JP4901532B2 - Airport surface monitoring system and airport surface monitoring method - Google Patents

Description

  The present invention relates to an airport surface monitoring system and an airport surface monitoring method for monitoring the position of a target such as an aircraft existing on an airport surface.

Examples of conventional airport surface monitoring systems include those disclosed in Japanese Patent Application Laid-Open No. 2007-10367 (Patent Document 1) and Japanese Patent Application Laid-Open No. 10-142329 (Patent Document 2).
Japanese Patent Application Laid-Open No. 2007-10367 discloses that a plurality of target detection devices are used in combination to monitor an airport surface, and an integrated track is generated and displayed from track information about the same target detected by the plurality of target detection devices. In the airport monitoring system to be displayed in the department, the center line information is read from the center line database that stores the center line information of the airport surface (information about the runway and guide light obtained from the map information of the airport surface, etc.) Using the centerline information, calculate the vertical distance from the coordinate position of each track information detected by multiple target detection devices to the reference centerline, and the integrated track for the same target by weighting ratio based on those vertical distances Airport surface monitoring system that determines the coordinate position of the "

  Japanese Patent Laid-Open No. 10-142329 discloses “a primary radar apparatus having a logarithmic amplifier that receives a radar signal reflected from an exploration area and amplifies the radar signal, and an input / output of the logarithmic amplifier from the output of the logarithmic amplifier. An amplifier comprising: a coefficient converter that calculates a plurality of input / output characteristic curves corresponding to the number of erroneous target occurrences; and a coefficient selector that selects an input / output characteristic curve corresponding to the calculated number of erroneous target occurrences; In addition, there is described a false target suppression device (that is, an airport surface monitoring system) provided with an automatic identification device having means for calculating the number of false target occurrences from a radar signal received by a primary radar device.

FIG. 10 is a block diagram showing a configuration of a conventional airport surface detection radar system (that is, an airport surface monitoring system).
FIG. 10 is not the configuration of the airport surface monitoring system itself disclosed in Japanese Patent Application Laid-Open No. 2007-10367 or Japanese Patent Application Laid-Open No. 10-142329, but will be described later as a configuration example of a conventional airport surface monitoring system. It is shown in comparison with the configuration of an airport surface monitoring system according to the present invention.
The operation of the conventional airport surface detection radar system will be described with reference to FIG.
The primary radar ASDE (Airport Surface Detection Equipment) 10 emits a radar transmission signal as a radio wave to the airport surface with a transceiver (not shown) and reflects it on a target such as an aircraft or ship. The reflected radio wave is received again by a radar antenna (not shown) arranged in the ASDE 10.
The radio wave received by the radar antenna of the ASDE 10 is input to the receiver (not shown) of the ASDE 10, and the input weak signal is amplified and frequency-converted and input to the A / D converter 11 as the radar video signal 101. .

The radar video signal 101 is converted into a digital radar video signal 102 by the A / D converter 11 for later processing.
Next, the digital radar video signal 102 is temporarily stored in the memory unit 12 for noise removal threshold processing.
The digital radar video signal 103 output from the memory unit 12 is divided into a noise component and a target component (that is, a target video signal) by a threshold processing unit 130.
In order to obtain the position of the center of gravity of the target video signal 1040 determined to be the target, the target video signal 1040 is processed as a cluster by the clustering processing unit 14.

The clustered cluster signal (that is, the clustered digital radar video signal) 105 is calculated by the gravity center position calculation unit 15 so that the gravity center position (that is, the gravity center position of the clustered digital radar video signal) is calculated.
The center-of-gravity position calculation signal 106 calculated by the center-of-gravity position calculation unit 15 is used by the ASDE tracking processing unit 16 to perform the correlation process between the currently processed target center-of-gravity position and the currently input target center-of-gravity position. Is output as ASDE track data 107 as a gravity center position calculation signal.
On the other hand, MLAT (Multi-Lateration) 20 as a secondary radar receives a mode S transponder signal from an aircraft or the like at at least three receiving stations, and measures the position of the aircraft or the like from the reception time difference. The positioning signal (position detection information) 201 obtained by positioning is input to the MLAT tracking processing unit 21.

The mode S transponder signal is a signal (mode S) transmitted from the aircraft, and the aircraft can be identified by a mode S (address unique to the aircraft) signal.
In MLAT, the mode S transponder signal from the aircraft is received by three or more receiving stations, the reception time difference between the receiving stations is converted into the distance difference between each receiving station and the aircraft, and the distance difference is constant. It is possible to calculate the position of the aircraft by obtaining the intersection of the hyperbolas.
The MLAT tracking processing unit 21 correlates / tracks the positioning signal (position detection information) 201 output from the MLAT 20 and outputs MLAT track data 202.
The integration processing unit 40 performs correlation processing on the ASDE track data 107 and the MLAT track data 202, and if there is a correlation, performs integration processing as the same target, and outputs an integrated track 401 that is the result of the integration processing.
The integration processing result (integrated wake) 401 output from the integration processing unit 40 is displayed on the display device 50 as display data.
JP 2007-10367 (FIG. 1, abstract) Japanese Patent Laid-Open No. 10-142329 (FIG. 1, claim 5)

In the conventional airport surface detection radar system (airport surface monitoring system) described above, a high-resolution primary radar such as ASDE and a secondary radar such as MLAT are used to target the area where the coverage area overlaps (for example, an aircraft). Are separately monitored, target detection is automatically performed, and tracking processing is performed from the detection result.
Then, the ASDE tracking result and the MLAT tracking result are integrated and displayed as a target on the display device.
Since ASDE is a primary radar, multipath occurs due to buildings and aircraft in the airport. The location where multipath occurs is unspecified, and the video level is high.
Therefore, in the conventional airport surface monitoring system, even if processing such as threshold determination is performed on the digital video signal detected by ASDE, the target is erroneously detected and displayed as a false target on the display device.
For this reason, there arises a problem that a controller using equipment (for example, display equipment or various equipment using the calculated target position information) causes mistakes or increases the number of confirmation procedures.

