JP6429689B2 - Sensor control system - Google Patents

Description

  The present invention relates to a sensor control system that controls a plurality of different types of sensors.

  The method for improving the observation ability of the sensor can be broadly divided into improvement of detection ability and improvement of tracking ability. The detection data that is the result of the detection process becomes the input data for the tracking process, and the result of the tracking process becomes the wake. The ability to generate and maintain wakes is important for improving the overall system capability. Therefore, to improve the observation capability of the sensor, it is necessary to improve the observation capability of the sensor by linking detection and tracking. In this specification, the observation result of the sensor at each time in the sensor observation is the detection data, and the observation result obtained by integrating the detection data determined to be the same target in time series is the wake.

  When detecting a target with a radar, it is necessary to direct a beam toward the target in order to transmit radio waves and receive reflections. Since radar observes the reflection of radio waves, it is advantageous if a large amount of power can be radiated to the target. On the other hand, the radar has a property that the observable distance is improved in proportion to the fourth power of the distance. If the relative distance of the target is reduced, the observation can be performed with a small amount of radiated power. The target radar cross-sectional area (Radar Cross Section: hereinafter referred to as “RCS”) also has a property that the detection distance is improved in proportion to the fourth power of the RCS. In this specification, the distance that the radar detects with a certain probability is referred to as “detection distance”.

  If the reflected wave from the target can be observed by the radar, the relative distance to the target and the size of the target RCS can be estimated. For this reason, in the tracking process for continuously observing the target, the transmission power is optimized based on the detection distance using the target information observed by the radar (for example, Patent Document 1 below).

  On the other hand, as a method for improving the tracking ability, there is a data fusion technique for improving the system ability by correlating and integrating the detection data and wakes of a plurality of mounted sensors (for example, Patent Document 2 below). This Patent Document 2 discloses a technique for improving observation capability by combining detection data and wakes of a plurality of mounted sensors.

JP 2002-139560 A JP 2008-185447 A

  In a mobile object such as an aircraft, the power capacity that can be used by the radar is restricted due to restrictions on equipment mounting. Since radar is required to have the ability to observe a target at a distance, an observation method that effectively uses available power is required. Further, when controlling a flying object using a radar, it is necessary to accurately know the target three-dimensional position speed, and the observation accuracy is also required.

  For this reason, the radar forms a narrow beam with a narrowed directing direction and performs radar observation. Hereinafter, a thin beam is referred to as a “pencil beam”. If the transmission range with the pencil beam is narrowed, usable power can be collected and transmitted, and the transmission power in the beam can be increased. Since the radar detection distance is proportional to the fourth power of the power applied to the target, the radar detection distance can be extended by increasing the transmission power in the beam. Radar also has an effect of improving the observation accuracy in the angular direction by narrowing the beam irradiation range.

  On the other hand, radar is required to observe a target not only at a long distance but also at a short distance. When observing a high maneuvering target such as an aircraft, the change in angular velocity is small when the relative distance is long, but the change in angular velocity is large when the distance is close.

  When the irradiation range of the beam is narrowed, the “instantaneous coverage” that is the range that can be observed by one observation becomes narrower. In order to observe the target, it is a prerequisite that the beam is directed to the target, but when observing an aircraft at a short distance, the angle of the target becomes large. It becomes difficult to direct the beam so that

  When observing an aircraft target, especially in an aircraft-mounted radar, it is necessary to cope with changes in the observation direction due to the movement of the radar-equipped aircraft itself, such as turning. It becomes difficult.

  One method for expanding the instantaneous coverage is to transmit a thick beam. However, in a thick beam, usable power is diffused and transmitted, so that the transmission power in the beam is reduced and the detection distance is reduced. In addition, observation with a thick beam reduces the observation accuracy and may hinder the operation of flying objects. For this reason, it was difficult to cope with both long-distance and short-distance observations.

  A radar with a DBF (Digital Beam Forming) function mounted on a moving body such as an aircraft can instantaneously generate a plurality of thin beams with a narrow beam irradiation range. Since this results in an image in which a plurality of pencil beams are generated simultaneously, the beam generated by the DBF function is hereinafter referred to as “multi-beam”.

  If a multi-beam is used, the observation accuracy can be made comparable to that of a pencil beam. For this reason, both instantaneous coverage expansion and observation accuracy can be achieved simultaneously. However, since the available power is distributed, the observable relative distance is lower than that of the pencil beam.

  From the above technical background, by adding the DBF function to the radar, the observation method with a pencil beam, which takes advantage of the fact that the observable distance is long but the observable distance is long, and the instantaneous coverage is wide. However, it has become possible to switch to a multi-beam observation method that takes advantage of the short relative distance that can be observed.

  On the other hand, since the method of Patent Document 1 is a radar control method based on the detection distance, it is difficult to cope with the radar control considering the instantaneous coverage, that is, the possibility of directing the beam in the target direction. . In order to observe a target, it is necessary to extend the beam to the target to a control method that ensures directivity. Therefore, not only the detection distance but also both the detection distance and the instantaneous coverage are used as a reference. There is a problem that a function for controlling the function is required.

  The DBF function of the radar depends on the structure of the radar device such as an antenna, and the number of usable multi-beams is determined. For this reason, there is a problem that a function for controlling the DBF function of the radar according to the radar specifications is required.

  It is known that the observation capability can be improved by using a combination of observation information via a radar, other on-board heterogeneous sensors, and a network in a moving body. In addition, a system in which a radar is mounted on various equipment such as an automobile has been realized, and if the observation information used for radar control is limited to the observation result of the radar itself, the ability cannot be sufficiently exhibited.

  In the above-mentioned Patent Document 2, multi-sensor control that is controlled in combination with radar, other on-board heterogeneous sensors, and observation information via a network is disclosed. However, a control method that takes advantage of the features of the DBF function has not been realized. For this reason, realization of a function for controlling the DBF function of the radar is desired as part of multi-sensor control.

  When the control is performed only on the observation result of the radar itself, the observation error is defined only by the radar performance, so that it is easy to estimate an appropriate beam irradiation range. On the other hand, when combined with radar and other onboard heterogeneous sensors or observation information via a network, a special function for estimating the observation accuracy of observation information is required. According to the above-mentioned Patent Literature 2, observation accuracy information can be obtained by a combination of radar, other on-board heterogeneous sensors, and observation information via a network. For this reason, it is desired to realize a function for determining a radar control method after estimating an appropriate beam irradiation range according to observation information obtained by a system such as Patent Document 2.

  The present invention has been made in view of the above, and an object of the present invention is to obtain a sensor control system that implements a function of controlling the DBF function of a radar as part of multi-sensor control.

  In order to solve the above-described problems and achieve the object, the present invention provides a sensor control system that controls a plurality of sensors, and the sensor control system includes a DBF radar control unit that controls a radar with a DBF function. The DBF radar control unit is configured to detect the target of the radar with DBF function based on information on the observation target from the external pointing mechanism and information on the target of the sensor-directed target that is an observation result from the radar with DBF function. A control method is determined.

  According to the present invention, it is possible to provide a sensor control system that implements a function of controlling the DBF function of a radar as part of multi-sensor control.

The figure which shows the structure of the sensor control system by Embodiment 1. A flowchart showing an example of a basic processing flow in the configuration of the first embodiment The figure which shows an example of the information stored in the sensor control rule of Embodiment 1 The figure which showed the detection probability graph which determines detection distance among the information stored in FIG. The figure which displayed the information input from the external instruction mechanism in Embodiment 1 in a table format Conceptual diagram showing an example of a multi-beam observation method in a radar with a DBF function The figure which shows the structure of the sensor control system by Embodiment 2. The figure which shows the structure of the sensor control system by Embodiment 3. The figure which shows the structure of the sensor control system by Embodiment 4. The figure which shows the structure of the sensor control system by Embodiment 5. The figure which shows the structure of the sensor control system by Embodiment 6. The figure which shows the structure of the sensor control system by Embodiment 7. The figure which shows the structure of the sensor control system by Embodiment 8. The figure which shows the structure of the sensor control system by Embodiment 9. The flowchart which shows an example of the flow of the basic process by Embodiment 9. The figure which shows the structure of the sensor control system by Embodiment 10.

  Hereinafter, a sensor control system according to an embodiment of the present invention will be described in detail with reference to the accompanying drawings. In the following embodiments, the same or corresponding parts are denoted by the same reference numerals, and redundant description is omitted. Moreover, although the following description demonstrates the case where a mobile body is an aircraft, it cannot be overemphasized that it is applicable to mobile bodies other than an aircraft.

Embodiment 1 FIG.
FIG. 1 is a diagram illustrating a configuration of a sensor control system according to the first embodiment. In FIG. 1, the sensor control system 100 includes a DBF radar control unit 200 having a sensor control determination unit 201, a sensor control rule 202, and a control command issuing unit 203. The DBF radar control unit 200 is configured by connecting a radar 600 with a DBF function and an external instruction mechanism 900.

  In the DBF radar control unit 200, the sensor control determination unit 201 obtains information on the observation target from the external instruction mechanism 900 and information on the target of the sensor pointing target, which is an observation result from the radar 600 with DBF function. Referring to the sensor control rule recorded in the sensor control rule 202, this is a component that determines the DBF radar control method. Note that the observation target information includes time, estimated target position and estimated speed, estimated RCS, and estimated observation error. The control method determined by the sensor control determining unit 201 is output to the control command issuing unit 203.

  The sensor control rule 202 stores DBF function-equipped radar control information used as an observation resource and a determination condition for determining sensor control in accordance with an observation situation.

  Here, the DBF function-added radar control information is specification information such as performance specifications and control methods of the DBF function radar necessary for determining the sensor control method. In the present embodiment, it is assumed that instantaneous coverage of radio wave transmission / reception, detection distance, observation accuracy, and transmission power are stored as modes corresponding to beam shapes that can be controlled by the radar. Judgment conditions include information on criteria used to determine the control method, including detection probabilities to be secured at the time of radar observation, range to be covered when instantaneous coverage is applied, and priority between each condition. It is. In this embodiment, the detection probability to be secured and the instantaneous coverage to be secured are set.

  The control command issuing unit 203 is a component that outputs a sensor control command corresponding to the output of the sensor control determining unit 201 to the radar 600 with DBF function.

  The radar 600 with a DBF function includes a radar observation unit 610 and a radar control unit 620. The DBF function radar 600 forms a plurality of beams by using the DBF function, and instantaneously observes a wide coverage area with high accuracy. The radar 600 with a DBF function manages a control method such as an instantaneous coverage and transmission power of a radio wave including a beam directivity pattern and a DBF as a radar control mode, and externally controls the radar control mode 620 with a radar control mode. Enter the sensor control command and specify the desired observation. In the configuration of FIG. 1, the sensor control command specifying the radar control mode is input from the control command issuing unit 203 of the DBF radar control unit 200.

