JPH02116777A - Lock-on apparatus - Google Patents

Abstract

PURPOSE:To upgrade safety, continuity and lock-on performance in the tracking of a target by arranging a straight tracking calculator, a spiral tracking calculator, a calculation results switch and a straightness/spiral judging device. CONSTITUTION:When a target flies straight, a computation is performed with an alphabeta lock-on calculator 1 excellent in the tracking of a straight flight and in the spiral flight thereof, a straightness/spiral judging device 4 makes a judgement to turn a switch 3 so that the target is tracked with a VH lock-on calculator excellent in the tracking of a spiral flight. An input data is always supplies to the VH lock-on calculator 2 as well, thereby eliminating the need for initialization. In the judgement of straightness or spiral, a change in the course of flight is used, thereby enabling the upgrading of stability, continuity and lock-on performance in the tracking of a target.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a radar target that uses input data to perform target tracking calculations in a radar device, creates track data, and provides the track data to a display device, etc. This relates to a tracking device.

[Conventional technology]

FIG. 2 is a system diagram showing a conventional radar target tracking device. In the figure, 1 is an αβ tracking calculator that is excellent in tracking straight flying targets, 2 is a VH tracking calculator that is excellent in tracking turning flying targets, and 3 is a VH tracking calculator that is excellent in tracking turning flying targets. A switch 4 switches the input data, and a straight line/turn determining unit determines whether the input data is straight or turning, and issues a command to the switch.

Next, the operation will be explained. First, the switch 3 is turned upward, and tracking calculation is performed by the αβ tracking calculator 1. The αβ tracking calculator is very good at tracking targets flying in a straight line, so when the target is flying in a straight line, you only need to maintain this state, but if the target is turning, it will determine whether it is straight or turning. The device 4 determines whether it is turning, issues a command to the switching device 3, and tilts the switching device 3 downward. As a result, the VH tracking calculator 2 performs tracking calculations. Since the VH tracking calculator is very good at tracking a turning flight target, this state will be maintained when the target is making a turning flight.

Next, if the target flies in a straight line again, the straight line/turning determiner 4 determines whether it is a "straight line", sends a command to the switch 3, flips the switch 3 upward, and αβ tracking calculator 1 Tracking calculations are performed to create track data.

[Problem to be solved by the invention]

The conventional radar target tracking device is configured as described above, and since the input data is switched by the switch 3, α
When the β tracking calculator 1 is operating, the VH tracking calculator 2 stops operating, and conversely, when the VH tracking calculator 2 is operating, the αβ tracking calculator 1 stops operating. There were problems such as the need to initialize the tracking needle X device to be restarted when switching the calculator, and the track data at the time of switching becoming discontinuous.

This invention was made to solve the above-mentioned problems, and aims to provide a radar target tracking device that can eliminate the need for initial settings and improve the stability of track data. .

[Means to solve the problem]

The radar target tracking device according to the present invention is provided with a switching device after the first tracking calculator that is excellent in tracking a straight-flying target and the second tracking calculator that is excellent in tracking a turning-flying target. Changes in the flight path of the wake are used to determine when and when to turn.

[Effect]

By configuring the present invention as described above, input data is always supplied to the first tracking calculator and the second tracking calculator, so that re-tracking calculation can be continued at all times. Initial settings are not required when switching. Furthermore, since the determination of straight line and turning is stable, the stability of tracking the flight target is improved.

〔Example〕

An embodiment of the present invention will be described below with reference to the drawings. 1st
The figure shows a radar target tracking device according to an embodiment of the present invention. In the figure, 1 is an αβ tracking calculator that is excellent in tracking a straight flying target, 2 is a VH tracking calculator that is excellent in tracking a turning flying target, and 3 is a dual tracking calculator. A switch 4 switches the output of the tracking calculator, and a straight line/turn determining unit 4 determines whether it is a straight line or a turn and issues a command to the switch 3.

Next, the operation will be explained. First, the switch 3 is turned upward, and the αβ tracking calculator 1 performs tracking calculations. αβ
The tracking calculator is very good at tracking targets flying in a straight line, so when the target is flying in a straight line, you only need to maintain this state, but if the target is turning, you can use the straight line/turning determiner. 4, it is determined that it is a "swing", a command is issued to the switching device 3, and the switching device 3 is tilted downward. As a result, tracking is performed by the VH tracking calculator 2, which is very good at tracking a turning flying target. Input data is VH tracking calculator 2
Since the signal is always supplied to the VH tracking calculator, there is no need to initialize the VH tracking calculator at the time of switching.

In the straight line/turn determining device 4, the determination of "turn" is made based on a change in the flight course of the wake, and (a) the flight course at the time of the previous scan has changed by more than a specified value.

(b) The change in flight path during the current scan is in the same direction as the change during the previous scan.

When all of the above are satisfied, it is determined that the vehicle is turning, and the tracking calculator is switched. As a result of the above, the stability, continuity, and followability of the track data at the time of switching are maintained.

Next, if the target returns to flying in a straight line, the straight line/turning determiner determines whether the target is in a straight line, issues a command to the switch 3, moves the switch 3 upward, and the αβ tracking calculator 1 Perform tracking calculation. At this time, the input data was also always supplied to the αβ tracking calculator, so there is no need to initialize the αβ tracking calculator at the time of switching. In the straight line/turn determining device 4, the determination of "straight line" is made based on the change in the flight path of the wake, and (al) The change in the flight path at the time of the previous scan is within a specified value.

(b) The change in flight path during the current scan is within the specified value.

When all of the following are satisfied, it is determined that the line is a "straight line" and the tracking calculator is switched. As a result of the above, the stability of the track data at the time of switching,
Continuity and followability are maintained.

In addition, in the above embodiment, the case where the αβ tracking calculator is used as the linear tracking calculator has been described, but the invention is not limited to this, and a least squares tracking calculator or the like may be used (also, as the turning tracking calculator, Although the case where a VH tracking calculator is used has been described, the present invention is not limited to this, and an αβγ calculator, a Kalman filter tracking calculator, or the like may be used, and the same effects as in the above embodiments can be achieved.

C Effects of the Invention] As described above, according to the radar target tracking device of the present invention, the switching device is configured to be provided after the first tracking calculator and the second tracking calculator, and Since the change in the flight path of the wake is used for the determination, the stability, continuity, and followability of target tracking can be improved.

[Brief explanation of drawings]

FIG. 1 is a system diagram showing a radar target tracking device according to an embodiment of the present invention, and FIG. 2 is a system diagram showing a conventional radar target tracking device. In the figure, 1 is the αβ tracking calculator (first tracking calculation rS
), 2 is a VH tracking calculator (second tracking calculator), 3 is a switch, and 4 is a straight line/turning determiner. Note that the same reference numerals in the figures indicate the same or equivalent parts.

Claims (1)

[Claims] (1) In a radar target tracking device, a first tracking calculator that is excellent in tracking straight-flying targets, a second tracking calculator that is excellent in tracking turning flying targets, and switching of the output calculation results of both tracking calculators. a switching device that performs the switching, and a straight line/turning determination device that determines whether the flight path is a straight line or a turning based on the change in the flight path of the track output by the switching device, and issues a switching command to the switching device according to the determination result. A radar target tracking device comprising: