JP6713781B2 - Passive positioning system and multi-sensor system - Google Patents

Description

INDUSTRIAL APPLICABILITY In the present invention, in addition to observation information of a plurality of passive sensors, three-dimensional position information is generated by performing the same determination processing between observation values of a plurality of passive sensors while utilizing three-dimensional observation information of different sensors. , A passive positioning system and a multi-sensor system for improving observation ability and the like.

A passive sensor that observes light waves such as visible light and infrared rays, or radio waves emitted from the other party can generally observe the direction of a target that is an observation target. As the azimuth, the azimuth measured along the vertical direction (elevation direction) (hereinafter referred to as "EL" as appropriate) and the azimuth measured along the direction perpendicular to the vertical direction (azimuth direction) (hereinafter referred to as "appropriately" AZ”). However, it is difficult for the passive sensor to directly observe the relative distance (also referred to as “range”) to the target. Therefore, the information is often obtained by a positioning process of calculating the range by combining the observation information of a plurality of passive sensors. Triangulation is a common method for such positioning processing. In the triangulation, the target three-dimensional position (AZ, EL, range) is calculated by using the information of the observation positions and the observation directions of the passive sensors.

For example, Patent Document 1 below presents a system that realizes positioning by combining information of a plurality of passive sensors. Further, in the following Patent Documents 2 to 5, a method of improving observation accuracy and improving the determination processing of the same between observation values of a plurality of passive sensors by combining a plurality of passive sensors is presented, and the number of passive sensors is also provided. The improvement method using the wavelength information is also presented.

On the other hand, in recent years, multi-sensor systems equipped with a plurality of sensors have been increasingly adopted in platforms such as aircraft. In a multi-sensor system, an active sensor such as radar, an infrared passive sensor, or a passive sensor that uses received radio waves is mounted on the same platform, and a plurality of sensors are linked to improve the observation capability as a system. Furthermore, a system has been proposed in which network equipment is installed and information observed by sensors outside the platform is also used to improve the observation ability and enhance the operation effect.

For example, Patent Documents 6 and 7 below present a system in which a mobile body of a multi-sensor system equipped with a plurality of sensors and network equipment is also linked.

Japanese Patent Laid-Open No. 9-318726 JP-A-9-101362 JP 2000-2761 A JP 2001-116843 A JP, 2003-121527, A Japanese Patent No. 4925845 Japanese Patent No. 5697734

By the way, in the above-described multi-sensor system, if the system includes a radar that is an active sensor, the distance can be observed by the radar. For this reason, radar ranging information is often used as a system to construct an observation system that combines passive sensor angle information.

On the other hand, since the radar is also a sensor, 100% observation is not guaranteed. When radar observation is not possible, the passive sensor is used for observation, and since distance information cannot be obtained, there is a problem that the distance observation accuracy is significantly lower than the azimuth observation accuracy. In particular, with respect to speed, there is a problem in that the operational ability of the sensor system is reduced because the observation accuracy of velocity is also reduced due to the reduction of the distance observation capability.

In addition, in a multi-sensor system, when range information is obtained via a network and a passive sensor is used, it is affected by the information providing cycle. When the distance information can be obtained via the network with respect to the passive sensor observation period, the distance observation accuracy is significantly lower than the azimuth observation accuracy, similar to the problem of using radar observation information. However, as a result, there was a problem that the accuracy of speed observation was also reduced.

The present invention has been made in view of the above, and in a passive positioning system that utilizes distance information from inside or outside, even if the distance information cannot be obtained, the observation accuracy of the distance, bearing, or speed It is an object of the present invention to provide a passive positioning system capable of suppressing the decrease of the noise.

In order to solve the above-mentioned problems and achieve the object, a passive positioning system according to the present invention, a plurality of passive sensors, a unit capable of inputting observation information of a three-dimensional position, and a three-dimensional positioning unit utilizing another sensor are provided. .. Utilizing other sensors in the passive positioning system The three-dimensional positioning means uses the observation information of the three-dimensional position by the other sensor to perform the same determination between the observation values of the plurality of passive sensors, and the determination result that they are the same. 3D position information is generated from the observation information of a plurality of passive sensors based on the above.

According to the present invention, even when the distance information cannot be obtained, it is possible to suppress the deterioration of the observation accuracy of the distance, the azimuth, or the speed.

Block diagram showing the configuration of the passive positioning system in the first embodiment Flowchart showing an example of an operation flow of another sensor utilizing three-dimensional positioning means in the first embodiment FIG. 4 is a diagram showing an example of input timing of observation information from various sensors in the first embodiment The figure which shows an example of the problem occurrence situation in the positioning by the passive sensor The figure which shows an example of the situation at the time of adding three-dimensional observation information in the situation of FIG. Block diagram showing the configuration of the passive positioning system in the second embodiment Block diagram showing the configuration of the passive positioning system in the third embodiment Block diagram showing the configuration of the passive positioning system according to the fourth embodiment FIG. 14 is a diagram showing an example of input timing of observation information from various sensors and a generation state of a track in the fourth embodiment. Block diagram showing the configuration of the passive positioning system in the fifth embodiment Flowchart showing an example of the operation flow of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor with quality standard detection and rejection function in the fifth embodiment Block diagram showing the configuration of the passive positioning system in the sixth embodiment Block diagram showing the configuration of the passive positioning system in the seventh embodiment Block diagram showing the configuration of the passive positioning system according to the eighth embodiment. Block diagram showing the configuration of a mobile electronic device system including a passive positioning system according to the ninth embodiment Block diagram showing a configuration of a typical mobile electronic device system as a comparative example Block diagram showing a configuration of a mobile electronic device system including a passive positioning system according to the tenth embodiment A block diagram showing a configuration of a mobile electronic device system including a passive positioning system according to the eleventh embodiment. A block diagram showing a configuration of a mobile electronic device system including a passive positioning system according to a twelfth embodiment. A block diagram showing a configuration of a mobile electronic device system including a passive positioning system according to a thirteenth embodiment. The figure which shows the other example of the problem occurrence situation in the positioning with the passive sensor The figure which shows the other example of the problem occurrence situation in the positioning with the passive sensor The figure which shows an example of the hardware constitutions when implementing the various control means in this Embodiment with software.

<Purpose and summary of the present invention>
An object of the present invention is to provide a passive positioning system that combines two-dimensional observation information (azimuth observation information) by a plurality of passive sensors to generate three-dimensional position (azimuth and distance (range)) information. It is in. Therefore, in the present invention, by devising a relative relationship between two-dimensional observation information by a plurality of passive sensors, that is, devising a method of determining which observation value of the sensor 1 and which observation value of the sensor 2 are determined to be the same. , The aim is to correctly carry out the same determination of observed values.

A first gist of the present invention is to determine a relative relationship using observation information of a three-dimensional position other than a passive positioning target (hereinafter, referred to as a “correlation determination method using other sensor three-dimensional data” as necessary). Therefore, it is to provide a passive positioning system that accurately determines the same observation value and generates three-dimensional observation information.

A second gist of the present invention is to determine a relative relationship by using information of a period during which the three-dimensional information is effective in the track of the tracking processing result using the three-dimensional detection data and the two-dimensional detection data. Method (hereinafter, referred to as "correlation determination method in memory track three-dimensional data" if necessary) for accurately determining the same observation value to generate three-dimensional observation information To provide.

The third gist of the present invention is to accurately determine the same determination of observed values by combining the other sensor three-dimensional data correlation determination method and the memory track three-dimensional data correlation determination method to determine the relative relationship. The purpose of the present invention is to provide a passive positioning system which is implemented in 3D to generate three-dimensional observation information.

A fourth gist of the present invention is to provide a mobile electronic device system that reflects the effect of three-dimensional information generation by passive positioning by incorporating the passive positioning system into a large-scale multi-sensor system.

<Supplementary explanation regarding the problems of the present invention>
The subject of the present invention was briefly described in the section of [Problems to be solved by the invention], but a more detailed description will be added here.

First, in the case of an environment where the observation conditions change significantly, such as outdoors, there is no guarantee that the observation by the sensor will be affected by the environment and that the target will always be observed. In addition, a false alarm, which is a phenomenon that the observation result is output even when the target does not actually exist, occurs. Therefore, the observation by the sensor is affected by the environment such as air, sea, or land. Further, in the case of a sensor mounted on a moving body, the observation is affected by the environment even by the movement of the platform on which the sensor is mounted. Therefore, the detection probability and the false alarm probability are set for each distance as the performance index of the sensor.

Since the passive sensor observes infrared radiation from the target or radio waves transmitted from the target as compared with an active sensor such as a radar, it is generally characterized by a high false alarm probability. Further, the passive sensor often cannot detect the target due to the influence of the weather or the like (for example, if there is a cloud, the light wave sensor makes it difficult to observe the other side of the cloud). Therefore, the passive sensor is also characterized in that the detection probability is significantly reduced as compared with the active sensor due to the influence of clouds, rain, and the like.

On the other hand, in triangulation used when positioning is performed by combining information of a plurality of passive sensors, it is premised that the target can be observed 100% and there is no false alarm. Moreover, if the number of sensors of the observation source is not large with respect to the target, the correspondence relationship between the plurality of passive sensors cannot be determined. This is because an equation in which the number of variables is the target number and the number of mathematical expressions is the number of sensors is solved, and a solution cannot be obtained unless the number of sensors is large.

For example, as shown in FIG. 21, when two targets are detected as the observation results of two sensors, that is, the sensors 1 and 2, an identical determination candidate that causes a cross correlation occurs. In FIG. 21, the black inverted triangle markers represent the positions where the two targets T1 and T2 are present, and the white inverted triangle markers are candidate points for the same determination that may cause a cross correlation. In FIG. 21, it is assumed that the sensors 1 and 2 which are passive sensors can observe the target 100%, and that there is no false alarm in the observation itself of the passive sensor. The observation results of the sensor 1 are line segment 1-1 and line segment 1-2, and the observation results of the sensor 2 are line segment 2-1 and line segment 2-2. At this time, as a correspondence relationship that is a candidate for triangulation, the correspondence relationship 1 in which the line segment 1-1 and the line segment 2-1 are correlated with each other and the line segment 1-2 and the line segment 2-2 are correlated with each other, Correspondence 2 in which the line segment 1-1 and the line segment 2-2 correlate with each other and the line segment 1-2 and the line segment 2-1 correlate with each other occurs. The correspondence relationship 1 and the correspondence relationship 2 basically have no superiority difference only from the observation result, and therefore, which correspondence relationship should be selected cannot be determined.

In the case where the number of targets to be observed cannot be defined in advance, such as when observing outdoors, four sensors may be detected by two sensors, sensors 1 and 2, as shown in FIG. In this case, even under the precondition that 100% of the target can be observed and no false alarm is present, the combinations of the correspondence relationships are the line segments 1-1 to 1-4 and the line segments 2-1 to 2- Since there are 24 intersections with 4 respectively, it becomes more difficult to determine the selection of the correspondence.

Furthermore, in the outdoor observation, as described above, there is no guarantee that the target can be observed 100%, and a false alarm will occur. The problem in this case will be described with reference to FIG. In FIG. 4, the solid line represents the observation result for the target, and the broken line represents the observation result that gives a false alarm. More specifically, a solid line segment 1-1 and a broken line segment 1-2 extending from the sensor 1 are the observation results of the sensor 1, and solid line segments 2-2 and 2-3 extending from the sensor 2 and Broken line segments 2-1 and 2-4 are the observation results of the sensor 2. Further, the solid line represents the observation result for the target, and the broken line represents the observation result that gives a false alarm. That is, in FIG. 4, the sensor 2 can observe both the targets T1 and T2, but the sensor 1 cannot observe the target T2. In addition, the hatching at the intersection of the line segment 1-2 and the line segment 2-4 represents a cloud, and indicates a false alarm generated by a physical phenomenon. In the case of the example shown in FIG. 4, there are many candidate points that can be located by triangulation, but only the combination of the line segment 1-1 and the line segment 2-2 can be located. Choosing any other combination will produce incorrect information.

When the observation conditions are harsh, such as outdoors, positioning by a passive sensor is generally in the situation as shown in FIG. Therefore, it is difficult to solve the problem of triangulation simply by preparing more sensors than the target number. Further, since passive sensors generally have many false alarms, it is difficult to improve the false correlation, which is a fatal problem in passive positioning, only by observing the passive sensors. False alarms often occur under the same conditions for the same type of sensor, and it becomes even more difficult to improve by observing only passive sensors of the same type. Therefore, in the passive positioning, it is also necessary to detect the target at 100%, and there has always been a problem that the passive positioning can be applied only in a limited situation in which the same determination can be solved.

As for improving the capability of the sensor, it is easy to explain the effect of a method of solving the problem only with the passive sensor. For this reason, as in the conventional technique, the problem of passive positioning has been centered on means for solving only passive sensors. However, as described above, it is very difficult to improve only by observing the same type of passive sensor, and the premise that the problem is solved only by the passive sensor is an operationally impossible precondition. That is, the conventional problem-solving approach often imposes operational preconditions when the observation conditions are severe, such as outdoors, and conversely, passive positioning is performed using a method that clears the operational preconditions. There was a problem that there was no way to realize.

Further, the detection data which is the observation result of the sensor at each time basically observes the position of the target, that is, the azimuth and the distance of the target. For example, the radar can observe the Doppler velocity, which is the approach velocity in its own direction, but cannot observe the three-dimensional velocity. For this reason, a tracking process is used in a system using a sensor. In the tracking processing, correlation and integration are performed between detection data input in time series, speed information is calculated by differentiation, etc., and the result is calculated as a track.

When performing triangulation on the moving target using the information of the passive sensors at different observation positions, it is necessary to match the observation times when performing the correlation (identification). Therefore, triangulation is performed using the track information of the passive sensor.

The information obtained by positioning processing such as triangulation is detection data. For this reason, when the triangulation is performed using the track information of the passive sensor, the detection data is generated using the track. When used in a system using a sensor, it is necessary to input the three-dimensional detection data obtained by triangulation again to the tracking process.

When generating three-dimensional information from the information of the passive sensor, a delay time occurs due to information exchange and information processing. Further, since the generated information is detection data, it is necessary to perform tracking processing again. For this reason, in the multi-sensor system, it is often advantageous to use a sensor that can observe three-dimensional information in the process of generating three-dimensional information, and the positioning information by the passive sensor has not been used. Especially when dealing with high maneuverability targets such as aircraft, the weight of delay time increases in the observation capability, and it is often fatal to input detection data with a large delay time to tracking processing. In the multi-sensor system, the positioning information by the passive sensor was not used.

On the other hand, from the viewpoint of operation, in a system utilizing a sensor, the ability to continue tracking (maintain tracking) is often more important than the performance of the distance at which tracking is started (operable distance). For example, in the case of launching and guiding a flying object from an aircraft, if the tracking maintenance cannot be continued until the completion of the guidance, the guidance fails. The final purpose of operation is the success of guidance, and the weight of the ability of tracking maintenance that is directly related to the purpose becomes high.

In tracking maintenance, it is necessary to continue tracking for a certain period of time, and the conditions that are advantageous and disadvantageous in observation often change depending on the target maneuver. For this reason, it is desirable to be able to supplement with other information when the observation of the three-dimensional sensor becomes disadvantageous, but in the conventional multi-sensor system, the positioning information by the passive sensor is not used. That is, conventionally, there has been a problem that tracking cannot be improved in a multi-sensor system by using positioning information by a passive sensor for the purpose of improving tracking maintenance ability.

<Description of Embodiment>
Next, a passive positioning system and a multi-sensor system according to an embodiment of the present invention will be described in detail with reference to the drawings. The present invention is not limited to the embodiments described below. Further, in the following description, the number of sensors that generate two-dimensional observation information of passive positioning targets will be described, but the number of sensors is not limited to two. In addition, the method according to the present invention is a method in which the number of sensors that generate two-dimensional observation information of a positioning target is not limited as long as it is 2 or more, and the effect can be exhibited if it is 2 or more. In the following description, the sensor that generates two-dimensional observation information for passive positioning is described as being mounted on an aircraft forming a formation, but it may be mounted on a moving body other than the aircraft. Further, the same mobile body may be equipped with two or more sensors that generate two-dimensional observation information of the positioning target.

Embodiment 1.
FIG. 1 is a block diagram showing the configuration of the passive positioning system according to the first embodiment. In FIG. 1, the passive positioning system 100A includes a passive sensor system 300A and another sensor utilizing three-dimensional positioning means 200A, and the passive positioning system 100B includes a passive sensor system 300B and another sensor utilizing three-dimensional positioning means 200B. The passive positioning system 100A is mounted on the aircraft 911A, and the passive positioning system 100B is mounted on the aircraft 911B. In addition to the passive positioning systems 100A and 100B, communication means 801A and 801B and three-dimensional information utilization means 811A and 811B are mounted on the aircrafts 911A and 911B, respectively. A three-dimensional observation system 921 exists outside the aircrafts 911A and 911B as a means for generating three-dimensional observation information.

In the following description, in order to facilitate understanding, a passive positioning system is installed in the formation as an example. Further, in the following description, an example is shown in which the sensors that generate two-dimensional observation information of passive positioning targets are mounted on different aircraft in the formation. Furthermore, it is assumed that there are two aircraft and that the two aircraft have the same configuration and the same loading conditions, and they are shown as aircraft 911A and aircraft 911B, respectively. In addition, in the following description, when it is not necessary to distinguish the airframes, the aircraft 911A is used as a reference and the alphabet indicating the airframes is not given. On the other hand, in the case of distinguishing the airframes from each other, the symbols for identifying the components and the alphabets A and B indicating the airframes are given, such as the aircrafts 911A and 911B and the passive sensor systems 300A and 300B. At this time, in order to simplify the description, the numeral portions of the reference numerals for identifying the constituents are omitted as appropriate.

Returning to FIG. 1, the passive sensor system 300 is a sensor that generates two-dimensional observation information on a target that is a passive positioning target. In the first embodiment, an example in which the passive sensor system 300 outputs the target observation direction at an arbitrary observation time will be described.

The three-dimensional observation system 921 is a unit that exists outside the aircraft 911 and that generates three-dimensional observation information. In the first embodiment, an example will be described in which three-dimensional observation information is generated using a radar other than the aircraft in the formation, and the observation result is transmitted by communication at a constant cycle.

The communication means 801A and 801B are the communication means of the aircrafts 911A and 911B, respectively, and two-dimensional observation information of passive positioning targets are mutually communicated between fellow aircraft in the formation (hereinafter appropriately referred to as “formation crew aircraft”). Exchange. Further, the communication means 801A and 801B receive the three-dimensional observation information from the three-dimensional observation system 921.

The other sensor utilizing three-dimensional positioning means 200 is means for carrying out passive positioning by using the correlation determining method with the other sensor three-dimensional data. The other-sensor utilizing three-dimensional positioning means 200 establishes the correlation between the two-dimensional observation information generated by the passive sensor system 300 and the two-dimensional observation information generated by the formation aircraft acquired via the communication means 801. It is determined by the three-dimensional observation information from the three-dimensional observation system 921 obtained via the way. The other-sensor utilizing three-dimensional positioning means 200, in accordance with the determined same determination result, the two-dimensional observation information generated by the passive sensor system 300 and the two-dimensional observation information generated by the formation wing aircraft acquired via the communication means 801. And are used to generate a three-dimensional position information by applying a method such as triangulation.

