this radar signal processing control data is output to the first radar signal processing device 2a (step S22). -Up 23a), the beam irradiation request to the first phased array radar 1a (step 24a). At the same time, also on the surface of the second phased array radar 1b, the same operations as in steps 12a to 15a and steps 22a to 24a are performed (steps 12b to 15b and steps 22b to 24b). Even on the phased array radar 1c surface of 3, the above step 12
a to step 15a and steps 22a to 24a are performed (steps 12c to 15c and steps 22c to 24c).
c), at the same time, the fourth phased array radar 1d
In terms of surface, the same operations as in steps 12a to 15a and steps 22a to 24a are performed (steps 12d to 15d and steps 22d to 24d).

[0004]

Since the conventional multi-target tracking device as shown in FIG. 9 is constructed as described above,
As shown in FIG. 11, the first phased array radar 1a
When the first target moves from the quarter space in the corresponding hemisphere space to the adjacent second phased array radar 1b in the corresponding hemisphere space, in the first phased array radar 1a The target tracking was canceled, and the second phased array radar 1b had to start tracking and start tracking, and there was a problem that the target was lost during the detection. In addition, the fourth phased array radar 1
1/4 space in hemisphere space corresponding to d, 1/4 space in hemisphere space corresponding to third phased array radar 1c, 1/4 space in hemisphere space corresponding to second phased array radar 1c
When the second target sequentially moves into the space, the target tracking by the fourth phased array radar 1d is canceled, and the third target is released.
The phased array radar 1c must start tracking again to start tracking, and then the target tracking in the third phased array radar 1c is canceled, and the second phased array radar 1b starts tracking again. Must enter.

The present invention has been made to solve the above problems, and even if a target moves to a quarter space in one hemispherical space, it is possible to prevent the target tracking from being canceled. The purpose is to improve the target tracking ability.

[0006]

In a multi-target tracking apparatus according to the present invention, a beam irradiation angle and a radar video detection gate are based on target specifications at a next beam irradiation time predicted from a plurality of first tracking filters. The central value is calculated, and the beam irradiation angle and the central value of the radar beam detection gate are output to the radar signal processing device corresponding to a quarter space in the hemisphere space where the tracking target is present. By providing a beam control device for requesting beam irradiation to a phased array radar corresponding to a quarter space, target tracking is not canceled.

The multi-target tracking device according to the present invention further includes a tracking filter control device for controlling which tracking filter is activated based on the target correlation results obtained from the first to fourth target correlation devices, and By providing a tracking filter that receives a start instruction from the tracking filter control device and estimates the current target destinations and predicts the target specifications at the next beam irradiation time, the first to fourth tracking filter control devices are provided. This eliminates the need to transfer target tracking specifications and reduces the number of tracking filters.

In the multi-target tracking device according to the present invention, by further providing a target correlation device for correlating the target detection data detected from the first to fourth radar signal processing devices with the already-tracked target, The number of target correlators is reduced by eliminating the need to transfer the target specifications among the first to fourth target correlators.

In the multi-target tracking device according to the present invention, the radar signal processing device for detecting the target detection data based on the radar reception video detected from the first to fourth phased array radars is further provided, whereby the radar The number of signal processing devices is reduced.

[0010]

In the present invention, the beam irradiation angle and the radar video detection gate center value are calculated based on the target specifications at the next beam irradiation time predicted from the plurality of tracking filters, and the beam irradiation angle and the radar video detection are calculated. The gate center value is output to the radar signal processing device corresponding to the quarter space in the hemisphere space where the tracking target exists, and the
A beam irradiation request is made to the phased array radar corresponding to the one-half space.

[0011]