  The external instruction mechanism 900 is a component that designates the above-described “observation target information” and gives an instruction to perform observation to the sensor control system 100. The external instruction mechanism 900 receives the observation results of the other sensors mounted on the same moving body and the observation results of the sensors installed in other places by wireless communication, so that the sensor control system 100 can perform reference control for directivity control. Enter “observation target information”.

  Next, the operation of the sensor control system 100 according to Embodiment 1 will be described with reference to the drawings of FIGS. 1 to 6 as appropriate. FIG. 2 is a flowchart showing an example of a basic processing flow in the configuration of the first embodiment. FIG. 3 is a diagram illustrating an example of information stored in the sensor control rule 202 according to the first embodiment. FIG. 4 is a diagram showing a detection probability graph for determining the detection distance among the information stored in FIG. FIG. 5 is a table showing information input from the external instruction mechanism 900 according to the first embodiment in a table format. FIG. 6 is a conceptual diagram illustrating an example of a multi-beam observation method in the radar 600 with a DBF function.

(Step 1: Input of initial observation information)
“Input of initial observation information” in Step 1 means an instruction to start observation specifying an observation target. In the configuration of FIG. 1, the operation of inputting “observation target information” from the external instruction mechanism 900 corresponds to Step 1. A specific example of the operation is as shown in FIG. In FIG. 5, there are two inputs, and at the first time, the time T0, the target estimated position is a relative distance of 65 km, an estimated speed of 300 m / sec, an estimated radar cross section (hereinafter referred to as “RCS”). 1.0 m ^2, the estimated observation error 1km is input, the second, the time T1, the relative distance 30km as the estimated position of the target, the rate is 300 meters / sec, estimated RCS1.0M ^2, the estimated observation error 1km is input.

(Step 2: Determination of initial observation method)
In Step 2, the sensor control determination unit 201 detects “observation target information” (in the example of FIG. 5, estimated target relative distance, estimated speed, estimated RCS, estimated observation error) input from the external instruction mechanism 900, Using the information stored in the control rule 202, the control method of the radar 600 with DBF function is determined.

  In the first embodiment, for ease of explanation, an example in which processing from Step 2 to Step 4 can be performed at the time when information is input from the external instruction mechanism 900 will be described. That is, it is assumed that each process is completed at time T0 or time T1. When a processing delay occurs in the actual system, the direction directed from the target speed is calculated using the time information, and the estimation error is corrected. These calculation processing and correction processing are: The sensor processing in this technical field is a general processing content, and a description thereof is omitted here.

  In the sensor control rule 202 according to the first embodiment, a control method that can be implemented by the radar 600 with the DBF function is stored as a control mode, and instantaneous coverage and detection performance information corresponding to the control mode are stored. The sensor control rule 202 also stores determination criteria for determining a control method. An example of the control method and determination criteria is as shown in FIG. Hereinafter, in the first embodiment, the operation when the information shown in FIG. 3 is set will be described.

In FIG. 3, “mode 1” for observation with a pencil beam and “mode 2” having four times the instantaneous coverage with four multi-beams are set as control modes. In the instantaneous coverage, “mode 1” is ± 1 deg from the beam center, and “mode 2” is ± 2 deg from the beam center. Further, as shown in FIG. 4, the detection distance when the detection probability is 50% is 70 km in “mode 1” and 50 km in “mode 2” with respect to RCS 1.0 m ² . The observation accuracy is equivalent to 0.5 km in “mode 1” and “mode 2”. In addition, three determination criteria are set as “the instantaneous coverage includes observation errors”, “detection probability is 50% or more”, and “detection distance priority”.

  In the example of FIG. 5, since the relative distance is 65 km and the estimated observation error is 1 km at the first input, it can be estimated that the target is within a range of ± 0.8 deg of the designated position. And “mode 2”. On the other hand, the condition that the detection probability is 50% or more satisfies only the “mode 1”. Therefore, the sensor control determination unit 201 determines to direct the sensor to the target estimated position in “mode 1”, and instructs the control command issuing unit 203 to issue a sensor control command.

  In the example of FIG. 5, since the relative distance is 30 km in the second input, the condition that the detection probability is 50% or more can be handled in both “mode 1” and “mode 2”. On the other hand, since the estimated observation error is 1 km at a relative distance of 30 km, it is estimated that the target is within a range of ± 1.9 deg of the specified position, so the instantaneous coverage only satisfies the determination condition. For this reason, the sensor control determination unit 201 determines to direct the sensor to the target estimated position in “mode 2”, and instructs the control command issuing unit 203 to issue a sensor control command.

(Step 3: Issue initial sensor control command)
In Step 3, the control command issuing unit 203 issues a sensor control command as a control instruction for the sensor to the radar 600 with DBF function in accordance with the instruction from the sensor control determining unit 201. In the first input, a sensor control command for directing the sensor in “mode 1” to the target estimated position designated by the external instruction mechanism 900 is issued. In the second input, a sensor control command for directing the sensor in “mode 2” to the estimated target position designated by the external instruction mechanism 900 is issued.

(Step 4: Initial sensor observation)
In Step 4, the radar 600 with a DBF function performs radar observation according to the sensor control command issued by the control command issuing unit 203. In the first input, in “mode 1”, observation is performed with the pencil beam directed at the target estimated position designated by the external pointing mechanism 900. In the second input, in “mode 2”, the multi-beam is directed to the target estimated position designated by the external pointing mechanism 900 and observation is performed. When the radar with DBF function 600 performs observation using “mode 2” multi-beams, the transmission is a thick beam including the entire coverage area as shown in FIG. It is also possible to transmit by using a multi-beam only for reception.

  Here, when the radar detects the target, the detection result is processed into new target information by performing signal processing on the received radio wave, and is output to the sensor control determination unit 201. In the radar 600 with a DBF function according to the first embodiment, the radar control unit 620 receives a sensor control command and instructs the radar observation unit 610 to perform observation. The radar observation unit 610 performs radar observation and signal processing using a designated control method. The control in the DBF function-equipped radar 600 is the same as that of a general radar, and further explanation of the operation is omitted here.

(Step 5: Determination of observation method)
In Step 5, the process is executed in the same procedure as Step 2, that is, “determination of the initial observation method”. More specifically, the sensor control determination unit 201 uses the information stored in the sensor control rule 202 on the basis of target information input from the external instruction mechanism 900 or the radar 600 with DBF function, and has a DBF function. The control method of the radar 600 is determined, and the control command is issued to the control command issuing unit 203.

(Step 6: Issuing sensor control commands)
In Step 6, the same process as “Initial sensor control command issuance” in Step 3 is executed. That is, the control command issuing unit 203 issues a sensor control command to the DBF function-equipped radar 600 in accordance with an instruction from the sensor control determining unit 201.

(Step 7: Sensor observation)
In Step 7, the same process as “Initial sensor observation” in Step 4 is executed. That is, the DBF function-equipped radar 600 performs observation by radar processing. Note that the processing from Step 5 to Step 7 is repeatedly executed.

  The processing from Step 5 to Step 7 will be described using the setting examples shown in FIGS. For example, it is assumed that the time has passed after the first input, the target has approached 30 km, and the target is being observed by the radar 600 with DBF function. In this case, since the estimated observation error is 0.5 km from the information of the sensor control rule 202 at the relative distance of 30 km, and the target can be estimated to exist within a range of ± 0.95 deg of the designated position, “mode 1” and “mode 2” ”Both. Further, as can be understood from FIG. 4, a detection probability of 50% or more can be handled in both “mode 1” and “mode 2”. In such a case, in the “observation method determination” step of Step 5, since the sensor control determination unit 201 sets “detection distance priority” in the sensor control rule 202, it selects “mode 1” advantageous in detection distance, This control method is instructed to the control command issuing unit 203.

  Assume that the time has further passed, the target has approached 15 km, and the target is continuously observed by the radar 600 with DBF function. In this case, since the estimated observation error is 0.5 km at a relative distance of 15 km, it can be estimated that the target is within a range of ± 1.9 deg of the designated position. However, the detection distance can be handled by both “mode 1” and “mode 2”, but the instantaneous coverage only satisfies the determination condition of “mode 2”. Therefore, “mode 2” is selected, and the control command issuing unit 203 is instructed about the control method.

  As described above, according to the sensor control system and the sensor control method according to the first embodiment, both the detection distance and the instantaneous coverage are detected according to the target observation conditions using the radar equipped with the DBF function. It is possible to realize a sensor control system that determines a sensor control method using the above as a determination condition. In addition, when radar observation information is obtained, both the detection distance and the instantaneous coverage are determined according to the relative distance from the target and the accuracy of the information used in the control after ensuring the observation accuracy. As a criterion, the transmission power and the instantaneous resource coverage can be determined. In addition, there is no guarantee that the target can be observed with a single sensor, but according to the sensor control system and the sensor control method according to the first embodiment, sensor control can be realized by an appropriate method according to the observation situation. effective. In the above, the detection distance may be referred to as detection probability. The instantaneous coverage is a determination condition for determining whether or not a target exists in the beam directing range.

  In the description of the first embodiment, for ease of explanation, the example in which the beam pointing range is determined based on the estimated observation error that is an example of the position error has been described. However, the control based on the target angular velocity is used. A similar effect can be obtained by setting a rule and performing control corresponding to the control rule.

  In the first embodiment, for ease of explanation, the estimated observation error is set to a constant numerical value, and the control rule using the inside or outside of the instantaneous coverage as a criterion is described. However, the estimated observation error is set as a probability. The same effect can be obtained by executing control corresponding to the control rule using the probability that the target exists in the instantaneous coverage as a criterion.

Embodiment 2. FIG.
FIG. 7 is a diagram illustrating a configuration of a sensor control system according to the second embodiment. In the second embodiment, as shown in FIG. 7, in the configuration of the first embodiment shown in FIG. 1, a data fusion unit 500 is added and the DBF radar control unit 200 is replaced with a DBF radar control compatible sensor management unit 300. The sensor control system 100 is configured by changing. Further, in the second embodiment, in addition to the sensor control system 100 in the configuration of FIG. 1, the radar 600 with DBF function, the on-board sensor 700 which is a sensor different from the DBF function radar 600, the data communication unit 811 and the pilot interface A part 821 is added to form an aircraft 800A. Further, in the second embodiment, the aircraft 800B and the external sensor control mechanism 901 are added as a related system as a wingman having the same configuration as the aircraft 800A.