  The present invention has been made to solve the above-described problems, reduces false detection of targets such as aircraft existing on the airport surface, suppresses display of erroneous targets, and monitors the airport surface. It is an object of the present invention to provide an airport surface monitoring system and an airport surface monitoring method that can reduce the load on the controller who uses various equipment for the vehicle.

The airport surface monitoring system according to the present invention generates a radar video signal by emitting a radio wave to the airport surface and receiving a radio wave reflected by a target, and outputs the radar video signal output from the ASDE. A / D converter for converting to a radar video signal, a memory for storing the converted digital radar video signal, a level of the digital radar video signal output from the memory unit is determined, and the determined level is determined from a threshold value A small level is removed as noise, a video level determination unit that outputs a digital radar video signal from which noise has been removed, a clustering processing unit that processes the digital radar video signal output from the video level determination unit as a cluster, and the clustering process Clustered digital radar Calculating the position of the center of gravity from Deo signal, the center of gravity position calculating unit for outputting a center-of-gravity position calculation signal, ASDE tracking processing unit for outputting the ASDE track data based on the center-of-gravity position calculating signal calculated by the center-of-gravity position calculating unit and in a composed ASDE tracking system receives at least three receiving stations mode S transponder signals from the target, and outputs a target position detection information by positioning the position of the target from the received time difference MLAT, tracking the target based on the target position detection information from the MLAT, correlation and MLAT tracking system constituted by the MLAT tracking processing unit for outputting the MLAT track data, the ASDE track data and the MLAT track data And an integrated processing unit that performs integrated processing as the same target to create an integrated wake, and the integration that the integrated processing unit generates In the airport surface monitoring system including a display device for displaying a trace, the MLAT tracking system further includes the video level determination for the area near the target based on the target position detection information output from the MLAT. ASDE video level determination map information that lowers the threshold level of the video section and raises the threshold level of the video level determination section for the region other than the vicinity of the target is output to the video level determination section, and the database is stored in the database. A threshold MAP creation processing unit is provided for controlling the size of the area for lowering the threshold level of the video level determination unit based on the target size information.

The airport surface monitoring method according to the present invention includes a step of emitting a radio wave to the airport surface by ASDE and generating and outputting a radar video signal by receiving the radio wave reflected by the target, A step of converting to a radar video signal; a step of storing the converted digital radar video signal; and a level of the stored digital radar video signal is determined. If the determined level is smaller than a threshold value, noise is removed as noise. A video level determination step for outputting a digital radar video signal from which noise has been removed, a clustering processing step for processing the digital radar video signal output in the video level determination step as a cluster, and a clustered digital radar video signal From that Calculating a heart position, the center of gravity position calculation step of outputting the center of gravity position calculation signal, the ASDE tracking processing step of outputting ASDE track data on the basis of the calculated the centroid position calculated signal, the mode S from the target by MLAT receiving a transponder signal in at least three receiving stations, tracking and outputting target position detection information by positioning the position of the target from the received time difference, the target based on the target position detection information, MLAT tracking processing step for outputting MLAT track data, an integration processing step for correlating the ASDE track data and the MLAT track data, and performing integration processing as the same target to create an integrated track, and the integration processing step . In the airport surface monitoring method including the step of displaying the integrated wake, Based on the target position detection information for the target proximity region lowers the threshold level for the video level decision, along with raising the threshold level for the video level determination for the region other than the target proximity And a step of controlling the size of the area for lowering the threshold level for the video level determination unit based on the target size information stored in the database .

According to the airport surface monitoring system or the airport surface monitoring method according to the present invention, by using the target position detection result by MLAT, the target detection threshold of ASDE near the target detection position is lowered, and the threshold of other regions is increased. Target detection accuracy is increased,
Target false detection and tracking can be reduced.
Further, since the size of the area for lowering the threshold level of the video level determination unit is controlled based on the target size information stored in the database, the target detection accuracy of ASDE can be further increased.

Hereinafter, an embodiment of the present invention will be described with reference to the drawings.
In the drawings, the same reference sign indicates the same or equivalent.
Embodiment 1 FIG.
FIG. 1 is a block diagram showing a configuration of an airport surface monitoring system according to Embodiment 1 of the present invention.
In the figure, an ASDE (Airport Surface Detection Equipment) 10 emits a radar transmission signal as a radio wave to an airport surface by a transceiver (not shown) and reflects a reflected radio wave reflected by a target such as an aircraft as an ASDE radar antenna (not shown). The received radio wave is input to a receiver (not shown), and the weak signal input to the receiver is amplified and frequency-converted to output a radar video signal 101.

