JPS587575A - Attachment for measuring position by radar apparatus - Google Patents

Abstract

PURPOSE:To improve the position measuring accuracy with a radar by indicating a comparison video memorized in an attachment and a video to be measured in a dual manner to compare two videos in a position measurement. CONSTITUTION:The position of a video of a clear object mark, a basic mark or the like from a video processing system 2 at a given point is corrected corresponding to a course, a slip speed, or the like of a function input circuit 38 and a shift level or the like of a shift circuit 40 in response to an operation part 42 through a CPU28 of an attachment 22 and stored in a basic picture area 300 of a memory device 30. Subsequently, likewise, position information at various points is computed and corrected with the CPU28 based on video signals and the contents of an area 300 or the like and stored into auxiliary video areas 30A, 30B... of a device 30. For the navigations from the second time on, the contents of the device 30 are indicated as comparison video simultaneously with videos to be measured and these two videos compared to effect a highly accurate position measurement. An attachment thus obtained enables improvement in the position measuring accuracy with a radar.

Description

[Detailed Description of the Invention] The present invention relates to an additional device for position measurement that is attached to a radar device and measures the position, and in particular, compares both images by repeatedly displaying comparison images stored in advance on the image of the radar device. This invention relates to a positioning device that determines the position #1.

Generally, the NN58 (TI Military Navigation Guard 1 System) is used as a position measuring device that provides position information to ships and aircraft.
There are navigation devices such as lorrans, detsukas, and gyros, but in the case of small vessels such as fishing boats operating on the coast, their position is fixed using a radar device or the like. However, when positioning is performed using a radar device, the radar device's image cannot faithfully display and determine the distance to *S, the actual topography, or the surrounding area due to its nature, so the relative ship position is determined from the image. This has the disadvantage that the number of field reviews is lower than with other navigation equipment.

This invention has been proposed in view of the above points, and is a radar system that improves the positioning degree by combining pre-stored comparison images of radar equipment and measuring the position by comparing the images. The purpose is to provide an additional device for measuring the position of the device.

This invention stores one or more of images given to an indicator of a radar device as comparison images.
A storage device having the above storage area, and a basic mark signal or the memory that receives the video signal from a video signal processing system that supplies the video signal to the indicator and arranges a basic mark on the image in the indicator. an input/output device that outputs the video information read from the device to the Eirin signal processing system; and an input/output device that controls the operation of this input/output device, digitally processes the Eirin signal given to this input/output device, and provides it to the storage device. It also includes a central processing unit that extracts the memory contents of this storage device, displays a comparison image read from the storage device on the image of the indicator, and measures the position by comparing both images. is expressed as a percentage.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
11 FIG. 1 shows an embodiment of an additional device for position measurement of a radar device according to the present invention. In the figure, reference numeral 2 indicates a video signal processing system which is a part of the radar device. Provided as a video display input.

Further, a synchronizing signal is given to the input terminal 10, and the sweep signal obtained by the high-speed sweep circuit 12 is transmitted to the indicator 8.
has been entered. This high-speed sweep circuit 12 is provided with external control input terminals 14, 16, and 18, and the video amplifier 6 is provided with a video signal output terminal 2 to take out a video signal.
0 is set.

In this video signal processing system 2, a video signal output terminal 20
The video signal extracted from the video signal is given to the video processing circuit 24 of the additional device for position measurement 22, which removes unnecessary signals such as interference waves, small images, rain, and sea surface reflections from the video 1# signal. , the signal with significant imitation from which these have been removed is converted into a digital signal and then applied to the input/output device (Ilo) 26. This input/output device 26 is a central processing unit (CP).
U) It is controlled by 28 and performs human output such as Eirin signal. Further, the central processing unit 28 performs digital arithmetic processing on input data according to a predetermined program stored in an internal storage device. One or more pieces of film relationship information obtained through this digital arithmetic processing are stored in a readable and writable storage device 30 having a plurality of storage areas. This storage device 30 is composed of, for example, an IC memory, and in this embodiment is composed of a basic video storage area 300 and 411 independent video storage areas 30A, 30B, 30C, and 301). The base # video storage area 300 and the video storage areas 30A to 30D are linked to the input/output f&11126 and the central processing unit 28 via separate buses 32.34, and the latter video storage areas 30A to 30D
The storage section switch 36 selectively switches the selection.

A circuit 38'## selection and shift input circuit 40 is added, and the basic mark 'I!' is displayed on the image from the function %38. A basic mark signal for marking the image and its fade input signal are given, and the selection and shift input circuit 40 inputs the selection input of the storage area and the X, Y of the image.
Shift manpower is given. These input circuits 38.400
The power is applied from the memory section and the selection operation section 42 for selecting marks on the panel. These control inputs and operations are displayed separately from the display section 44 & C movie added to the input/output device 26.