  The data fusion unit 500 generates target information by correlating and integrating the observation information related to the observation target input from the radar 600 with the DBF function, the on-board sensor 700, and the data communication unit 811. In addition, it is a configuration unit that generates information as target information and centrally manages it by assigning information to be used in the moving body in relation to the quality of observation, the correlation of control availability according to the quality of observation, and the integration result. Here, “observation quality” includes accuracy, observation frequency, elapsed time from the last observation, and the like.

  The DBF radar control compatible sensor management unit 300 configured by adding a function to the DBF radar control unit 200 determines a control method of the on-board sensor 700 based on the sensor control rule, and performs observation control of the sensor to be controlled. In addition to the functions to be performed, the observation method is determined based on the information of the observation target and the specifications of the radar 600 with DBF function to be used, and the sensor control command is transmitted to the radar 600 with DBF function, thereby utilizing the features of DBF. This is a component that realizes beam control management. Here, the “observation target information” includes a target estimated relative distance, an estimated RCS, an estimated observation error, and the like. “Specifications of radar with DBF function to be used” include a beam shape that can be controlled as a radar, instantaneous coverage of radio wave transmission / reception including DBF, observation accuracy, transmission power, and the like. “Observation methods” include beam directing methods, instantaneous coverage of radio wave transmission and reception, and the like.

  In the following description, when the airframe is distinguished and described, it will be described with reference numerals like the aircraft 800A and the aircraft 800B. On the other hand, when it is not necessary to designate the aircraft, the aircraft 800 will be described without adding alphabets such as A and B. In the following description, the aircraft 800A is used as a reference.

  The data fusion unit 500 includes a correlation integration unit 510 and a target information management unit 520. The correlation integration unit 510 performs correlation processing and integration processing on observation information input from the radar 600 with DBF function, the onboard sensor 700, and the data communication unit 811 using a tracking algorithm, and generates a wake as target information. . Further, the data fusion unit 500 generates a new track using the input detection data and the input track, and outputs the new track to the target information management unit 520. In FIG. 7, the DBF function-equipped radar 600 and the mounted sensor 700 are illustrated as the mounted sensors, but the present invention is not limited to these.

  The target information management unit 520 sets a track as target information, which is the integration result generated by the correlation integration unit 510, and observation quality for the track, and performs centralized management. In the present embodiment, observation information necessary for DBF radar control is generated in addition to information for controlling a plurality of mounted sensors. More specifically, in addition to the target position, speed, and observation time, target observation accuracy information and target RCS used for comparison of instantaneous coverage determination criteria are generated. In the sensor observation, since the true position is unknown, the information is predicted from the observation result. As the observation accuracy information, information based on the angular velocity can be generated, but in this embodiment, in order to simplify the explanation as in the first embodiment, an example in which an estimation error related to the position is set will be described.

  The target information generated by the target information management unit 520 is output to the DBF radar control compatible sensor management unit 300, the pilot interface unit 821, and the data communication unit 811. In addition to generating observation information necessary for DBF radar control, the data fusion unit 500 correlates and integrates “radar detection data” and “infrared (hereinafter referred to as“ IR ”) detection data”, and The process of correlating and integrating the wakes can be realized by a method similar to the method realized in Patent Document 2 described above.

  The DBF radar control compatible sensor management unit 300 includes a multi-sensor control determining unit 301, a multi-sensor control rule 302, and a multi-sensor control command issuing unit 303. The DBF radar control compatible sensor management unit 300 is a component that determines the control method of the mounted sensor based on the preset multi-sensor control rule 302 and outputs a sensor control command to the sensor to be controlled. More specifically, the DBF radar control compatible sensor management unit 300 determines a sensor control method from the target information output by the data fusion unit 500 with reference to a multi-sensor control rule 302 set in advance as a determination criterion. In addition, according to the determined sensor control method, a sensor control command is output to the target sensor from among the mounted sensors. In addition to the above functions, the DBF radar control compatible sensor management unit 300 uses a multi-sensor control rule 302 for the control of the radar 600 with DBF function, and the same sensor control method and determination as the sensor control rule 202 of the first embodiment. A standard has been added.

  As with the sensor control determination unit 201 of the first embodiment, the multi-sensor control determination unit 301 secures the observation accuracy in detection, and in accordance with the relative distance from the target and the accuracy of information used in the control. In addition, a sensor control function for determining the optimum transmission power and the resource allocation of the instantaneous coverage using both the instantaneous coverage and the detection distance as a criterion is added. In the above, the detection distance may be referred to as detection probability. The instantaneous coverage is a determination condition for determining whether or not a target exists in the beam directing range. In addition, the multi-sensor control command issuing unit 303 has a function of issuing a sensor control command necessary for controlling the radar 600 with a DBF function, similar to the control command issuing unit 203 of the first embodiment. The determination of a sensor control method other than the radar 600 with the DBF function using the target information output by the DBF radar control compatible sensor management unit 300 can be realized by a method similar to the method realized in Patent Document 2 described above. It is.

  The DBF function-equipped radar 600 is a radar having the same DBF function as that of the first embodiment. The on-board sensor 700 is a different type of on-board sensor from the radar. An IR sensor that can output a target orientation as observation information by observing infrared rays is an example of the on-board sensor 700. The on-board sensor 700 includes an observation unit 701 and a control unit 702, similarly to the radar 600 with a DBF function. The on-board sensor 700 outputs “IR detection data” using infrared radiation intensity for target observation, but the operation is the same as when the radar 600 with DBF function operates as a conventional single radar. The description here is omitted.

  The data communication unit 811 is a component that exchanges data with the aircraft 800B in the formation and between the external sensor control mechanism 901 that is a wide area facility and the aircraft 800A. The target information managed by the target information management unit 520 provided in the data fusion unit 500 is exchanged between the aircrafts in the formation. External sensor control mechanism 901 transmits observation information and control information of the external sensor, and target information is transmitted from aircraft 800A. Note that the target information to be transmitted can be sent by selecting necessary information according to the transmission destination. The data communication unit 811 also has a voice communication unit between the aircraft 800B in the formation and the external sensor control mechanism 901, as in the conventional apparatus, but the description thereof is omitted here.

  The pilot interface unit 821 is a component that provides a man-machine interface between the sensor control system 100 and the pilot. Although not shown in FIG. 7, an output device including a monitor and a speaker for displaying and outputting information to a pilot who controls the aircraft 800, a control stick for operating the aircraft 800 according to information obtained by the pilot, and various operations Input devices made up of devices are included.

  The processing flow of the second embodiment is basically the same as the processing flow of the first embodiment shown in FIG. 2, and is controlled by a method of repeating the processing from Step 5 to Step 7 of FIG. However, the difference is that observation and control are performed for not only the radar 600 with the DBF function but also the on-board sensor 700 as the sensor to be controlled. Further, although information used in the control judgment criteria increases, the basic sensor control flow is the same or equivalent.

  In the second embodiment, by adding a function that uses the DBF function of the radar to the control function of the multi-sensor, in addition to the effect of the multi-sensor control, in the radar control, the observation accuracy in the detection is secured. Depending on the relative distance to the target and the accuracy of the information used for control, the target exists in the beam pointing range and the detection distance (detection probability) is used as a criterion, or the target exists in the beam pointing range. Thus, there is an effect that it is possible to realize a sensor control system that can determine a suitable transmission power and instantaneous coverage resource allocation by using both the detection probability and the detection probability as judgment criteria.

  Further, in the second embodiment, based on observation accuracy information with respect to observation information combined with radar and other onboard heterogeneous sensors and observation information via a network, an appropriate beam irradiation range is estimated and executed. It becomes possible to utilize information of various observation accuracy, and there is an effect that observation information used for radar control can be expanded. In particular, by realizing as part of multi-sensor control, there is an effect that it is possible to realize sensor control that effectively utilizes observation information of other on-board sensors and also takes into account the linkage with the control of other on-board sensors.

  In the second embodiment, the radar control is performed using not only the radar observation information but also other onboard sensors and information via the network, so that the radar can obtain information before or during the radar observation. Even in a situation where it cannot be obtained, there is an effect that appropriate sensor control can be performed.

  In the second embodiment, for ease of explanation, the example in which only the mounted sensor 700 is added has been described. However, the same effect can be obtained by adding another mounted sensor. By adding the observation ability of another on-board sensor, it can be expected to obtain a synergistic effect of improving the ability of the other on-board sensor.

Embodiment 3 FIG.
FIG. 8 is a diagram illustrating a configuration of a sensor control system according to the third embodiment. In the third embodiment, as shown in FIG. 8, in the configuration of the second embodiment shown in FIG. 7, the DBF radar control compatible sensor management unit 300 is changed to a capture function extended DBF radar control compatible sensor management unit 310. Thus, the sensor control system 100 is configured. The acquisition function extended DBF radar control compatible sensor management unit 310 is a time series for directing radar waves for the required number of times based on the search range in which the cumulative detection probability and the detection probability condition are set in the DBF radar control compatible sensor management unit 300. This is a configuration part to which a control function is added.

  The capture function expansion DBF radar control compatible sensor management unit 310 includes a capture function expansion multi-sensor control determination unit 311, a capture function expansion multi-sensor control rule 312, and a multi-sensor control command issuance unit 303.

  The capture function expansion multi-sensor control determination unit 311 determines a sensor control method by the same processing as the multi-sensor control determination unit 301 of Embodiment 2 from the capture function expansion multi-sensor control rule 312 and the observation information. However, when the cumulative detection probability is set in the capture function extended multi-sensor control rule 312, or when the search range in which the detection probability condition is set is set in the capture function extended multi-sensor control rule 312, A sensor control method for directing radar waves as many times as necessary is determined, and the multi-sensor control command issuing unit 303 is instructed to issue sensor control commands in time series, that is, at a plurality of times.

  In addition to the rule set in the multi-sensor control rule 302 of the second embodiment as a determination criterion, a search range in which the cumulative detection probability and the detection probability condition are set is set in the capture function expansion multi-sensor control rule 312.

In the third embodiment, as a setting example for the cumulative detection probability, as a criterion for the rule of the first embodiment, “Observation within the instantaneous coverage before tracking starts” and “cumulative detection probability is 70%. Add the rule “above”. In addition, the search range in which the detection probability condition is set is “search range 1” with a relative distance of 70 km or more with respect to RCS 1.0 m ² and a detection probability of 50% or more, search center (azimuth 0 deg, azimuth 0 deg), range (AZ direction 10 deg) , EL direction 10 deg) "is set, and the search range 2 is" relative distance 40 km or more with respect to RCS 1.0 m ² and detection probability is 50% or more, search center (azimuth 0 deg, azimuth 0 deg), range (AZ direction 10 deg, EL Direction 10 deg) ".

  Hereinafter, a sensor control determination method in the capture function expansion multi-sensor control determination unit 311 in the third embodiment will be described.

First, a control method based on the cumulative detection probability will be described. For example, it is assumed that target information with a relative distance from the target of 120 km, an estimation error of 1 km, and an RCS of 1.0 m ² is input as target information of a target that is not tracked by the own device. In this case, mode 1 (see FIG. 3 and FIG. 4) is selected based on the constraints in the instantaneous coverage. The cumulative detection probability is expressed by the following equation when the detection probability is Pd and the number of observations is N.

Cumulative detection probability = 1- (1-Pd) ^N (1)

  In the above formula (1), “Pd” is the probability that the target can be detected when the radar wave is directed once, and “N” is the number of times that the radar wave can be directed to the target and the observation can be performed. .

  In this embodiment, in mode 1, it is assumed that the relative distance is 120 km, the detection probability is 20%, and Pd = 0.2. In this case, N = 6, that is, if the observation is performed six times, the cumulative detection probability is about 74%, which is 70% or more of the constraint condition. For this reason, the capture function expansion multi-sensor control determination unit 311 determines to perform sensor control in which the pencil beam in mode 1 is directed six times in the target direction to perform observation. At this time, a corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the radar 600 with a DBF function.

Next, for example, it is assumed that target information having a relative distance to the target of 70 km, an estimation error of 2 km, and an RCS of 1.0 m ² is input as target information of the target that the own device does not track. In this case, it is presumed that the target exists within a range of ± 1.6 deg of the designated position, and if it is not “mode 2”, the target cannot be captured within the instantaneous coverage area, so mode 2 is selected. Here, in “mode 2” in the present embodiment, it is assumed that the detection probability Pd at a relative distance of 70 km is 30% (= 0.3). In this case, N = 4, that is, in the case of four observations, the cumulative detection probability is about 76% according to the above equation (1), which is 70% or more of the constraint condition. For this reason, the capture function expansion multi-sensor control determination unit 311 determines to perform the sensor control in which the multi-beams in the mode 2 are directed and observed four times in the target direction. With this determination, a corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the DBF function-equipped radar 600.

  Next, a control method based on a search range in which detection probability conditions are set will be described.

When the search range 1 is designated, the capture function expansion multi-sensor control determination unit 311 selects “mode 1” from the condition that the relative distance is 70 km or more and the detection probability is 50% or more with respect to RCS 1.0 m ² . Here, in “mode 1”, since the instantaneous coverage is 1 deg and the search range is 10 deg in the AZ direction and 10 deg in the EL direction, it is determined that the observation is performed with 100 beams directed in total. A corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the radar 600 with DBF function.

Further, when the search range 2 is designated, the capture function expansion multi-sensor control determination unit 311 selects a “mode with a wide instantaneous coverage from the condition that the relative probability is 40 km or more and the detection probability is 50% or more with respect to RCS 1.0 m ² . 2 ”is selected. In “Mode 2”, since the instantaneous coverage is 2 deg and the search range is 10 deg in the AZ direction and 10 deg in the EL direction, it is determined to perform observation by directing 25 beams in total. A corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the DBF function-equipped radar 600.

  The third embodiment has an effect that an appropriate instantaneous coverage is set for the DBF radar in consideration of a range where the target may exist, and the number of directivity necessary for achieving the cumulative detection probability can be set. .

  In the third embodiment, an efficient search can be performed by setting an appropriate instantaneous coverage of the DBF radar in consideration of the radar detection probability even in the search range in which the detection probability condition is set. There is an effect. In particular, when a multi-beam search is performed, there is an operational effect that the search can be completed in a short time compared with a conventional search using only a pencil beam.

  The sensor system is also required to generate information necessary for operation, such as providing information to pilots and fire control. Information necessary for operation is often track information that is a result of tracking processing. In order to generate the wake by performing the tracking process, the detection result of the sensor is required. For this reason, in the tracking process, especially when tracking is started, it is required to input a detection result with a certain probability. On the other hand, in tracking, it is not necessary to input a detection result every time. For this reason, at the start of tracking, whether or not detection data can be obtained within a certain time is more important than the detection probability, that is, the probability that the target can be detected when the radar is pointed once. For this reason, in the tracking start process, it is advantageous if the sensor can be controlled based on the cumulative detection probability.

  In the third embodiment, it is possible to perform control to obtain target detection data by directing the DBF radar with reference to the cumulative detection probability. As a result, in the third embodiment, there is an effect that sensor control can be carried out by taking advantage of the characteristics of the DBF radar and guaranteeing the possibility that the target exists in the instantaneous coverage area.

  Further, in the third embodiment, there is an effect that an appropriate control method can be realized by appropriately controlling a radar equipped with a DBF function according to tracking start processing which is one of sensor operations.

  In general, the observation information from outside the aircraft has a larger observation error than the onboard sensor. When observing a relatively far distance, the influence of the error in the angular direction is small, so that there is little problem even with the conventional radar observation method using a pencil beam with a narrow instantaneous coverage. On the other hand, when observing a short distance, the influence of the error in the angular direction is large, and the pencil beam alone is outside the instantaneous coverage area. Since there is no target in the beam outside the instantaneous coverage area, the cumulative effect cannot be obtained, and it is difficult to detect with the on-board sensor even if the radar is directed a plurality of times in the target direction.

  On the other hand, in the third embodiment, when the short distance is observed, the radar DBF function can be utilized and the instantaneous coverage can be expanded, so that the target can be set within the instantaneous coverage, There is an effect that a system capable of obtaining the effect of cumulative detection can be realized. In addition, since it is possible to carry out observation by narrowing the instantaneous coverage and extending the detection distance at a long distance, there is an effect that it is possible to realize sensor control in appropriate tracking start processing according to the target observation state.

  In particular, at a short distance, even if the speed is the same, the angular speed that is the moving speed in the target angular direction becomes large. For this reason, according to the delay time from observation to radar control, the range where the target exists is larger than the long distance, especially the observation information from outside the aircraft where the delay time is longer than the installed sensor When using, the effect will be greater. For this reason, if the method of Embodiment 3 is employ | adopted, it can be expected that the effect of the sensor control using DBF will become more obvious.

  In the third embodiment, for ease of explanation, the example has been described in which sensor control is simply determined based on the cumulative detection probability with a constant observation error. However, the observation error is used as a probability and the target is within the instantaneous coverage area. It is also possible to use a control method based on the probability of the occurrence of the error, and a similar effect can be obtained by setting a corresponding control rule and performing control corresponding to the rule.

  Further, in the third embodiment, for ease of explanation, only the achievement of the cumulative detection probability is used as a reference. However, as the number of observations necessary for achieving the cumulative detection probability, the existence probability in the covered area, the cumulative detection probability, The same effect can be obtained by setting a sensor control rule combining the number of observations or setting a criterion for setting an evaluation function for a plurality of elements.

Embodiment 4 FIG.
FIG. 9 is a diagram illustrating a configuration of a sensor control system according to the fourth embodiment. In the fourth embodiment, as shown in FIG. 9, in the configuration of the second embodiment shown in FIG. 7, the DBF radar control compatible sensor management unit 300 is changed to a tracking function extended DBF radar control compatible sensor management unit 320. Thus, the sensor control system 100 is configured. The tracking function expansion DBF radar control compatible sensor management unit 320 has a function of directing control so that the DBF radar control compatible sensor management unit 300 can expect the target detection frequency at a frequency necessary for maintaining tracking. It is a component. The “frequency” here can be read as “time interval and number of times”.

  The tracking function expansion DBF radar control compatible sensor management unit 320 includes a tracking function expansion multi-sensor control determination unit 321, a tracking function expansion multi-sensor control rule 322, and a multi-sensor control command issuance unit 303.

  The tracking function extended multi-sensor control determination unit 321 determines a sensor control method by the same processing as the multi-sensor control determination unit 301 from the tracking function extended multi-sensor control rule 322 and the observation information. However, if the tracking function expansion multi-sensor control rule 322 specifies the frequency necessary for maintaining tracking and determines that the sensor control for the purpose of maintaining the tracking of the target is performed, the radar is detected at the frequency required for the target direction. A sensor control method for directing waves is determined, and the multi-sensor control command issuing unit 303 is instructed to issue sensor control commands in time series, that is, at a plurality of times.

  It should be noted that the determination as to whether or not the control for the purpose of keeping track of the target is performed can be realized by a method similar to the method realized in Patent Document 2 described above.

  In the tracking function extended multi-sensor control rule 322, in addition to the rule set in the multi-sensor control rule 302 as a determination criterion, the observation frequency of the radar necessary for maintaining tracking is set as the determination criterion.

  Here, as a setting example regarding the radar observation frequency necessary for maintaining tracking, in the fifth embodiment, “the radar observation is performed at a frequency of one expected value per second” as a criterion for the rule of the first embodiment. In addition, a rule “priority is given to instantaneous coverage expansion for tracking maintenance” is added, and “observation is performed at a cycle of 100 msec” is set in the control method of the radar 600 with DBF function. In addition, the case where the expected value of radar observation is calculated by “detection probability” × “number of observations” is exemplified.

  Hereinafter, a sensor control determination method in the tracking function expansion multi-sensor control determination unit 321 according to the fourth embodiment will be described.

  For example, it is assumed that tracking is being performed when the relative distance to the target is 120 km. When the relative distance is 120 km, the detection probability in mode 1 is 20% (Pd = 0.2), and the detection probability in mode 2 is 5% (Pd = 0.05).

  To achieve the expected value once, mode 1 requires five observations, and mode 2 requires four times that of mode 1, that is, 20 observations. Because of the rule that “observation is performed at a cycle of 100 msec”, 10 is the maximum number of observations per second, and observation in mode 2 is impossible. For this reason, the tracking function extended multi-sensor control determination unit 321 determines to perform the observation by directing the beam so as to observe the target direction in mode 1 five times per second. At this time, a corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the radar 600 with a DBF function.

  In addition, since a maximum of 10 observations are possible in one second, the remaining 5 observations can be performed by other target observations or radio wave sealing control without transmitting radio waves.

  Next, for example, it is assumed that tracking is being performed at a relative distance of 70 km from the target. When the relative distance is 120 km, the detection probability in mode 1 is 50% (Pd = 0.5), and the detection probability in mode 2 is 30% (Pd = 0.3).

  In the case of the above example, in order to achieve the expected value once, mode 1 requires two observations and mode 2 requires four observations. Therefore, either mode 1 or mode 2 can be supported, but the observation in mode 2 is selected based on the rule that “the tracking coverage is prioritized for tracking maintenance”. For this reason, the tracking function extended multi-sensor control determination unit 321 determines to perform the observation by directing the beam so as to observe the target direction in mode 2 four times per second. With this determination, a corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the DBF function-equipped radar 600.