The A / D converter 11 converts the radar video signal 101 output from the ASDE 10 into a digital radar video signal 102.
The memory unit 12 temporarily records (accumulates) the digital radar video signal 102 converted into a digital signal by the A / D conversion unit 11, and outputs the digital radar video signal 103 to the video level determination unit 13.
Further, in the present embodiment, MLAT (Multi-Lateration) 20 detection information (that is, target position detection information detected by MLAT 20) 203 is temporarily recorded, and target position detection information (that is, MLAT 20 detects). (Target position detection information) 204 output as the detection information memory unit 22, and a threshold MAP is created based on the target position detection information 204 output from the detection information memory unit 22, and the video level as the ASDE video level determination map information 205. A threshold MAP creation processing unit 23 for outputting to the determination unit 13 is provided.
The threshold MAP is a threshold level change characteristic for setting a target detection level near the target position based on the target position detection information 204 detected by the MLAT 20.

The video level determination unit 13 determines the level of the digital radar video signal 103 output from the memory unit 12 based on the ASDE video level determination map information 205 from the threshold MAP creation processing unit 23, and the determined video level Is removed as noise, and the digital radar video signal 104 from which the noise has been removed is output.
The clustering (clustering) processing unit 14 is output from the video level determination unit 13 in order to obtain the barycentric position of the digital radar video signal 104 from which the noise output from the video level determination unit 13 is removed. The digital radar video signal 104 is processed as a “cluster”.

The center-of-gravity position calculation unit 15 calculates the center-of-gravity position (that is, the center-of-gravity position of the clustered digital radar video signal) from the digital radar video signal 105 clustered by the clustering processing unit 14, and generates the center-of-gravity position calculation signal 106. Output.
The ASDE tracking processing unit 16 compares the ASDE detection position result (that is, the centroid position detection signal 106) that is the centroid position of the digital radar video signal calculated by the centroid position calculation unit 15 with the previously processed target result. Correlate the processed goal with the currently processed goal.
If there is a correlation, it is determined that the previously processed target and the currently processed target are the same target, and ASDE track data (that is, the target tracking processing result by the ASDE tracking processing unit 16) 107 is output. To do.
On the other hand, the MLAT 20 covers the airport surface and its surroundings, receives a mode S transponder signal from an aircraft or the like at at least three receiving stations, determines the position of the target aircraft or the like from the reception time difference, and determines the positioning signal. 201 is input to the MLAT tracking processing unit 21.

The MLAT tracking processing unit 21 compares the target positioning signal 201 output from the MLAT 20 with the previously detected target positioning result, and if there is a correlation, the MLAT tracking processing unit 21 determines that the target is the same target. That is, the target tracking process result 202 by the MLAT tracking processing unit 21 is output.
Further, the detection information memory unit 22 temporarily records and outputs detection information 203 of the MLAT 20 (that is, target position information detected by the MLAT 20).
The threshold MAP creation processing unit 23 creates a threshold MAP from the detection information (that is, target position information detected by the MLAT 20) 204 output from the detection information memory unit 22.
The threshold MAP created by the threshold MAP creation processing unit 23 is input to the video level determination unit 13 as ASDE video level determination map information 205.
The integration processing unit 41 performs the same target determination from the ASDE tracking processing result and the MLAT tracking processing result and outputs an integration processing result (that is, integrated track data) 401, and the display device 50 performs the integration processing from the integration processing unit 41. The result (integrated wake data) 401 is displayed.

Next, although partially overlapping with the above description, the operation of the airport surface monitoring system according to the present embodiment will be described.
In FIG. 1, a radar video signal 101 output from the ASDE 10 is input to an A / D conversion unit 11 and converted into a digital radar video signal 102.
The digital radar video signal 102 converted into a digital signal by the A / D conversion unit 11 is temporarily stored in the memory unit 12 for video level determination.
Further, in the airport surface monitoring system according to the present embodiment, target position detection information (MLAT detection information) 203 by MLAT 20 is temporarily recorded and output, and output from detection information memory unit 22. And a threshold MAP creation processing unit 23 for creating a threshold MAP from the target position detection information 204.

The MLAT detection information (target position detection information) 203 output from the MLAT 20 is stored in the detection information memory unit 22 in order to create a threshold map.
The threshold MAP creation processing unit 23 creates an ASDE video level determination map from the MLAT detection information (target position detection information) stored in the detection information memory unit 22, and uses the ASDE video level determination map information 205 as the video level determination. To the unit 13.
For example, the threshold MAP creation processing unit 23 lowers the threshold level of the video level determination unit 13 for the region near the target based on the target position detection information output from the MLAT 20, and for the region other than the target vicinity. As a result, the ASDE video level determination map information 205 for raising the threshold level of the video level determination unit 13 is output to the video level determination unit 13.
This video level determination map information 205 is used for level determination of the digital radar video signal in the video level determination unit 13 of the ASDE.

The video level determination unit 13 performs threshold determination on the digital radar video signal 103 output from the memory unit 12 using the video level determination map information 205 output from the threshold MAP creation processing unit 23, and sets the threshold value. The following digital radar video signals are removed as noise.
The digital radar video signal 104 from which noise has been removed by the video level determination unit 13 is input to the clustering processing unit 14 to be a clustered digital radar video signal 105, which is input to the barycentric position calculation unit 14. The
The centroid position calculation unit 14 calculates the centroid position of the input clustered digital radar video signal 105 and outputs a centroid position calculation signal (centroid position data) 106.
The output center-of-gravity position calculation signal 106 is input to the ASDE tracking processing unit 16.
The ASDE tracking processing unit 16 determines that the target is the same as compared with the previously processed target result, becomes ASDE tracking processing data (that is, ASDE track data) 107, and is input to the integration processing unit 41.