【Example】

Embodiment 1 FIG. 1 is a first embodiment of a multi-target tracking device according to the present invention.
FIG. In FIG. 1, reference numeral 1a denotes a first portion for radiating a radar beam and receiving a radar video within a quarter space (azimuth angle of 90 degrees, elevation angle of 90 degrees) within a hemispherical space.
Of the first phased array radar 2a, a first radar signal processing device 3a for detecting target detection data based on the radar reception video detected from the first phased array radar 1a, 3a a first radar signal processing device 2a The first to obtain the correlation between the target detection data detected from the object and the tracked target
Target tracking device 4a of the first tracking filter control device 5aa controls which tracking filter is activated based on the target correlation result obtained from the first target correlation device 3a.
5an receives a start instruction from the first tracking filter control device 4a, estimates a current target specification, and predicts a target specification at the next beam irradiation time. 3b, 4b and 5ba to 5bn are the first phased array radar 1a, the first radar signal processing device 2a, the first target correlation device 3a, the first tracking filter control device 4a and the first Second phased array radar, a second radar signal processing device, a second target correlation device, a second tracking filter control device and a plurality of first tracking filter control devices having the same characteristics as the device group composed of the tracking filters 5aa to 5an. 2 tracking filter,
1c, 2c, 3c, 4c and 5ca to 5cn are the first phased array radar 1a, the first radar signal processing device 2a, the first target correlation device 3a, the first tracking filter control device 4a and A third phased array radar, a third radar signal processing device, a third target correlation device, a third tracking filter control device, and a device having the same characteristics as the device group composed of the first tracking filters 5aa to 5an. Multiple third tracking filters, also 1
d, 2d, 3d, 4d and 5da to 5dn are the first
Phased array radar 1a, the first radar signal processing device 2a, the first target correlation device 3a, the first
Fourth phased array radar, fourth radar signal processing device, fourth target correlation device, and fourth tracking filter control device 4a and the first tracking filter 5aa to 5an. 4 is a tracking filter control device and a plurality of fourth tracking filters, and 6 is a beam irradiation angle and a radar video detection gate center value based on target specifications at the next beam irradiation time predicted from the tracking filters 5aa to 5dn. The beam irradiation angle and the center value of the radar video detection gate are calculated and the radar signal processing device 2
a, the radar signal processing device 2b, the radar signal processing device 2c, and the radar signal processing device 2d are the radar signal processing devices corresponding to the quarter space in the hemisphere space where the inner tracking prediction target exists. It outputs and outputs a beam irradiation request to the phased array radar 1a, the phased array radar 1b, the phased array radar 1c, and the phased array radar 1d, which corresponds to a quarter space in the hemisphere space. Beam control device.

FIG. 2 is a flow chart showing the operation of the first embodiment of the multi-target tracking device of the present invention. In FIG. 2, the surface of the first phased array radar 1a is irradiated with a radar beam within a quarter of the hemispherical space (step 12).
a) In the first radar signal processing device 2a, the target detection data is detected based on the radar reception video detected from the phased array radar 1a (step 13).
a) In the target correlation device 3a, the target detection data is correlated with the tracked target (step 14a),
In the first tracking filter control device 4a and the first tracking filters 5aa to 5an, the current target specifications are estimated and the target specifications at the next beam irradiation time are predicted (step 15a). At the same time, also on the surface of the second phased array radar 1b, the above steps 12a to 1
The same operation as that up to 5a is performed (steps 12b to 15b), and at the same time, on the surface of the third phased array radar 1c, the above steps 12a to 1
The same operation as that up to 5a is performed (steps 12c to 15c), and at the same time, on the surface of the fourth phased array radar 1d, the above steps 12a to 1
The same operation as up to 5a is performed (steps 12d to 15d), and in the beam control device 6, the phased array radar 1a surface, the phased array radar 1b surface, the phased array radar 1c surface, and the phased array radar 1d surface. The radar signal processing control data such as the beam irradiation angle and the center value of the radar video detection gate is calculated based on the target specifications at the next beam irradiation time in step (step 16), and the radar signal processing control data is used as the radar signal. Processors 2a, 2b, 2c and 2d
Of the phased array radars 1a, 1b, 1 and 1 are output to the radar signal processing device corresponding to the quarter space in the hemisphere space in which the inner tracking prediction target exists.
Beam irradiation is requested to the phased array radar corresponding to the quarter space in the hemispherical space of c and 1d (step 18).

Example 2. FIG. 3 is an overall configuration diagram of a second embodiment of the multi-target tracking device of the present invention. In FIG. 3, 1 to 3 and 6 are equivalent to those in the first embodiment. Reference numeral 7 denotes the second target correlation device 3a, the third target correlation device 3b, the third target correlation device 3c, and the third target correlation device 3
A tracking filter control device that controls which tracking filter is activated based on the target correlation result obtained from d, 8a to 8m receive the activation instruction from the tracking filter control device 7, and estimate the current target specifications. It is the first to Mth tracking filters for predicting target specifications at the next beam irradiation time.

FIG. 4 is a flowchart showing the operation of the second embodiment of the multi-target tracking device of the present invention. 4, in step 19, the tracking filter control devices 4a, 4b, 4
c, 4d and the above tracking filters 5aa to 5dn estimate current target specifications and predict target specifications at the next beam irradiation time.

Example 3. FIG. 5 is an overall configuration diagram of a third embodiment of the multi-target tracking device of the present invention. In FIG. 5, reference numeral 9 is a target for correlating the target detection data detected from the radar signal processing device 2a, the radar signal processing device 2b, the radar signal processing device 2c and the radar signal processing device 2d with the already tracked target. It is a correlator.