  In the fourth embodiment, in consideration of maintenance of tracking, it is possible to realize sensor control that enables execution of tracking processing while ensuring the input of certain detection data based on both detection probability and instantaneous coverage. There is.

  The tracking process according to the fourth embodiment is a process for generating wake information by connecting the detection data determined to be the same target in time series. Since the input of detection data is the frequency of sampling, it is advantageous to have a lot of sampling for a target whose movement changes rapidly. On the other hand, in the tracking process, position information obtained from the detection data is differentiated to generate speed information. When the input interval of the detection data is short, there is a problem that the error of the speed information to be calculated increases due to the position error. Further, when observing a target with a radar, radio waves are radiated, so that there is a problem that the probability of being discovered by a partner who is monitoring the emission of radio waves increases. For this reason, in tracking processing using a radar, it is important in terms of operation to observe at an appropriate frequency within a range in which the intended observation quality can be maintained, including handling of the target motion.

  Here, the observation frequency required in advance can be set from a tracking processing algorithm or the like. However, the radar is a radio wave sensor, and there is no guarantee that observation results can be obtained even if the beam is directed in the target direction. For this reason, it is important in operation to perform radar control by combining observation performance and observation frequency. The fourth embodiment can realize radar control suitable for operation in which radar control is performed by combining observation performance and observation frequency.

  Further, in the fourth embodiment, since tracking can be performed while guaranteeing an observation time interval, there is an effect that it is possible to realize a sensor control method capable of performing observation in which information obtained by differentiation such as speed and acceleration is stabilized.

  In the tracking process, the speed and acceleration calculated in the tracking process are used to determine whether or not the input detection data is regarded as the same target. The sensor control of the fourth embodiment can stabilize the observation of velocity and acceleration, so that it can be expected to improve the probability that correct detection data can be the same target, improve tracking maintenance ability, and realize stable tracking quality. The operational effect can be expected.

  In addition, it is important that the tracking process is continuously performed from a long distance to a short distance. At long distances, the search performance is severe, and at short distances, the ability to observe the target in the instantaneous coverage becomes severe. In the fourth embodiment, since the appropriate radar control can be realized according to the distance using the DBF function, it can be expected to realize more appropriate radar control by combining with the tracking maintenance frequency control.

  Especially in the situation where the performance of observation in the instantaneous coverage becomes severe due to the target maneuver, it is highly effective to use the sensor control for expanding the instantaneous coverage by using the DBF function. We can expect to show the effect of expanding the range.

  Further, in the fourth embodiment, since it is possible to guarantee the input of certain detection data, there is an effect that an optimal radar radiation frequency can be selected. In addition, in the sensor control of the fourth embodiment, it is possible to add a radio wave radiation frequency suppression function in cooperation with other mounted sensors as in the above-described Patent Document 2. In addition, it is possible to easily perform the tracking control in the fourth embodiment in cooperation with the radio wave radiation frequency suppression function of other on-board sensors, and it can be expected that the radio wave radiation can be effectively reduced.

  Further, in the sensor control of the fourth embodiment, similarly to the above-mentioned Patent Document 2, sensor control in cooperation with other on-board sensors corresponding to the observation situation generated by the data fusion unit 500 and external observation information is possible. . For this reason, it is easily realizable to operate in cooperation with the tracking control in the fourth embodiment, and it can be expected to effectively realize the tracking processing by the multi-sensor.

  In addition, in the sensor control of the fourth embodiment, when the tracking quality is reduced by using the observation situation generated by the data fusion unit 500, or when the target becomes a short distance, the target mobility Depending on the situation, the DBF radar function can be used to expand the instantaneous coverage, enabling observation control with an increased probability that the target can be within the beam, and effective tracking processing with multiple sensors. I have high expectations.

  In the fourth embodiment, for ease of explanation, the example in which the frequency control is performed based on a simple expected value has been described. However, for example, the same effect can be obtained even if the control is performed based on the cumulative detection probability. Demonstrate. Also, a sensor control rule that obtains an observation frequency necessary for tracking is set by using the target quality information generated by the data fusion unit 500 as a control criterion and combining the probability that the target exists in the instantaneous coverage area. Even in such a case, it can be expected that the same effect is exhibited and the effect is further exhibited in a situation where it is affected by the instantaneous coverage. In addition, by using target information generated by the data fusion unit 500, control according to motion, for example, control according to a change in speed at high mobility, control to increase sampling by increasing observation frequency, and instantaneous coverage It is also possible to set a sensor control rule combined with a control for widening the range, and such control can be expected to exhibit the effect of realizing more flexible sensor control.

Embodiment 5. FIG.
FIG. 10 is a diagram illustrating a configuration of a sensor control system according to the fifth embodiment. In the fifth embodiment, as shown in FIG. 10, in the configuration of the second embodiment shown in FIG. 7, the data fusion unit 500 is changed to the anti-false alarm function extended data fusion unit 501, and DBF radar control compatible sensor management is performed. The sensor control system 100 is configured by changing the unit 300 to the sensor management unit 330 corresponding to the DBF radar control with extended false alarm function. The false alarm function extended data fusion unit 501 is a configuration unit to which the data fusion unit 500 is added with a function for judging a situation that requires a false alarm determination from the observation result of the on-board sensor 700. The sensor management unit 330 corresponding to the DBF radar control corresponding to the extended false alarm function is directed to the DBF radar control compatible sensor management unit 300 for directivity control as many times as necessary to determine whether or not the target exists, including false alarm elimination and memory track stoppage determination. This is a configuration part to which a function for performing is added. Note that “false alarm” refers to a case where target detection information is output for a position where no target exists.

  The false alarm function extended data fusion unit 501 includes an anti-false alarm function extended correlation integration unit 511 and a false alarm function extended target information management unit 521.

  Similar to the correlation integration unit 510, the anti-false alarm function extended correlation integration unit 511 includes the DBF function radar 600, the detection data and track of the on-board sensor 700, the aircraft 800B input via the data communication unit 811, and the external sensor control mechanism. The target information is generated by integrating the detection data of 901 and the wake.

  The anti-false alarm function expanded correlation integration unit 511 further displays an area where there is an observation that is presumed to be a false alarm, a wake that may have a false wake, and a wake that is difficult to continue tracking as a memory track. A function to determine and output as a false alarm confirmation target has been added.

  Note that the memory track refers to the position and speed information on the track being tracked, assuming that it is flying at the same or equivalent speed from past observation information when no detection information is input. The wake information is generated and output by extrapolation. If new detection data is input to the track in the memory track, the track information is updated and the tracking process is continued, but if no detection data is input for a certain period, it is determined that the track has been lost and the track is deleted. .

  The false alarm function extended target information management unit 521, in addition to the function of the target information management part 520, centrally manages the false alarm confirmation target output by the false alarm function extended correlation integration part 511 as part of the target information. This is a component to which a function for outputting to the alarm management DBF radar control compatible sensor management unit 330 is added.

  The anti-false alarm function extended DBF radar control compatible sensor management unit 330 includes an anti-false alarm function extended multi-sensor control determining unit 331, an anti-false alarm function extended multi-sensor control rule 332, and a multi-sensor control command issuing unit 303. The

  The anti-false alarm function extended multi-sensor control determination unit 331 determines a sensor control method by the same processing as the multi-sensor control determination unit 301 from the anti-false alarm function extended multi-sensor control rule 332 and the observation information. However, when the information for false alarm confirmation target is input from the false alarm function extended target information management unit 521, the false alarm function extended multi-sensor control rule 332 is referred to for the purpose of confirming the false alarm. The sensor control method for directing the necessary number of radar waves in the appropriate instantaneous coverage in the target direction is determined, and the sensor control command is sent to the multi-sensor control command issuing unit 303 in time series, that is, at a plurality of times. To issue

  In addition to the rule set in the multi-sensor control rule 302 of the second embodiment as a determination criterion, the anti-false alarm function extended multi-sensor control rule 332 selects the sensor control method according to the information of the false alarm confirmation target Set criteria.

  The fifth embodiment will be described with the following two patterns as an example of a false alarm handling method.

  First, in pattern 1, detection information is input from the onboard sensor 700 to the anti-false alarm function extended correlation integration unit 511, and the anti-false alarm function extended correlation integration unit 511 outputs information on a false alarm confirmation target for the observation of the light wave sensor. An example of output to the anti-false alarm function extended multi-sensor control determination unit 331 via the anti-false alarm function extended target information management unit 521 is shown.

  A light wave sensor such as the on-board sensor 700 generally has more false alarms than an active sensor such as a radar. In different types of sensors with different observation principles, there is a low possibility that a false alarm will appear at the same position. Therefore, it is aimed to determine whether it is a false alarm or a true target by pointing the radar.

  In Pattern 2, the anti-false alarm function extended correlation integration unit 511 determines that a wake for which long-time detection data has not been input is a false alarm confirmation target, and adds a quality level based on the observation status as information on the false alarm confirmation target. An example of output and output to the anti-false alarm function extended multi-sensor control determination unit 331 via the anti-false alarm function extended target information management unit 521 is shown. In the following description, it is assumed that the relative distance is 50 km and the quality level 2 is set as the quality level.

  Further, in the fifth embodiment, as the anti-false alarm function extended multi-sensor control rule 332, the information on the false alarm confirmation target for the on-board sensor 700 is “implemented control that is observed five times in mode 1”, and the tracking maintenance confirmation is “ It is assumed that “observation up to 95% cumulative detection probability with an estimation error of 0.5 km in the case of quality level 1” and “observation up to 95% cumulative detection probability with an estimation error of 1.5 km in the case of quality level 2”. Further, it is assumed that the rule “priority is given to the mode in which the target can be observed within the instantaneous coverage area” is set. As in the first embodiment, the detection probability of mode 2 at a relative distance of 50 km is 50% (Pd = 0.5).

  In general, a light wave sensor such as the on-board sensor 700 has better angle observation accuracy than a radar. For this reason, in the fifth embodiment, the sensor control rule to be confirmed in mode 1 is used. In addition, since the light wave sensor is difficult to obtain distance information, for example, the radar detection distance when the detection probability is 50%, and the observation is performed until the cumulative detection probability is 95% or more. This will be described in the sensor control setting for confirming the presence or absence of the sensor.

  Further, in the fifth embodiment, the rule is set so that the cumulative detection probability is 95% or more for sensor control for confirming that the target does not exist. When the cumulative detection probability is observed at 95% or more, the probability that the target exists and cannot be detected even once is less than 5%.

  Hereinafter, a sensor control determination method in the anti-false alarm function extended multi-sensor control determination unit 331 of the fifth embodiment will be described.