On the other hand, a positioning signal (that is, target position detection information) 201 that is an MLAT detection result output from the MLAT 20 is input to the MLAT tracking processing unit 21.
The MLAT tracking processing unit 21 determines that the target is the same as compared with the previously processed target result, becomes MLAT track data 202 as MLAT tracking processing data, and is input to the integration processing unit 41.
Based on the ASDE track data 107 as ASDE tracking processing data and the MLAT track data 202 as MLAT tracking processing data, the integrated processing unit 41 uses the target aircraft position, speed, heading (heading direction), mode S address ( If there is a correlation, the ASDE tracking processing result and the MLAT tracking processing result are integrated, and the integrated position is calculated to create an integrated track.
The created integrated track is output from the integrated processing unit 41 as the integrated processing result 401.
The integrated wake includes not only the position information of the target aircraft but also position information such as speed and heading.
The integration processing result 401 is displayed as an integration target by the display device 50.

Here, FIG. 2 is a diagram for explaining the operation when the airport surface monitoring system according to the first embodiment is not used, and FIG. 2A is an ASDE of target aircraft echoes and virtual image echoes. FIG. 2B shows a state in which the integrated target is displayed at the position of the target (aircraft) echo and the virtual image echo displayed on the display device 50.
As shown in FIG. 2A, the video level of the aircraft and the false image exceeds the threshold level, and both the aircraft and the false image are output to the display device 50 as targets.
The horizontal axis (distance) in FIG. 2A corresponds to the wavy line shown in FIG.
On the other hand, FIG. 3 is a diagram for explaining the operation when the airport surface monitoring system according to the first embodiment is used, and FIG. 3 (a) is an ASDE video of target aircraft echoes and virtual image echoes. FIG. 3B shows the level (that is, the level of the digital radar video signal detected by the ASDE 10), and FIG. 3B shows the integrated target at the position of the target (aircraft) echo and the virtual image echo displayed on the display device 50. It shows how it is displayed.
As shown in FIG. 3A, in the present embodiment, the threshold level in the vicinity of the detection position of the MLAT 20 (that is, in the vicinity of the detection position of the target aircraft) is lowered, and the threshold level in other areas is increased. ing.
Therefore, the threshold level is high with respect to the virtual image, and as shown in FIG. 3B, the generation of the integrated target (false target) with respect to the false image is reduced, and the performance of the overall integration process is reduced. improves.
That is, according to the present embodiment, as shown in FIG. 3B, since the virtual image echo is not displayed on the display device 50, the false detection of the target such as an aircraft existing on the airport surface is reduced. Displaying the target can be suppressed, and the load on the controller who uses the equipment can be reduced.

As described above, the airport surface monitoring system according to the present embodiment generates and outputs a radar video signal by emitting radio waves to the airport surface and receiving reflected radio waves. 10, an A / D converter 11 that converts a radar video signal output from the ASDE 10 into a digital radar video signal, a memory unit 12 that stores the converted digital radar video signal, and a digital radar video signal output from the memory unit 12 A digital radar output from the video level determination unit 13 and the video level determination unit 13 that outputs a digital radar video signal from which noise has been removed. Clustering processing unit 14 for processing video signals as clusters The centroid position is calculated from the digital radar video signals clustered by the clustering processing section, and the centroid position calculation section 15 outputs the centroid position calculation signal. Based on the centroid position detection signal calculated by the centroid position calculation section 15 An ASDE tracking system configured with an ASDE tracking processing unit 16 that outputs wake data 107;
The mode S transponder signal from the target is received by at least three receiving stations, the target position is determined from the reception time difference, and the target position detection information is output, and the target is detected based on the target position detection information from the MLAT 20 And an MLAT tracking system configured by an MLAT tracking processing unit 21 that outputs MLAT track data 202;
The ASDE track data 107 and the MLAT track data 202 are subjected to correlation processing, integrated processing as the same target, and an integrated processing unit 41 that generates an integrated track 401, and a display device 50 that displays the integrated track 401 generated by the integrated processing unit 41. In the airport surface monitoring system provided,
Furthermore, the MLAT tracking system lowers the threshold level of the video level determination unit 13 of the ASDE tracking system for the area near the target based on the target position detection information output from the MLAT 20, and moves it to an area other than the target vicinity. On the other hand, it has a threshold MAP creation processing unit 23 that outputs ASDE video level determination map information 205 for raising the threshold level of the video level determination unit 13 to the video level determination unit 13.

  Further, the airport surface monitoring method according to the present embodiment includes a step of generating and outputting a radar video signal by emitting radio waves to the airport surface by ASDE and receiving reflected radio waves, and converting the radar video signal into digital radar video. Converting to a signal; storing the converted digital radar video signal; determining a level of the stored digital radar video signal; if the determined level is less than a threshold value, the noise is removed; A video level determination step for outputting the removed digital radar video signal, a clustering processing step for processing the digital radar video signal output in the video level determination step as a cluster, and a centroid position from the clustered digital radar video signal Calculate A gravity center position calculation step for outputting a gravity center position calculation signal, an ASDE tracking processing step for outputting ASDE track data based on the calculated gravity center position detection signal, and at least three mode S transponder signals from the target by MLAT. Receiving at the receiving station, measuring the position of the target from the reception time difference and outputting the target position detection information; tracking the target based on the target position detection information; and outputting MLAT track data And an ASDE track data and MLAT track data, an integrated processing step for integrating the same target to create an integrated track, and an airport surface having a step for displaying the integrated track created in the integrated processing unit step In the monitoring method, an area near the target is further detected based on the target position detection information. Lowering the threshold leveling le for video level determination Te, comprising the step of increasing the threshold leveling le for video level determination for a region other than the target proximity.