FIG. 6 is a flow chart showing the operation of the third embodiment of the multi-target tracking device of the present invention. In FIG. 6, in step 20, the target correlators 3a, 3b, 3c and 3d are used.
At, the target detection data detected from the radar signal processing devices 2a, 2b, 2d and 2d and the already tracked target are correlated.

Embodiment 4 FIG. FIG. 7 is an overall configuration diagram of a fourth embodiment of the multi-target tracking device of the present invention. In FIG. 7, 10
Is a radar signal processing device for detecting target detection data based on the radar received video detected from the phased array radar 2a, the phased array radar 1b, the phased array radar 1c and the phased array radar 1d.

FIG. 8 is a flow chart showing the operation of the embodiment 4 of the multi-target tracking device of the present invention. In FIG. 8, in step 21, the radar signal processing device 10 detects target detection data based on the radar reception video detected from the phased array radars 2a, 1b, 1c and 1d.

[0019]

As described above, according to the present invention, even when a target moves from a quarter space in one hemisphere space to a quarter space in an adjacent hemisphere space, the target tracking is canceled. Therefore, the multi-target tracking ability can be improved.

[Brief description of drawings]

FIG. 1 is an overall configuration diagram of a multi-target tracking device according to a first embodiment of the present invention.

FIG. 2 is a flowchart showing the operation of the first embodiment of the multi-target tracking device of the present invention.

FIG. 3 is an overall configuration diagram of a second embodiment of the multi-target tracking device of the present invention.

FIG. 4 is a flowchart showing the operation of the second embodiment of the multi-target tracking device of the present invention.

FIG. 5 is an overall configuration diagram of a third target tracking apparatus according to a third embodiment of the present invention.

FIG. 6 is a flowchart showing the operation of the third embodiment of the multi-target tracking device of the present invention.

FIG. 7 is an overall configuration diagram of a multi-target tracking device according to a fourth embodiment of the present invention.

FIG. 8 is a flowchart showing the operation of the multi-target tracking device according to the fourth embodiment of the present invention.

FIG. 9 is an overall configuration diagram of an example of a conventional multi-target tracking device.

FIG. 10 is a flowchart showing the operation of an embodiment of a conventional multi-target tracking device.

FIG. 11 is a diagram showing one target tracking example of a conventional multi-target tracking device.

[Description of Reference Signs] 1a First phased array radar 1b Second phased array radar 1c Third phased array radar 1d Fourth phased array radar 2a First radar signal processing device 2b Second radar signal processing device 2c Third radar signal processing device 2d Fourth radar signal processing device 3a First target correlation device 3b Second target correlation device 3c Third target correlation device 3d Fourth target correlation device 4a First tracking filter control Device 4b Second tracking filter control device 4c Third tracking filter control device 4d Fourth tracking filter control device 5aa to 5an First tracking filter 5ba to 5bn Second tracking filter 5ca to 5cn Third tracking filter 5da ~ 5dn 4th tracking filter 6 Beam control device 7 Tracking filter control device 8a-8 Tracking filter 9 Target correlation device 10 Radar signal processing device 11a First beam control device 11b Second beam control device 11c Third beam control device 11d Fourth beam control device Step 12a Beam irradiation (radar first surface) step 12b Beam irradiation (radar 2nd surface) Step 12c Beam irradiation (radar 3rd surface) Step 12d Beam irradiation (radar 4th surface) Step 13a Target detection (radar 1st surface) Step 13b Target detection (radar 2nd surface) Step 13c Target detection (third surface of radar) Step 13d Target detection (fourth surface of radar) Step 14a Target correlation (first surface of radar) Step 14b Target correlation (second surface of radar) Step 14c Target correlation (third surface of radar) step 14d Drift correlation (radar surface 4) Step 15a Target specifications Constant / prediction (first surface of radar) Step 15b Target specification estimation / prediction (second radar surface) Step 15c Target specification estimation / prediction (third radar surface) Step 15d Target specification estimation / prediction (fourth radar surface) ) Step 16 Radar signal processing control data calculation Step 17 Radar surface-specific radar signal processing control data output Step 18 Radar surface-specific beam irradiation request Step 19 Target specification estimation / prediction Step 20 Target correlation step 21 Target detection step 22a Radar signal processing control Data calculation (radar 1st surface) Step 22b Radar signal processing control data calculation (radar 2nd surface) Step 22c Radar signal processing control data calculation (radar 3rd surface) Step 22d Radar signal processing control data calculation (radar 4th surface) Step 23a Calculation of radar signal processing control data (radar 1st surface) Step 23b Radar signal processing control data calculation (radar 2nd surface) Step 23c Radar signal processing control data calculation (radar 3rd surface) Step 23d Radar signal processing control data calculation (radar 4th surface) Step 24a Beam irradiation request (Radar 1st surface) Step 24b Beam irradiation request (Radar 2nd surface) Step 24c Beam irradiation request (Radar 3rd surface) Step 24d Beam irradiation request (Radar 4th surface)