Each input circuit 38 .applied to the input/output device 26 .
After the control input 40 is digitally processed, it is stored in the storage device 3.
The memory image of 0 is also applied as a separate image to the 20 input terminal 14 on the high speed sweep circuit from the input/output device 26. In addition, the input terminal 16 has a range switching input @%4.
A range switching input is applied from 6, and an input terminal 18 receives an azimuth matching input from an azimuth matching input circuit 48.

Based on the above configuration, a method for determining position 1111#I will be explained.

FIG. 2 shows a radar image that includes the operating area, and first the radar protection method will be explained using this image. That is, after setting sail from the departure point P, at point A, where it is theoretically easy to see the target,
An inappropriate location on the image of the indicator 8, that is, a prominent target 50.
52.54.56, attach the basic mark town, wing intention, town, town to calculate the bearing, ship speed, etc., and add this basic mark town (
・The image depicting the town is stored in the storage device 300 basic eirin memory area 300 as a comparison image. The basic marks KA1 to mI4 are manually inputted from the function/input circuit 38 based on the operation of the selection operation section 42. In this case, each basic mark town or town is a target on my radar, and I select an arrangement position from the planned route that is easy to triangulate. On the other hand, the planned course and approximate ship speed of the ship are inputted from the function input circuit 38, and each of the basic marks 1 to 11L4 of the stored basic image is calculated and shifted based on the course and ship speed. After a certain plotting time has elapsed, that is, at the predicted position b, the base II video stored in the video obtained at that time is read out, compositely displayed, and compared. The basic image is shifted 77 times so that it matches each of the prominent targets 50 to 56 in the actual image, and the relative position of each basic mark from the town to the town is corrected by the shift amount. Let this point be B' and
Grotting is performed at regular intervals until reaching the operation point Q. In addition, in each plot/g, other necessary marks such as basic mark town or town, target sea area Z mark, 1.1, etc. shall be inserted and stored in the basic image.

Next, we compare and match Eirin with reference to the third prisoner and the person to F in Figure 4. It shows the own ship's track on the second operation route.In the case of the first operation, the own ship's track is plotted using the above-mentioned plotting method, and this image is stored in the basic Eirin memory area 300. At the same time, video recording is performed at point A1 (this video is stored in the video storage area 30AK as a comparison video. Figure 4 shows the video to be stored.Next,
Near the operation JIlil point QK (・Select B1 point, and this 81
Record radar images at points. The fourth time shows the video footage in this case, and this video is stored in the video storage area 30BK.

The images stored in each storage area 30A, 30BK are the nine basic marks (towns) and all of the notable landmarks 50, 52, 54, 56, or the l or It is assumed that two or more of them are aligned and calibrated.In the case of the second operation, point A1 read from the video storage area 30A is added to the image at point A2, which is close to point A and point at the time of the first recording. When the video 1#! is compositely displayed, the video format shown in FIG. 4C is obtained.

In this case, in order to compare both Eirin and Soukai gI, the comparison image is relatively thin (projected) and differentiated by contrast.This comparison image is moved based on the azimuth matching input and X, Y shift manual processing, Disperse the refreshing honey.The fourth diagram shows the image after such an operation, and the A1 point
The position of two points, ie, the direction and distance apart, can be determined. In addition, at 88 points near the planned operation area Q, the images shown in Figure 4 are obtained in the same way as above, and if the comparison image is matched with the actual image as shown in Figure 4F, the operation schedule is It is possible to clearly know the position of the priest of the current position B2 with respect to the sea area QK.

Next, we will explain a supplementary method for matching in sea areas where prominent targets to be matched, such as coastlines and land targets, cannot be obtained as one image. In other words, if there is no such prominent target, there is a basic mark town or
14 is recorded in the basic mark m1 to l1ak comparison image in the base # image storage area 300, and the image at a specific position t is stored in the image storage area 30A and 30D.
Every time you plot K, it will be displayed redundantly as a comparison image, and by shifting the position, you can compare the actual image with the comparison image.** It is the same as when there is a target! -j determination of the position i1 can be performed with high precision. Figures 5 to 5 show the position tIli determination method in this case, and each figure shows the target fixed g
g2m from the first operation point A in the sea area where there is no IJ
The case is shown in which the operation moves to the east point BO and returns to the first operation point A. In other words, in Figure 5, the basic mari town, m8, town, "mv" is established at point A@, and it reaches point B via route -1, - snow, and after operating at point B, a different Take the route, pass through point b, and meet at point b, and at point 0' there is no person.
Assume that IM matching is performed and the process returns to point A. Turtle 5 Figure B shows the setting point of the basic mark town or town in AoA,
This image is stored in the basic image storage area 300K.