As described above, the airport surface monitoring system or the airport surface monitoring method according to the present embodiment automatically detects the monitoring target on the airport surface using the primary radar ASDE and the secondary radar MLAT, and based on the automatic detection result. The target is tracked.
When the ASDE tracking processing result and the MLAT tracking processing result are integrated, the ASDE is detected using the detection result of the secondary radar MLAT in order to prevent erroneous detection of the primary radar ASDE (that is, detection of a virtual image). The target detection accuracy of the primary radar ASDE is increased by setting the threshold of the target determination level low for the area near the target position and setting the threshold high for the area other than the vicinity of the target position. Can do.
As a result, it is possible to reduce erroneous detection of targets such as aircraft existing on the airport surface, suppress display of erroneous targets, and reduce the load on the controller who uses the equipment.

Embodiment 2. FIG.
FIG. 4 is a block diagram showing a configuration of an airport surface monitoring system according to the second embodiment.
In the first embodiment, the threshold MAP creation processing unit lowers the video level determination unit threshold level of the ASDE tracking system for the region near the target based on the target position detection information output by the MLAT. ASDE video level determination map information that increases the threshold level of the video level determination unit is output to the video level determination unit for areas other than the vicinity of the target, but the threshold of the airport surface monitoring system according to the present embodiment The MAP creation processing unit converts the ASDE video level determination map information to the video level based on the tracking information such as the target position, speed, and heading detected by the MLAT tracking processing unit instead of the target position detection information output by the MLAT. It outputs to a determination part, It is characterized by the above-mentioned.

In the airport surface monitoring system according to the first embodiment described above, the threshold MAP is created from the target target position detection information 204 output from the detection information memory unit 22.
In the present embodiment, as shown in FIG. 4, instead of the detection information memory unit, the tracking information memory unit 24 temporarily stores MLAT tracking information 206 such as the target position, speed, and heading detected by the MLAT tracking processing unit 21. Is added.
Then, the threshold MAP creation processing unit 23 sends the ASDE video level determination map information 208 to the video level determination unit 13 based on the tracking information 207 such as the target position, speed, and heading output from the tracking information memory unit 24. Output.

The video level determination unit 13 performs threshold determination on the digital radar video signal 103 output from the memory unit 12 based on the ASDE video level determination map information 208 input from the threshold MAP creation processing unit 23, Digital radar video signal below the threshold value is removed as noise.
After the video level determination process by the video level determination unit 13, the digital radar video signal 104 from which noise has been removed is input to the clustering processing unit 14 and becomes a clustered digital radar video signal 105. It is input to the gravity center position calculation unit 14.
The barycentric position of the clustered digital radar video signal 105 is calculated, becomes a barycentric position calculation signal (center of gravity position data) 106, and is input to the ASDE tracking processing unit 16.
The ASDE tracking processing unit 16 determines that the target is the same as compared with the previously processed target result, becomes ASDE tracking processing data (that is, ASDE track data) 107, and is input to the integration processing unit 41.

On the other hand, a positioning signal (that is, target position detection information) 201 that is an MLAT detection result output from the MLAT 20 is input to the MLAT tracking processing unit 21.
The MLAT tracking processing unit 21 determines that the target is the same as compared with the target result processed last time, becomes MLAT track data 202 which is MLAT tracking processing data, and is input to the integration processing unit 42.
Based on the ASDE track data 107 that is ASDE tracking processing data and the MLAT track data 202 that is MLAT tracking processing data, the integrated processing unit 42 performs correlation processing based on the target position, speed, heading, mode S address, etc. If there is, the overall processing of the ASDE tracking processing result and the MLAT tracking processing result is performed, and the integrated processing result 401 is output.
The integrated processing result 401 is displayed as a target by the display device 50.

Next, the operation of the airport surface monitoring system according to the present embodiment will be described with reference to FIG.
FIG. 5A shows the result of “the total processing result of the ASDE tracking processing result and the MLAT tracking processing result displayed on the display device 50 when it is determined that the aircraft is stopped from the tracking information and the threshold MAP is created. Is shown.
On the other hand, FIG. 5 (b) shows “the total processing of the ASDE tracking processing result and the MLAT tracking processing result displayed on the display device 50 when the movement of the aircraft is determined from the tracking information and the threshold MAP is created. Results "are shown.
As shown in FIG. 5B, the threshold MAP creation processing unit 23 in the present embodiment is one of target tracking information by the MLAT tracking processing unit 21 when the target (airplane) is moving, for example. The region where the threshold level is lowered with respect to the traveling direction according to the moving speed is increased with respect to the target traveling direction.
That is, the ASDE video level determination map information 208 output from the threshold MAP creation processing unit 23 to the video level determination unit 13 has a large area for lowering the threshold level in the traveling direction according to the target moving speed. is doing.
Thus, in the present embodiment, the threshold MAP can be created in accordance with target tracking information by MLAT.