  In pattern 1, when information on the false alarm confirmation target for the observation of the light wave sensor is input, the multi-sensor control rule 332 for detecting the false alarm function is referred to, and the observation is performed five times in the mode 1 with respect to the observation direction of the light wave sensor. Decide to implement. At this time, a corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the radar 600 with a DBF function.

  In pattern 2, since the relative distance is 50 km, the quality level is 2, and the estimation error is 1.5 km, the range in which the false alarm is confirmed is a range of ± 1.7 deg of the reference position, and mode 2 is selected. The detection probability of mode 2 at a relative distance of 50 km is 50%, and five observations are required to make the cumulative detection probability 95% or more. For this reason, it is determined to perform five observations in mode 2 in the direction in which the target is predicted to exist. At this time, a corresponding sensor control command is issued from the multi-sensor control command issuing unit 303 to the radar 600 with a DBF function.

  In the fifth embodiment, a sensor control system that performs radar observation as many times as necessary based on a false alarm, a region that is considered to have failed in a memory track, and a criterion according to the probability that a target does not exist with respect to the target. There is an effect that it can be realized.

  Further, the fifth embodiment has an effect that it is possible to realize a sensor control system that performs radar observation by selecting an appropriate instantaneous coverage and detection capability based on the observation status quality, the performance of the sensor to be confirmed, and the like. is there.

  According to the fifth embodiment, the DBF function of the radar can be extended to appropriately determine whether or not there is a false alarm. If the false alarm judgment can be properly implemented, it is possible to reduce false alarms and false targets presented to the user, leading to shortened user judgment time or reaction time, and reduced workload, which can be expected to have operational effects. .

  Further, according to the fifth embodiment, by providing a component that reduces false alarms, it is easy to construct a multi-sensor system including a sensor with many false alarms, such as a light wave sensor, and to improve reliability. is there.

  In the fifth embodiment, the method of simply selecting sensor control for false alarm confirmation has been described for ease of explanation, but the same effect can be obtained by a method based on the number of times of cumulative detection or the like. For example, in the above-described pattern 2, cumulative detection can be performed even in mode 1. Assuming that the detection probability at a relative distance of 50 km in mode 1 is 70% (Pd = 0.7), the number of observations required for a cumulative detection probability of 95% is three. Further, in confirming the range of ± 1.7 deg of the reference position corresponding to the quality level 2, it is necessary to direct the beam four times in mode 1 in order to cover the coverage. For this reason, the number of times required to achieve the cumulative detection probability in mode 1 is 3 × 4 = 12 times, and it is more advantageous to perform five observations in mode 2. The effect of the sensor control system according to the fifth embodiment is that the sensor control can be performed based on such a determination criterion.

Embodiment 6 FIG.
FIG. 11 is a diagram illustrating a configuration of a sensor control system according to the sixth embodiment. In the sixth embodiment, as shown in FIG. 11, in the configuration of the fifth embodiment shown in FIG. 10, the anti-false alarm function extended data fusion unit 501 is changed to a missile seeker cooperation function extended data fusion unit 502. The sensor control system 100 is configured. The missile seeker cooperation function extended data fusion unit 502 adds the seeker capture direction to a situation where a false alarm needs to be determined, and uses the radar observation information performed for the false alarm confirmation to determine whether a false alarm has occurred early. This is a component to which a function for automatically canceling the tracking of the missile seeker when it is determined as a false alarm is added. In the sixth embodiment, the flying object control communication unit 831 is added to the aircraft 800A, and the separation flying object 832 is added to the outside of the aircraft 800A as a related system.

  The missile seeker cooperation function extended data fusion unit 502 includes a missile seeker cooperation function extended correlation integration part 512, a missile seeker cooperation function extended target information management part 522, and a missile control part 530.

  When the missile seeker observation direction is input from the flying object control communication unit 831 to the false alarm function extended correlation integration unit 511 of the fifth embodiment shown in FIG. Monitoring the input radar from the radar 600 with the DBF function for performing the observation control in accordance with the function for adding the seeker capture direction as information that needs to be determined for the false alarm and the control performed for the false alarm confirmation, It is realized by adding an early function to determine whether the missile seeker observation information is a false alarm. When the observation information of the missile seeker is determined to be a false alarm, the fact that it is a false alarm is output to the missile seeker cooperation function extended target information management unit 522.

  In addition to the function of the false alarm function extended target information management unit 521 of the fifth embodiment shown in FIG. 10, the missile seeker cooperation function extended target information management unit 522 receives the missile seeker cooperation function extended correlation integration unit 512 from the missile seeker cooperation function extended correlation integration unit 512. When the observation information is output as a false alarm, it issues an instruction to cancel the seeker capture to the missile control unit 530. In addition, information that needs to be determined for false alarms according to the observation direction of the missile seeker is output to the sensor management unit 330 for DBF radar control corresponding to the enhanced false alarm function in the same manner as information that needs to be determined for other false alarms. To do.

  The sensor management unit 330 for DBF radar control corresponding to the enhanced false alarm function performs sensor control in the same manner as in pattern 1 of the fifth embodiment. However, in the sixth embodiment, the mode in which the short-range infrared missile seeker has a large instantaneous coverage is prioritized and the radar observation is performed as many times as necessary for the cumulative detection under the condition that the relative distance is close.

  The missile control unit 530 outputs an instruction to cancel the seeker capture to the flying object control communication unit 831 in response to an instruction from the missile seeker cooperation function extended target information management unit 522.

  The flying object control communication unit 831 is a component that calculates mission information within or outside the range for the separated flying object 832 according to the target information output from the missile seeker cooperation function extended data fusion unit 502. The flying object control communication unit 831 identifies the target in accordance with the target information output from the missile seeker cooperation function extended data fusion unit 502 and transmits a control signal to the separated flying object 832 in accordance with the pilot's launch operation.

  Hereinafter, in the sixth embodiment, the following processing is performed before the separation flying object 832 is launched. First, according to the target information output from the missile seeker cooperation function extended data fusion unit 502, the target presence direction is transmitted to the separation flying object 832. Next, when the target capturing information by the missile seeker of the separated flying object 832 is received, the received information is output to the missile seeker cooperation function extended data fusion unit 502. In addition, when an instruction for canceling seeker capture is received from the missile control unit 530, the separation flying object 832 is instructed to cancel seeker capture information.

  Before launching, the separated flying object 832 searches for a target with the missile seeker with reference to the direction information of the target input from the flying object control communication unit 831. If the missile seeker captures the target, the missile seeker Is output to the flying object control communication unit 831.

  If there is an instruction to cancel seeker capture information from the flying object control communication unit 831, the currently captured information is canceled and the target search process is started again with the missile seeker.

  If there is a launch control signal from the flying object control communication unit 831, the separated flying object 832 starts flying after being separated from the aircraft 800 and flies by autonomous guidance toward the direction captured by the missile seeker. To do.

  In the sixth embodiment, the missile seeker cancel function is added to the missile seeker cooperation function extended data fusion unit 502. However, since the sensor control flow is the same as that of the fifth embodiment, description thereof is omitted here. .

  In the sixth embodiment, it is possible to apply determination control as to whether or not a false alarm is obtained by extending the radar DBF function when a target is captured by a missile seeker and the captured target is a false alarm. By this application, the process being captured can be canceled at an early stage, and the target search process can be started again, so that the missile can be operated without waste.

  It should be noted that the pilot workload is high when the radar is operated in a situation where the target is a short distance. There is also a method of directing the separation flying object 832 in the direction of the pilot's visual axis, such as a helmet mounted display (HMD), but the pilot's workload is high. Is often not possible. In such an operating situation, the pilot system can be expected to reduce the workload by automatically canceling when a false alarm is captured by the sensor system. In addition, it can be expected that the fighting ability will be improved by quickly shifting to the next operation such as an operation for preparation for missile launch.

Embodiment 7 FIG.
FIG. 12 is a diagram illustrating a configuration of a sensor control system according to the seventh embodiment. In the seventh embodiment, as shown in FIG. 12, in the configuration of the second embodiment shown in FIG. 7, the DBF radar control compatible sensor management unit 300 is changed to a motion determination function extended DBF radar control compatible sensor management unit 340. Thus, the sensor control system 100 is configured. The motion management function-enhanced DBF radar control compatible sensor management unit 340 includes a motion determination function for determining its own motion in the DBF radar control compatible sensor management unit 300 and a motion control sensor control for determining a sensor control method according to the motion determination. It is a configuration part to which a function is added. In the seventh embodiment, a positioning inertial navigation unit 841 is added to aircraft 800A.

  The motion determination function extended DBF radar control compatible sensor management unit 340 includes a motion determination function extended multi-sensor control determination unit 341, a motion determination function extended multi-sensor control rule 342, a motion determination unit 344, and a multi-sensor control command issue unit 303. Composed.

  The motion determination function extended multi-sensor control determination unit 341 controls the sensor based on the motion determination function extended multi-sensor control rule 342 and the observation information in the same process as the multi-sensor control determination unit 301 of the second embodiment shown in FIG. Decide how. However, when the motion determination function extended multi-sensor control determination unit 341 receives an exercise handling instruction from the motion determination unit 344, the motion determination function extended multi-sensor control determination unit 341 determines a sensor control method with reference to the motion determination function extended multi-sensor control rule 342.

  In the motion determination function extended multi-sensor control rule 342, a response instruction is given from the motion determination unit 344 in addition to the rule set in the multi-sensor control rule 302 of the second embodiment shown in FIG. Set the corrective action for the case.

  In the seventh embodiment, the sensor control is performed under the condition that the error of the observation information is increased by 20% in consideration of the fact that the observation of the own device as a reference in the sensor control becomes unstable when the countermeasure instruction is given. Add a rule to determine

  The positioning inertial navigation unit 841 observes the motion of the aircraft and outputs information such as the position, speed, and attitude angle of the aircraft to the motion determination unit 344.

  The motion determination unit 344 determines the presence or absence of the own device's motion to be dealt with by sensor control from the information such as the position, speed, and posture angle of the own device input from the positioning inertial navigation unit 841, and if necessary, copes with the motion. The instruction is output to the motion determination function extended multi-sensor control determination unit 341.

  The motion determination unit 344 determines that the error range necessary for sensor control is expanded when turning over a certain G or more is confirmed, and instructs the motion determination function expansion multi-sensor control determination unit 341 to deal with it.

  When a handling instruction is output from the motion determination unit 344, the motion determination function expansion multi-sensor control determination unit 341 determines sensor control under the condition that the error of observation information is increased by 20%. Since the basic sensor control flow is the same as that of the second embodiment, the description thereof is omitted here.