The three-dimensional information utilization unit 811 is a unit that utilizes the three-dimensional observation information generated by the other sensor utilization three-dimensional positioning unit 200.

Next, the operation of the passive positioning system according to the first embodiment will be described with reference to the drawings of FIGS. 1 to 5. FIG. 2 is a flowchart showing an example of the operation flow of the other sensor utilizing three-dimensional positioning means in the first embodiment. FIG. 3 is a diagram showing an example of input timing of observation information from various sensors in the first embodiment. FIG. 4 is a diagram illustrating an example of a problem occurrence situation in positioning by a passive sensor. FIG. 5 is a diagram showing an example of a situation when three-dimensional observation information is added in the situation of FIG.

First, the flowchart of FIG. 2 will be described. The other sensor utilizing three-dimensional positioning means 200 determines whether or not there is an input from the three-dimensional observation sensor (step S11). In the process of step S11, if there is no input from the three-dimensional observation sensor, the process proceeds to step S12, and the three-dimensional positioning is performed using the previous same determination result, that is, the result determined to be the same in the previous correlation process. .. In the previous correlation processing, if there is no result determined to be the same, the three-dimensional positioning is not performed.

On the other hand, in the process of step S11, if there is an input from the three-dimensional observation sensor, the process proceeds to step S13, and the correlation candidates are extracted between the passive sensors to determine the presence or absence of the correlation candidate. If it is determined that there is no correlation candidate in the process of step S13, the process proceeds to step S14, and the object of three-dimensional positioning is excluded. On the other hand, in the process of step S13, if it is determined that there is at least one correlation candidate, the process proceeds to step S15, and it is further determined whether or not the correlation candidate corresponds to the result of the three-dimensional observation, and it corresponds. If so, the process proceeds to step S16 to perform three-dimensional positioning. If not, the process proceeds to step S14, and the input data of the three-dimensional observation sensor is excluded from the target of the three-dimensional positioning.

The process of the main part in the flow of FIG. 2 will be further described with reference to the drawings of FIGS. 3 to 5. In FIG. 3, the two-dimensional observation information of the passive sensor system A mounted on the aircraft A and the two-dimensional observation information of the passive sensor system B mounted on the aircraft B are observed at the observation times t0 to t10, An example is shown in which three-dimensional observation information from the three-dimensional observation system 921 existing outside the aircrafts A and B is observed at observation items t0 and t10.

First, at time t0, observation information is obtained from all observation sources. In FIG. 2, the other-sensor-utilizing three-dimensional positioning unit 200A executes the process of step S13 by shifting from the flow of "input" of the three-dimensional observation sensor, that is, step S11 to step S13 (step S11, Yes). ..

The other sensor-utilizing three-dimensional positioning means 200A determines the correspondence between the two-dimensional observation information of the passive sensor of the aircraft A and the two-dimensional observation information of the passive sensor of the aircraft B by the three-dimensional observation system 921. Determined by information.

An image of this determination will be described with reference to FIGS. 4 and 5. 4 and 5, the sensor 1 is a passive sensor of the aircraft A, and the sensor 2 is a passive sensor of the aircraft B. In addition, in FIG. 5, the observation result of the three-dimensional system outside the aircrafts A and B is shown by the one-dotted chain ellipse.

As shown in FIG. 4, with the sensor 1 which is the passive sensor of the aircraft A and the sensor 2 which is the passive sensor of the aircraft B, candidates for the same determination occur only at the intersections of the line segments. Therefore, it is difficult to select the intersection (the inverted triangular marker in the figure) corresponding to the true target position of the targets T1 and T2. Further, when the intersection is selected with priority given to the generation of the three-dimensional information, the intersection where no target actually exists is selected. In that case, a position greatly different from the actual target position is calculated. It also leads to being lost.