As described above, in the airport surface monitoring system according to the present embodiment, the threshold map generation processing unit 23 of the MLAT tracking system detects the MLAT tracking processing unit 21 instead of the target position detection information output from the MLAT 20. Based on the tracking information 206 such as the target position, speed, and heading, ASDE video level determination map information is output to the video level determination unit 13.
Therefore, it is possible to change the area for lowering the threshold level in the video level determination unit in accordance with the target tracking information (speed, traveling direction, etc.) by MLAT, so that the target detection accuracy can be further increased and the reliability can be improved. A highly reliable airport surface monitoring system can be realized.

Embodiment 3 FIG.
FIG. 6 is a block diagram showing a configuration of an airport surface monitoring system according to the third embodiment.
In the first embodiment, ASDE is used as the primary radar. However, in this embodiment, by using a camera instead of ASDE, threshold values in the camera background difference method and the inter-scan difference method are used. Is used to create a threshold map for MLAT, thereby making it possible to prevent erroneous detection of the camera and improving the performance of the integration process.
The operation of the airport surface monitoring system according to the present embodiment will be described with reference to FIG.
In the first embodiment, the ASDE 10 is used as the primary radar, and the threshold level is changed by the target position detection information from the MLAT 20 to improve the performance of the integration process.
In contrast, in the present embodiment, the target (aircraft) is imaged using the camera 30 instead of the ASDE 10.
Then, the camera video information 301 that is a target imaging signal imaged by the camera 30 is converted into a digital camera video signal 302 by the A / D conversion unit 31, and the converted digital camera video signal 302 is converted to the luminance difference level determination unit 33. For input, the data is once recorded in the memory unit 32, and the memory unit 32 outputs the recorded digital camera video signal 303 to the luminance difference level determination unit 33.

In the luminance difference level determination unit 33, target detection is performed based on the “background difference method” in which the target is detected from the luminance difference level between the background image captured by the camera 30 and the current image, or the luminance difference level between the previous scan data and the current scan data. Using the “inter-scan correlation method”, or both the inter-scan method and the background difference method, data below the threshold level value is determined as noise.
The inter-scan correlation is to take a correlation with a signal detected for each scan.
The post-luminance difference level post-determination information 304 that has not been determined as noise becomes a cluster having a shape in the clustering processing unit 34, becomes a post-cluster camera video signal 305, and is input to the barycentric position calculation unit 35.
The center-of-gravity position calculation unit 35 calculates the center-of-gravity position of the clustered camera video signal, converts the camera screen information into the center-of-gravity position information, and inputs the result to the camera tracking processing unit 36 as the camera detection result 306.
The camera tracking processing unit 36 determines that the target is the same as compared with the previously processed target result, and the camera tracking data (that is, the target tracking processing result by the camera tracking processing unit 36) 307 is input to the integration processing unit 43. The

Further, the mode S transponder signal from the target is received by at least three receiving stations, the target position is determined from the reception time difference, and the target position detection information is output based on the target position detection information from MLAT20 and MLAT20. The MLAT tracking system configured by the MLAT tracking processing unit 21 that tracks the target and outputs the MLAT track data 202 is provided.
Furthermore, the MLAT tracking system is a threshold for controlling the determination level of the luminance difference level determination unit 33 based on the target position detection information output from the MLAT 20 (that is, target position detection information output from the detection information memory unit 22). It has a threshold MAP creation processing unit 23 that creates MAP information.
The integrated processing unit 43 performs correlation processing according to the target position, speed, heading, mode S address, and the like, and performs comprehensive processing of the camera tracking processing result (camera track data 307) and the MLAT tracking processing result (MLAT track data 202). And the integrated processing result 403 is output.
Note that the same reference numerals as those in the first embodiment denote the same components, and a description thereof will be omitted.

  As described above, the airport surface monitoring system according to the present embodiment replaces the ASDE tracking system in the above-described first embodiment, images the airport surface, generates a camera video signal, and outputs it. An A / D converter 31 for converting a video signal into a digital camera video signal, a memory unit 32 for storing the converted digital camera video signal, a luminance difference level of the digital camera video signal output from the memory unit 32, and If the determined level is smaller than the threshold value, it is removed as noise, and the digital camera video signal output from the luminance difference level determining unit 33 is clustered. Clustered by the clustering processing unit 34 and the rastering processing unit 34 The center-of-gravity position is calculated from the digital camera video signal, and the center-of-gravity position calculation unit 35 outputs the center-of-gravity position calculation signal, and the camera tracking processing data (camera track data) based on the center-of-gravity position detection signal The luminance difference level determination unit 33 uses the output 205 of the threshold MAP creation processing unit 23 of the MLAT tracking system to control the threshold level using the camera tracking system configured by the camera tracking processing unit 36 that outputs 307. .

As described above, according to the present embodiment, the camera is used in place of ASDE, and the MLAT threshold MAP is used for luminance difference level determination, so that the target detection accuracy of the camera is increased, and erroneous target detection by the camera is performed. Can be suppressed, and the performance of the integration process (that is, the creation of the integrated wake) can be improved.
That is, according to the present embodiment, even if a camera is used instead of ASDE which is the primary radar, false detection of targets such as aircraft existing on the airport surface is reduced, and display of erroneous targets is suppressed. Therefore, it is possible to realize a highly reliable airport surface monitoring system that can reduce the load on the controller who uses the equipment.