  According to the seventh embodiment, in consideration of the movement of the moving body itself, the observation accuracy in detection is ensured, and the instantaneous coverage and detection distance are determined according to the relative distance from the target and the accuracy of information used in the control. Using both of these as criteria, there is an effect that the optimum transmission power and instantaneous coverage resource allocation can be determined. In the above, the detection distance may be referred to as detection probability. The instantaneous coverage is a determination condition for determining whether or not a target exists in the beam directing range. In addition, there is a case where the observation method of the sensor needs to be changed in the moving body due to the influence of the movement of the moving body itself. Since the control can be carried out in consideration of the movement of the mobile body itself, there is an effect that it can cope with many situations.

  In the seventh embodiment, the example of application to an aircraft has been described. However, the same effect can be obtained even when mounted on another moving body. For example, when mounted on an automobile, the beam control is focused in the forward direction during normal driving at high speed, and a wide range of beam control is performed during low-speed driving, when stopped, or when turning left or right. According to such control, sensor control that warns forward from a long distance in a situation where the speed during normal driving is high, and warns a short distance in a wide coverage area at a low speed, when stopping or turning right or left. Has the effect of becoming possible. In addition, when turning right or left, the observation control of the coverage around the traveling direction can be performed based on the direction of the right or left turn. Furthermore, it can be expected that the effects of the present embodiment will be more exhibited in a situation where the radar is controlled based on the user's own movement.

Embodiment 8 FIG.
FIG. 13 is a diagram illustrating a configuration of a sensor control system according to the eighth embodiment. In the eighth embodiment, as shown in FIG. 13, in the configuration of the second embodiment shown in FIG. 7, the DBF radar control compatible sensor management unit 300 is replaced with the ambient condition determination function extended DBF radar control compatible sensor management unit 350. The sensor control system 100 is configured by changing. Ambient condition determination function extended DBF radar control compatible sensor management unit 350 is a component to which an ambient condition determination function and an ambient condition corresponding sensor control function for determining a sensor control method according to the determination of the ambient condition are added. is there. In the eighth embodiment, a positioning inertial navigation unit 841 is added to aircraft 800A.

  The ambient condition determination function extended DBF radar control compatible sensor management unit 350 includes an ambient condition determination function extended multi-sensor control determination unit 351, an ambient condition determination function extended multi-sensor control rule 352, an ambient condition determination unit 354, an ambient condition recording unit 355, and A multi-sensor control command issuing unit 303 is provided.

  The ambient condition determination function extended multi-sensor control determination unit 351 uses the same process as the multi-sensor control determination unit 301 of the second embodiment illustrated in FIG. 7 based on the ambient condition determination function extended multi-sensor control rule 352 and the observation information. Determine the control method. However, when the ambient condition determination function extended multi-sensor control determination unit 351 receives an ambient condition handling instruction from the ambient condition determination unit 354, the sensor control method refers to the ambient condition determination function extended multi-sensor control rule 352. To decide.

  The ambient condition determination function extended multi-sensor control rule 352 has a determination criterion in addition to the rule set in the multi-sensor control rule 302 shown in FIG. Set the method.

  In the eighth embodiment, when the countermeasure instruction is within the radio wave sealing area, the sensor control is performed so that transmission of all radio wave sensors including the radar is stopped. A rule for enabling sensor control using a radar as shown in FIG.

  The positioning inertial navigation unit 841 observes the motion of the aircraft and outputs information such as the position, speed, and attitude angle of the aircraft to the motion determination unit 344.

  The ambient condition determination unit 354 determines the ambient condition of the own device by referring to the information on the position, speed, posture angle, etc. of the own device input from the positioning inertial navigation unit 841 and the contents of the ambient condition recording unit 355. Then, if necessary, an ambient condition handling instruction is output to the ambient condition determination function extended multi-sensor control determination unit 351.

  In the eighth embodiment, a coping instruction “outside radio wave sealed area” is output when own device is present within the radio wave sealed area, and “outside radio wave sealed area” is output when it exists outside the radio wave sealed area. .

  In the ambient condition recording unit 355, information on handling instructions necessary for sensor control corresponding to the coordinates is stored as an ambient condition. In the eighth embodiment, a countermeasure instruction “inside the radio wave sealing area” or “outside the radio wave sealing area” is output according to the position coordinates, but the corresponding countermeasure instruction is recorded in the ambient condition recording unit 355.

  According to the eighth embodiment, the observation coverage is ensured according to the surrounding conditions such as the position of the moving object, and the instantaneous coverage is determined according to the relative distance from the target and the accuracy of information used in the control. As a result, the optimum transmission power and instantaneous coverage resource allocation can be determined using both the detection distance and the detection distance as criteria. In the above, the detection distance may be referred to as detection probability. The instantaneous coverage is a determination condition for determining whether or not a target exists in the beam directing range.

  On an aircraft with one pilot on board, the pilot's workload is high. For this reason, if the operation of the sensor according to the surrounding conditions can be automatically controlled based on the position of the moving body, an effect such as a workload reduction can be expected.

  In the eighth embodiment, an example of application to an aircraft has been described. However, the same effect can be obtained even when mounted on another moving body. For example, when mounted on a car, there is an effect that the beam control that is focused in the forward direction is performed during normal driving, and the warning ability to the surroundings is improved in a wide coverage immediately before entering the intersection. In addition, radar control such as control of the directivity direction, instantaneous coverage, and transmission power in consideration of an object that reflects radio waves as a peripheral condition, such as a building, is also possible. According to such control, it is possible to expect the effect of reducing the false alarm of the radar and performing an early detection by performing a concentrated search to a highly dangerous place. Note that reducing false alarms can be expected to contribute to improving the user's recognition ability, reducing workload, and improving safety.

Embodiment 9 FIG.
FIG. 14 is a diagram illustrating a configuration of a sensor control system according to the ninth embodiment. In the ninth embodiment, as shown in FIG. 14, in the configuration of the second embodiment shown in FIG. 7, a DBF radar control compatible sensor management unit 300 mounted on the radar 600 with DBF function and mounted on the sensor control system is provided. A sensor control system 100 is configured by adding a sensor-mounted DBF radar control unit 400 as a second DBF radar control unit that operates in cooperation. FIG. 15 is a flowchart illustrating an example of a basic processing flow according to the ninth embodiment.

  The sensor-mounted DBF radar control unit 400 includes a radar control determination unit 401 and a radar control rule 402.

  The radar control determining unit 401 outputs the sensor control command issued by the multi-sensor control command issuing unit 303 to the radar 600 with DBF function. The radar control determination unit 401 monitors the observation result of the DBF function-equipped radar 600, generates a sensor control command with reference to the radar control rule 402, and outputs the sensor control command to the DBF function-equipped radar 600.

  The radar control rule 402 stores a radar control rule that is a rule related to radar control that requires a quick response as information necessary for the control of FIG. Specifically, a rule is stored such that when the target angular velocity exceeds 1 deg / sec, control of fast response is performed in mode 2.

  In FIG. 15, radar observation information observed by the radar 600 with DBF function is input to the radar control determination unit 401 (step S101). The radar control determination unit 401 monitors the observation result of the radar 600 with the DBF function and refers to the radar control rule 402 to determine whether or not a quick response is necessary (step S102). If an early response is not required, the sensor control command issued by the received multi-sensor control command issuing unit 303 is output to the radar 600 with DBF function (step S103).

  On the other hand, when a quick response is required, the sensor control method is determined according to the radar control rule 402. Specifically, when it is confirmed from the observation result of the radar 600 with DBF function that each target speed is 1.2 deg / sec, the sensor control method for instructing the shift to the mode 2 multi-beam control is selected. To do. Further, a sensor control command for instructing a shift to the multi-beam control in mode 2 is generated and output to the radar 600 with DBF function (step S104).

  In the ninth embodiment, the determination as to whether a quick response is necessary and the control based on the determination are performed by the sensor-mounted DBF radar control unit 400, and the determination based on the overall system and the control based on the determination are: Since it is implemented by the DBF radar control compatible sensor management unit 300, sensor control based on comprehensive judgment overlooking the entire multi-sensor, and sensor control for matters with severe reaction time constraints such as target mobility changes And a sensor control system capable of determining an optimal control method.

Embodiment 10 FIG.
FIG. 16 is a diagram illustrating a configuration of a sensor control system according to the tenth embodiment. In the tenth embodiment, as shown in FIG. 16, an RCS variation determination unit 413 is added to the configuration of the ninth embodiment shown in FIG. Further, the data fusion unit 500 is changed to an RCS-compatible function expansion data fusion unit 503, and the sensor-mounted DBF radar control unit 400 is changed to an RCS-compatible function expansion sensor-mounted DBF radar control unit 410.

  The RCS fluctuation determination unit 413 has a function of observing changes in position, velocity, and RCS from the radar observation result and determining the start of target motion. In the RCS-compatible function expansion data fusion unit 503, the data fusion unit 500 is added with a function of changing the tracking process control or the like according to the target exercise start determination information corresponding to the RCS fluctuation. The DBF radar control unit 410 equipped with the RCS function expansion sensor has a function of changing the control method of the radar 600 with DBF function according to the target motion start determination information corresponding to the RCS fluctuation in the sensor-installed DBF radar control unit 400. It has been added.

  Generally, the RCS of a fighter aircraft is small in the quadrant in front of the fuselage, tends to increase from the side to the rear in the horizontal direction, and increases upward and downward in the vertical direction. Since the aircraft flies using thrust and lift, when the movement is changed by turning or the like, it is necessary to start a movement in the roll direction that rotates the aircraft along the axis. For this reason, when a target approaching in a direction with a small RCS in the nose direction starts a maneuver such as turning, the RCS tends to increase.

  The RCS fluctuation determination unit 413 observes a change in the target RCS from the radar observation result, estimates the movement start of the target and the type of movement from the fluctuation state of the RCS, and “starts the target movement according to the RCS fluctuation”. It is output as “determination information” to both the RCS-compatible function expansion data fusion unit 503 and the RCS-compatible function expansion radar control determination unit 411. Note that the RCS variation determination unit 413 may be realized by storing target RCS information obtained in advance and determining the target exercise.

  The RCS compatible function extended data fusion unit 503 includes an RCS compatible function extended correlation integration unit 513 and an RCS compatible function extended target information management unit 523.

  Similar to the correlation integration unit 510, the RCS function expansion correlation integration unit 513 includes the radar 600 with the DBF function and the installation sensor 700, the aircraft 800 B input via the data communication unit 811, and the external sensor control mechanism 901. The target information is generated by integrating the detection data and the track.