Claims (4)

[Claims] 1. A first to a fourth radar for radiating a radar beam and receiving a radar video for each one-quarter spatial range in a hemispherical space, and detected from the first to the fourth radar, respectively. First to fourth radar signal processing devices for detecting target detection data based on the received radar received video, and target detection data and tracked target detected respectively from the first to fourth radar signal processing devices. 1 to 4 for controlling which tracking filter is activated based on the target correlation results obtained from the first to fourth target correlator, respectively. Of the tracking filter control device and the first to fourth tracking filter control devices, respectively, to estimate the current target specifications and predict the target specifications at the next beam irradiation time. The radar beam irradiation angle and the radar signal processing control data are calculated based on the first to fourth tracking filters and the target specifications at the next beam irradiation time predicted from the first to fourth tracking filters. The radar signal processing control data is output to the radar signal processing device corresponding to the quarter space in which the inner tracking target of each of the first to fourth radar signal processing devices exists, and the radar beam irradiation angle is tracked as described above. A multi-target tracking device comprising a beam elevation device that outputs to the radar corresponding to a quarter space where a target is present. 2. A first to a fourth radar for radiating a radar beam and receiving a radar video for each one-quarter spatial range in a hemispherical space, and detected from each of the first to fourth radars. First to fourth radar signal processing devices for detecting target detection data based on the received radar received video, and target detection data and tracked target detected respectively from the first to fourth radar signal processing devices. From the first to the fourth target correlator, and one tracking filter controller that controls which tracking filter is activated based on the target correlation result obtained from the first to the fourth target correlators And a plurality of tracking filters that estimate the current target specifications upon receiving a start instruction from the tracking filter control device and predict the target specifications at the next beam irradiation time, and the tracking filters The radar beam irradiation angle and the radar signal processing control data are calculated based on the target specifications at the measured next beam irradiation time, and the radar signal processing control data is internally tracked by the first to fourth radar signal processing devices. Beam for outputting to the radar signal processing device corresponding to the quarter space where the target exists, and outputting the radar beam irradiation angle to the radar corresponding to the quarter space where the tracking target exists. A multi-target tracking device comprising a control device. 3. First to fourth radars which respectively radiate a radar beam and receive a radar video in each quarter space range in a hemispherical space, and detect from each of the first to fourth radars. Of the first to fourth radar signal processing devices for detecting the target detection data based on the received radar received video, and the target detection data and the already-tracked target detected from the first to fourth radar signal processing devices. One target correlator that takes a correlation, one tracking filter controller that controls which tracking filter to start based on the target correlation result obtained from this target correlator, and start instruction from this tracking filter controller In response to this, the present target parameters are estimated, and multiple tracking filters that predict the target parameters at the next beam irradiation time and the eyes at the next beam irradiation time predicted from this tracking filter are estimated. The radar beam irradiation angle and the radar signal processing control data are calculated on the basis of the specifications, and the radar signal processing control data is divided into quarters in which the inner tracking targets of the first to fourth radar signal processing devices are present. A beam control device that outputs the radar beam irradiation angle to a radar signal processing device corresponding to one space and outputs the radar beam irradiation angle to the radar corresponding to a quarter space in which the tracking target exists. Multi-target tracking device. 4. A first to a fourth radar for radiating a radar beam and receiving a radar video for each quarter of a hemispherical space, and detected from the first to the fourth radar. One radar signal processing device for detecting target detection data based on a radar reception video, and one target correlation device for correlating the target detection data detected from this radar signal processing device with a tracked target, One tracking filter control device that controls which tracking filter is activated based on the target correlation result obtained from the target correlation device, and the present target specifications are estimated in response to the activation instruction from this tracking filter control device. , A plurality of tracking filters that predict the target specifications at the next beam irradiation time, and the radar beam irradiation angle based on the target specifications at the next beam irradiation time predicted from the tracking filters. And calculating radar signal processing control data, outputting the radar signal control data to the radar signal processing device, and outputting the radar beam irradiation angle to the radar corresponding to the quarter space where the tracking target exists. A multi-target tracking device, which is configured with a beam control device.