Embodiment 4 FIG.
FIG. 7 is a block diagram showing a configuration of an airport surface monitoring system according to the fourth embodiment.
In the first embodiment described above, the ASDE tracking system using ASDE as the primary radar and the MLAT tracking system using MLAT as the secondary radar are provided. In this embodiment, the camera described in the third embodiment is used. It also has a tracking system.
That is, the camera tracking system of the airport surface monitoring system according to the third embodiment shown in FIG. 6 is further provided in the configuration of the airport surface monitoring system according to the first embodiment shown in FIG.
In this embodiment, in addition to the ASDE tracking system and the MLAT tracking system, a camera tracking system using the camera 30 is further provided.
Therefore, as described in the first embodiment, in the radar target detection process of ASDE 10, the threshold level in the vicinity of the target position detected by MLAT 20 is lowered, and the threshold level of the other area is raised, so that the false image of ASDE 10 is As described in the third embodiment, the threshold values of the background difference method and the inter-scan difference method of the camera 30 are reduced based on the output of the threshold MAP creation processing unit 23 of the MLAT tracking system. By controlling, it becomes possible to prevent erroneous detection of the target by the camera 30, and the performance of the integration process (that is, the creation of the integrated wake) can be further improved.

In the first embodiment, the threshold MAP creation processing unit 23 creates the threshold MAP based on the target position detection information from the MLAT 20 and uses the threshold MAP for the video level determination unit 13 of the ASDE tracking system. In this embodiment, as shown in FIG. 7, a camera tracking system is also added, and by using the threshold MAP created by the threshold MAP creation processing unit 23 in the luminance difference level determination unit 33 of the camera tracking system, the ASDE tracking processing accuracy is also improved. Camera tracking processing accuracy is also improved.
In the integrated processing unit 44, the target position, speed, heading, mode S address, etc.
A correlation process is performed, and an ASDE tracking process result (that is, ASDE track data 107), a camera tracking process result (that is, camera track data) 307, and an MLAT tracking process result (that is, MLAT track data) 202 are integrated. The integrated processing result 404 is output.

As described above, the airport surface monitoring system according to the present embodiment is the same as the airport surface monitoring system according to the second embodiment, and further includes a camera tracking system. The integrated processing unit 404 includes the ASDE track data 107, the MLAT track data. 202 and the camera track data 307 are integrated to create an integrated track.
As described above, in the present embodiment, by using the threshold MAP based on the target position detected by the MLAT for the video level determination unit of the ASDE and the luminance difference level determination unit of the camera, the error of both the camera and the ASDE is detected. Since the target can be suppressed, a more reliable airport surface monitoring system can be realized.

Embodiment 5 FIG.
FIG. 8 is a block diagram showing a configuration of an airport surface monitoring system according to the fifth embodiment.
In the first embodiment described above, the threshold level MAP is created from the target position detection information by the MLAT 20, and the threshold level other than the vicinity of the target detection position is raised so as not to detect the false image of the ASDE. Then, by adding the aircraft database, the threshold MAP can be changed according to the size of the aircraft (that is, the ASDE video level determination presentation map information can be changed).
FIG. 9 is a diagram for explaining the operation of the airport surface monitoring system according to the present embodiment.
The characteristic operation of the airport surface monitoring system according to the present embodiment will be described with reference to FIGS.

In the first embodiment described above, the threshold MAP is created from the target position detection information by the MLAT 20.
In the present embodiment, in the airport surface monitoring system according to the embodiment, the airframe database 60 is further provided so that the threshold MAP creation processing unit 23 and the target position detection information 204 stored in the detection information memory unit 22 It is possible to change the threshold MAP according to the correspondence of the size information (for example, length and width of the aircraft) in the aircraft database 60.
FIG. 9A shows a case where the target is determined to be a small machine from the mode S address of the MLAT detection information by collation with the database 60, and FIG. 9B shows the MLAT detection information by collation with the database 60. This is a case where the target is determined to be a large machine from the mode S address.

As shown in FIG. 9, when the target is determined to be a large machine compared to the case where the target is determined to be a small machine, the threshold MAP creation processing unit 23 increases the area for lowering the threshold level in the video level determination unit 13. ing.
That is, the ASDE video level determination map information output from the threshold MAP creation processing unit 23 to the video level determination unit 13 is set according to the size of the aircraft.
As described above, in the present embodiment, by adding the airframe database 60, a threshold MAP (ASDE video level determination map information) according to the size of the airframe can be set, and a false image of the ASDE is detected. And the performance of the integration processing of ASDE track data and MLAT track data can be improved.

As described above, the airport surface monitoring system according to the present embodiment is the same as the airport surface monitoring system according to the first embodiment, but further includes the database 60 including the size information of the fuselage, and the threshold map generation processing of the MLAT tracking system The unit 23 controls the threshold level of the video level determination unit 13 based on the target position detection information output from the MLAT 20 and the size information of the target aircraft body.
As a result, the size of the area for lowering the threshold level of the video level determination unit can be controlled according to the size of the aircraft, so that the target detection accuracy of ASDE can be further increased, and ASDE track data and MLAT track data are integrated. The processing performance can be improved.

  The present invention is useful for realizing a highly reliable airport surface monitoring system capable of reducing erroneous detection of targets such as aircraft existing on an airport surface and suppressing display of erroneous targets.