Similarly, the second video is stored in the video storage area 30A. FIG. 5 0 shows an image obtained by overlappingly displaying a comparison image produced by one person, the actual image KW, at 11 points. The image memory area 3o's memory Eirin has moved to the right in the diagram by the amount of plot up to 11 points, so the basic mark town and town have disappeared off the screen. In this case, in order to display the all basic mark phoenix or m on the indicator 8 as the aircraft moves to operation point B, the range is changed and the range is changed from 6 nautical miles to 12 nautical miles. At the same time, this image storage area 30DK is transferred. It shows an image of 12 nautical miles V/J at the fifth scale point, and for a 124 nautical mile range, the base marks or towns and their intervals are 1/2. In this case, for consistency, the basic mark town or town is replaced with the horizontal and vertical arrangement at the time of the setting. 95. FIG. 8 shows an image when a comparison image in the image storage area 30A is displayed on the actual image at the bird point.

In this case, the actual Eirin range is 6 nautical miles, and the thin broken line shows the Eirin display when alignment is achieved. Also, Figure 5 F
is a duplicated image before matching at one point, FIG. 5G is a duplicated image after matching at one point, FIG. 5H is a duplicated image before matching at point t, and FIG. 5I is a duplicated image after matching at one point. The images shown, H and IK are shown in 6 seas/di.

FIG. 5J shows an overlapping image at a point @' near the target point M, and the amount of plot/g shift from the point is added to the position of the protruding image in the image storage area 30M. Here, the same marks 1' to 4' as the basic marks are displayed on the image from the input circuit 38 in a certain direction and angle from the ship's position. As a result, it is found that there is a discrepancy between the memory vk 儂 (Kakero basic! - ritomi 1 or 4) and the mark 菖l' or ton 4', and by shifting these marks *, l, l, +a, By matching the marks from 1a46c to 1a46c and calculating the accurate direction and distance to point M from the shift amount, it is possible to accurately maneuver the ship in the direction of point A and approach point KR.

It is clear from the above examples that 1 or 2 or more of the actual results obtained with the radar device can be compared to 5! as picture l or 2
Video storage area of 300, 30 mu or 30 DK
Memorize this memory! l! The current position can be determined with high precision by displaying the images simultaneously and overlappingly on the screen, shifting and changing the direction of the comparative images as appropriate to match the actual images, and by comparing the target position and the current position relative to each other. In this case, during image storage, unnecessary signals such as interference waves and small images contained in the image signal are removed from the image memory m times. Since the images are removed in step 24 and digitally processed, the images stored as comparison images are very clear, and even if they are displayed overlappingly on the actual images, it is extremely easy to determine whether the actual images are correct or not.

In addition, to distinguish between real images and comparison images, use radar sweep intervals to quickly compare comparison images. Display the image,
This is possible by varying the brightness. Further, in the case of this embodiment, the storage device 30 is described assuming an IO memory, but it is also possible to use a magnetic card, magnetic tape, etc. as another storage method. Memories of this example*
t30 is 5 memory areas 300, 30 people or 30
Although the description has been made regarding the storage area D, it is also possible to set one or more storage areas and store position information regarding various routes. In addition, in the matching process, calculation of shift, direction, distance, etc. is performed by the central processing unit 2.
It is also possible to perform calculations automatically in B.

As explained above, according to the present invention, a pre-stored comparison image is superimposed on the actual image [1! By comparing both images, the position can be measured with high precision using the indicator of the radar device. It is f & economical.

[Brief explanation of the drawing]

No. 1111 is a block diagram showing an embodiment of the additional device for position measurement of the Ray f device of the present invention, Fig. 2, Fig. 3, and Fig. 4 w.
AA to F and FIGS. 5 to 5 are explanatory diagrams showing images in the radar device. 2... Video signal JAfM system, 22... Additional device for position measurement, 26... Input/output device, 28... Central processing unit, 30... Storage device, 300... Basic video Memory area, 30mm~30D - Image memory area. Figure 2 Figure 3 Figure 4 A B CD E F Figure 5 A B C [) E F G 1 Procedural amendment was filed November 30, 1981 Miyajima, Commissioner of the Japan Patent Office 1) Spring 4) 1 Lord 1 , Indication of the case 1982 Patent application No. 18105826 2 Name of the invention Addition device for position measurement of radar device 3 Person making the amendment Relationship to the case Patent applicant representative Takashi Furuno 4, agent Address: 167 Location: 7th floor, Ogikubo Kangyo Building, 3-2-2-703 Amanuma, Suginami-ku, Tokyo, Figure 5, F G

Claims (1)

[Claims] A storage device having one or more storage areas for storing one or more images given to an indicator of a radar device as a comparison image; and an image from an image signal processing system that provides a video signal to an indicator of the radar device. An input/output device that takes in a signal and outputs a basic mark signal for marking a basic mark on an image on an indicator or interposition information read from the memory at to a video signal processing system, and controls the operation of this input/output device. a central processing unit that digitally processes a video signal supplied to the input/output device and supplies it to the storage device and reads out the stored contents of the storage device; is stored as a comparison image, and the comparison image read out from the storage device is compositely displayed on the image displayed on the indicator to compare the two images and the position is measured from K. Additional device for position measurement of radar equipment.