  In addition, the RCS-compatible function expanded correlation integration unit 513 uses the “target exercise start determination information according to the RCS variation” input from the RCS variation determination unit 413 to perform tracking processing implemented internally, A function for correcting the range of change of the wake as a reference in correlation processing for determining the correspondence between the existing wake and the detection target, and a function for correcting the speed information of the wake to be generated are added. The RCS compatible function extended correlation integration unit 513 outputs “target exercise start determination information corresponding to RCS fluctuation” to the RCS compatible function extended target information management unit 523 as information accompanying the wake.

  In addition to the function of the target information management unit 520, the RCS compatible function extended target information management unit 523 has a function of outputting target information to the RCS compatible function extended radar control determination unit 411, and an input “target corresponding to RCS fluctuation”. And a function of correcting information such as the degree of threat by using “exercise start determination information”.

  The DBF radar control unit 410 equipped with an RCS function expansion sensor includes an RCS function expansion radar control determination unit 411 and an RCS function expansion radar control rule 412.

  The RCS-compatible function-extended radar control determination unit 411 includes, as functions of the radar control determination unit 401, “target motion start determination information according to RCS variation” input from the RCS variation determination unit 413, and RCS-compatible function expansion target information. A function for controlling the radar 600 with the DBF function is added by referring to the RCS-compatible function-extended radar control rule 412 using the target information input from the management unit 523.

  Similarly to the radar control determination unit 401, the RCS-compliant function-extended radar control determination unit 411 refers to the sensor control command from the multi-sensor control command issuing unit 303 and “target motion start determination information according to RCS fluctuation”. When the target motion is confirmed, it is determined that a quick response is necessary in the processing flow of FIG. 15, and the control method of the radar 600 with DBF function is changed. In the configuration of FIG. 16, the sensor control method is determined using the target information input from the RCS compatible function extended target information management unit 523 with reference to the RCS compatible function extended radar control rule 412.

  In the RCS function expansion radar control rule 412, in addition to the rule set in the radar control rule 402 as a determination reference, a coping method according to input information from the RCS fluctuation determination unit 413 is set. Further, in the tenth embodiment, when turning start information is input, a rule for implementing a radar control method that is advantageous in terms of the number of observations is set from the instantaneous coverage and detection probability based on the predicted turning direction. Suppose that

  Next, the operation of the tenth embodiment in the setting example described above will be described.

  First, it is assumed that a situation where a right turn, that is, a movement that moves to the left when viewed from the own aircraft occurs, occurs from a situation where the target is moving toward the own aircraft at a short distance. At this time, the target rolls the fuselage and pulls the throttle toward the turning direction, so that the left side faces the lower side of the target aircraft and the RCS increases.

  From the observation result of the DBF function-equipped radar 600, the RCS fluctuation determination unit 413 that has observed the fluctuation of the RCS determines that the right turn starts from the RCS increase and the minute position change of the target. Further, the RCS variation determination unit 413 generates “target motion start determination information according to the RCS variation” including the information about the start of the right turn and the size of the RCS, and the RCS compatible function expansion data fusion unit 503 and the RCS compatible function expansion. The data is output to the radar control determination unit 411.

  The RCS-compatible function-extended radar control determining unit 411 receives the “target motion start determination information corresponding to the RCS fluctuation” described above from the RCS fluctuation determining unit 413, and refers to the RCS-compliant function-extended radar control rule 412 to Determine control rules.

  In the example of the tenth embodiment, the target information input from the RCS compatible function extended target information management unit 523 is used to determine the relative distance from the target, and is input from the RCS compatible function extended radar control determining unit 411. The detection probability in each mode of the DBF function-equipped radar 600 is determined using the magnitude of the RCS, and the instantaneous coverage in each mode of the DBF function-equipped radar 600 is taken into account, and is necessary for target detection. Select the control method with the most advantageous number of observations. This selection method can be implemented in the same way as the method shown in the third to sixth embodiments.

  The RCS compatible function extended correlation integration unit 513 performs a correlation process between the detection data and the existing track on the assumption that the input value of the right turn is input, and supports the right turn when generating the track. Perform processing that increases the response to the gain.

  According to the tenth embodiment, there is an effect that it becomes possible to control the on-board radar which has confirmed the target maneuvering change at an early stage. The tracking process has a certain delay with respect to a change in maneuver because a change in the detected detection data determines a maneuver such as a target turn. By detecting changes in the RCS, it is possible to pre-read the other party's maneuvering rather than the tracking process, accurately control the beam including the beam pointing direction, and improve the ability to cope with high maneuvering targets. There is an effect.

  Here, in the tracking process, as a method for dealing with the change in the target, there is a method for increasing the gain that is a response coefficient with respect to the change in the detection data. When the gain is increased, there is a problem that an algorithm that reacts excessively to the false alarm when the false alarm is input.

  In response to such a problem, the tenth embodiment can adjust the gain after detecting in advance the change in mobility due to the change in RCS. For this reason, it becomes possible to control the tracking gain at an appropriate timing, and it is possible to obtain an advantageous effect that tracking processing advantageous in dealing with a high maneuvering target can be realized.

  Note that the configurations shown in the above embodiments are examples of the contents of the present invention, and can be combined with other known techniques, and can be combined without departing from the gist of the present invention. It is also possible to omit or change a part of.

  DESCRIPTION OF SYMBOLS 100 Sensor control system, 200 DBF radar control part, 201 Sensor control determination part, 202 Sensor control rule, 203 Control command issuing part, 300 DBF radar control corresponding | compatible sensor management part, 301 Multi sensor control determination part, 302 Multi sensor control rule, 303 Multi-sensor control command issuing unit, 310 Acquisition function extended DBF radar control compatible sensor management unit, 311 Acquisition function extended multi sensor control determination unit, 312 Acquisition function extended multi sensor control rule, 320 Tracking function extended DBF radar control compatible sensor management unit 321 Tracking function extended multi-sensor control determination unit, 322 Tracking function extended multi-sensor control rule, 330 Anti-false alarm function extended DBF radar control compatible sensor management unit, 331 Anti-false alarm function extended multi-sensor control determination unit, 332 Anti-alarm function extended multi-sensor control rule, 340 Motion determination function extended DBF radar control compatible sensor management unit, 341 Motion determination function extended multi-sensor control determination unit, 342 Motion determination function extended multi-sensor control rule, 344 Motion determination unit, 350 Ambient condition determination function extended DBF radar control compatible sensor management unit, 351 Ambient condition determination function extended multi-sensor control determination unit, 352 Ambient condition determination function extended multi-sensor control rule, 354 Ambient condition determination unit, 355 Ambient condition recording unit, 400 sensor On-board DBF radar control unit, 401 Radar control determination unit, 402 Radar control rule, 410 RCS function expansion sensor mounted DBF radar control unit, 411 RCS function expansion radar control determination unit, 412 RCS function expansion radar control rule, 413 RCS Fluctuation determination unit, 500 data fusion unit, 501 anti-alarm function extension data fusion unit, 502 missile seeker linkage function extension data fusion unit, 503 RCS compatible function extension data fusion unit, 510 correlation integration unit, 511 against false alarm function extended correlation Integration unit, 512 Missile Seeker cooperation function extended correlation integration unit, 513 RCS compatible function extended correlation integration unit, 523 RCS compatible function extended target information management unit, 520 Target information management unit, 521 Anti-alarm function extended target information management unit, 522 Missile Seeker Cooperation Function Extended Target Information Management Unit, 530 Missile Control Unit, 600 DBF Function Radar, 610 Radar Observation Unit, 620 Radar Control Unit, 700 Onboard Sensor, 800 Aircraft, 811 Data Communication Unit, 821 Pilot Interface Unit, 831 Flight Control and communication department, 832 Away projectile, 841 positioning inertial navigation unit, 900 external instruction mechanism, 901 external sensor control mechanism.

Claims (10)

A sensor control system for controlling a plurality of sensors,
A DBF that controls the DBF function radar based on observation target information from an external pointing mechanism and information on a sensor-oriented target that is an observation result from a DBF function radar outside the sensor control system. A radar control unit;
Monitoring the observations of the previous SL DBF function with radar, a second DBF radar control unit that operates in conjunction with the DBF radar control unit,
It includes a data fusion unit to consolidate generates target information observation information relating to the target to be observed that is input from the tower mounting the sensor and the data communication unit correlates integration, and
The second DBF radar control unit stores a radar control rule that is a rule related to control that requires a quick response,
Determination and control based on the determination of whether not fast response is necessary is performed in the second DBF radar control unit, judgment and control based on the determination and overhead the whole system is carried out in the DBF radar controller A sensor control system characterized by the above.   The sensor control system has a function of observing changes in position, velocity, and RCS from a radar observation result to determine a target motion start, and according to the target motion start determination information corresponding to the RCS variation, The sensor control system according to claim 1, further comprising a function of changing a control method of the radar with a DBF function.   The sensor control system according to claim 1, wherein the DBF radar control unit determines a control method of the mounted sensor based on a sensor control rule, and performs observation control of the sensor to be controlled. The DBF radar control unit determines an observation method including a beam directivity pattern and an instantaneous coverage for the observation target based on the information on the observation target and specification information on the radar with the DBF function, By transmitting a sensor control command to the radar with function, a function for controlling the radar with DBF function is added,
The DBF radar control unit determines a sensor control method from the target information output by the data fusion unit with reference to a multi-sensor control rule set in advance as a determination criterion, and according to the determined sensor control method The sensor control system according to any one of claims 1 to 3, wherein a sensor control command is output to a target sensor from among the mounted sensors.   The DBF radar control unit is provided with a time-series control function for directing a radar wave for a required number of times based on a search range in which a cumulative detection probability and a detection probability condition are set. Item 5. The sensor control system according to any one of Items 1 to 4.   6. The DBF radar control unit is provided with a function of directing control so that a target number of times of detection can be expected at a frequency necessary for maintaining tracking. The sensor control system described in 1.   The DBF radar control unit is provided with a motion determination function for determining its own motion and a motion corresponding sensor control function for determining a sensor control method according to the motion determination. The sensor control system according to any one of 6.   8. The DBF radar control unit is provided with an ambient condition determination function and an ambient condition corresponding sensor control function for determining a sensor control method according to the ambient condition determination. The sensor control system according to any one of claims. The data fusion unit is provided with a function for causing the radar with the DBF function to perform observation by directivity control as many times as necessary for determining the presence / absence of a target, including the elimination of false alarms and the determination to stop the memory track. The sensor control system according to claim 1, wherein: The seeker capture direction is added to the information that needs to be judged as a false alarm.
The data fusion unit has a function of determining whether a false alarm is detected using radar observation information performed for false alarm confirmation, and canceling missile seeker tracking when the false alarm is judged. The sensor control system according to claim 9.

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