It is a block diagram which shows the structure of the airport surface monitoring system by Embodiment 1. FIG. It is a figure for demonstrating operation | movement when not using the airport surface monitoring system by Embodiment 1. FIG. It is a figure for demonstrating operation | movement at the time of using the airport surface monitoring system by Embodiment 1. FIG. It is a block diagram which shows the structure of the airport surface monitoring system by Embodiment 2. It is a figure for demonstrating operation | movement of the airport surface monitoring system by Embodiment 2. FIG. It is a block diagram which shows the structure of the airport surface monitoring system by Embodiment 3. FIG. It is a block diagram which shows the structure of the airport surface monitoring system by Embodiment 4. It is a block diagram which shows the structure of the airport surface monitoring system by Embodiment 5. FIG. It is a figure for demonstrating operation | movement of the airport surface monitoring system by Embodiment 5. FIG. It is a block diagram which shows the structure of the conventional airport surface detection radar system.

Explanation of symbols

DESCRIPTION OF SYMBOLS 10 ASDE 11 A / D conversion part 12 Memory part 13 Video level determination part 14 Clustering process part 15 Center of gravity position calculation part 16 ASDE tracking process part 20 MLAT
21 MLAT tracking processing unit 22 Detection information memory unit 23 Threshold MAP creation processing unit 24 Tracking information memory unit 30 Camera 31 A / D conversion unit 32 Memory unit 33 Luminance difference level determination unit 34 Clustering processing unit 35 Center of gravity position calculation unit 36 Camera tracking Processing part
41, 42, 43, 44, 45 Integrated processing unit 50 Marking device 101 Radar video signal 102 Digital radar video signal 103 Digital radar video signal output from memory unit 104 Digital radar video signal from which noise has been removed 105 Clustered Digital radar video signal 106 Center of gravity position calculation signal 107 ASDE track data 201 Target positioning signal output from MLAT 202 MLAT track data 203 Target position detection information output from MLAT 204 Target position detection information output from detection information memory unit 205 ASDE Map information for video level determination 206 MLAT tracking information 207 Tracking information output from tracking information memory unit 208 ASDE video level determination map information 301 Camera video information 302 Digit Tal camera video signal 303 Digital camera video signal 304 Information after luminance difference level determination 305 Camera video signal after cluster 306 Camera detection result 307 Camera track data 401 to 405 Integration processing result by integration processing unit

Claims (3)

ASDE that emits radio waves to the airport surface and receives radio waves reflected by the target to generate and output radar video signals, and A / D conversion to convert radar video signals output from the ASDE into digital radar video signals Determine the level of the digital radar video signal output from the memory unit, the memory unit that stores the converted digital radar video signal, and the determined level is smaller than a threshold value, video level determination unit for outputting the removed digital radar video signals, the clustering processing unit for processing digital radar video signal output from the video level determination unit as a cluster, a digital radar video signals clustered by the clustering section The center of gravity is calculated from Center-of-gravity position calculating unit for outputting a cardiac position calculation signal, the ASDE tracking system composed of the ASDE tracking processing unit for outputting the ASDE track data based on the center-of-gravity position calculating signal calculated by the center-of-gravity position calculating unit,
Mode S transponder signal from the target received at least three receiving stations, and outputs a target position detection information by positioning the position of the target from the received time difference MLAT, the target position detection information from the MLAT An MLAT tracking system configured with an MLAT tracking processing unit that tracks the target based on the output and outputs MLAT track data;
An integrated processing unit that correlates the ASDE track data and the MLAT track data, and integrates the same target to create an integrated track;
In the airport surface monitoring system provided with a display device that displays the integrated wake created by the integrated processing unit,
Further, the MLAT tracking system lowers the threshold level of the video level determination unit for the region near the target based on the target position detection information output by the MLAT, and for the region other than the target vicinity. The ASDE video level determination map information for raising the threshold level of the video level determination unit is output to the video level determination unit, and the threshold of the video level determination unit is based on the target size information stored in the database. An airport surface monitoring system comprising a threshold MAP creation processing unit for controlling the size of an area for lowering a level . The threshold MAP creation processing unit of the MLAT tracking system replaces the target position detection information output by the MLAT with the target position, speed, and the like detected by the MLAT tracking processing unit.
2. The airport surface monitoring system according to claim 1, wherein map information for ASDE video level determination is output to the video level determination unit based on tracking information such as heading. Generating and outputting a radar video signal by emitting radio waves to the airport surface by ASDE and receiving radio waves reflected by the target ;
Converting the radar video signal into a digital radar video signal;
Storing the converted digital radar video signal;
A video level determination step of determining the level of the stored digital radar video signal, removing the determined level less than the threshold as noise, and outputting the digital radar video signal from which the noise has been removed;
A clustering processing step of processing the digital radar video signal output in the video level determination step as a cluster;
A centroid position calculating step for calculating the centroid position from the clustered digital radar video signal and outputting a centroid position calculation signal;
An ASDE tracking process step of outputting ASDE track data based on the calculated gravity center position calculation signal;
And outputting mode S receives a transponder signal in at least three receiving stations, the target position detection information and measures the position of the target from the received time difference from the target by MLAT,
And MLAT tracking processing step of tracking the target, and outputs the MLAT track data based on the target position detection information,
An integration processing step of correlating the ASDE track data and the MLAT track data and generating an integrated track by integrating the same target;
In the airport surface monitoring method having the step of displaying the integrated wake created in the integrated processing step ,
Further, based on the target position detection information, the threshold level for determining the video level is lowered for an area near the target, and the threshold level for determining the video level is set for an area other than the vicinity of the target. And controlling the size of the area for lowering the threshold level for the video level determination unit based on the target size information stored in a database. .

Images