On the other hand, in FIG. 5, when only the intersections that coincide with the target positions 3-1 to 3-3 by the observation of the three-dimensional observation system indicated by the dashed ellipse are selected, the line segment 1-1 and the line segment 2 are selected. Only the -2 intersection is selected. That is, in the case of the examples of FIGS. 4 and 5, in the process of step S16 in the flow of FIG. 2, the three-dimensional positioning process of only the target T1 is performed. As described above, in the passive positioning according to the first embodiment, correct three-dimensional position information can be calculated.

In the examples of FIGS. 4 and 5, information about the target T2 is not generated, but incorrect three-dimensional information is not generated. That is, FIGS. 4 and 5 are examples in which the target T2 should not be observed, and calculating the position of only the target T1 is the best result for the passive positioning system.

Returning to FIG. 3, at time t1, the other sensor utilizing three-dimensional positioning means 200A cannot obtain the three-dimensional observation information from the three-dimensional observation system 921. Therefore, the other sensor utilizing three-dimensional positioning means 200A executes the processing of step S12 by shifting from the flow of FIG. 2 in which the input of the three-dimensional observation sensor is “none”, that is, step S11 to step S12. At this time, the other sensor utilizing three-dimensional positioning means 200A utilizes the correlation at the time t0 to obtain the two-dimensional observation information of the passive sensor of the aircraft A and the two-dimensional observation information of the passive sensor of the aircraft B. And the three-dimensional observation information is generated.

Similarly, from time t2 to time t9, the correlation between the two-dimensional observation information of the passive sensor of the aircraft A and the two-dimensional observation information of the passive sensor of the aircraft B is determined using the correlation at the time t0. Then, three-dimensional observation information can be generated. As a result, at each time from time t1 to time t9, the correspondence relationship between the two-dimensional observation information of the passive sensor that uses the three-dimensional observation result at time t0 is determined to generate the three-dimensional observation information. be able to.

At time t10, similar to time t0, the other sensor-utilizing three-dimensional positioning means 200A determines the correspondence between the two-dimensional observation information of the passive sensor of the aircraft A and the two-dimensional observation information of the passive sensor of the aircraft B. The three-dimensional observation information from the three-dimensional observation system 921 can be re-determined to generate the three-dimensional observation information. As a result, at each of the times t0 and t10, it is possible to review the correspondence between the two-dimensional observation information in the passive sensor using the three-dimensional observation information from the three-dimensional observation system 921.

Therefore, in the three-dimensional information utilizing means 811A connected to the other sensor utilizing three-dimensional positioning means 200A, at all times from time t0 to time t10, the three-dimensional information is utilized at a high update rate according to the latest observation information at each time. It is possible to continue to obtain observation information.

As described above, according to the first embodiment, by determining the relative relationship by using the observation information of the three-dimensional position other than the passive positioning target, the two-dimensional position of the passive sensor, which is difficult only with the passive sensor, is determined. It is possible to accurately determine the same observation information. This makes it possible to generate correct three-dimensional observation information.

In general, different sensors have different positions and frequencies of false alarms. However, in the passive positioning system according to the first embodiment, the relative relationship is determined by using the observation information of the three-dimensional position other than the passive positioning target. It is possible to prevent the wrong correspondence from being selected in the same determination of the two-dimensional observation information of the passive sensor. This makes it possible to suppress the generation of three-dimensional observation information at a wrong position.

Further, according to the first embodiment, it is possible to correctly perform the same determination without restricting the number and arrangement of the passive sensors and the mobility of the mobile body equipped with the passive sensors. As a result, it is possible to generate the three-dimensional detection data by correctly performing the same determination without any restrictions on the operation such as the number and the placement mobility.

Further, according to the first embodiment, even in the case where the three-dimensional observation information having a long communication cycle is input from the outside, the three-dimensional observation information can be continuously obtained at the high update rate of the on-board sensor. You can Further, during this period, even if the three-dimensional observation information is not directly input, the three-dimensional observation information can be continuously obtained at a high update rate inside the aircraft.

Further, according to the first embodiment, it is possible to review the correspondence relationship between the two-dimensional observation information of the passive sensor at the input cycle of the three-dimensional observation information from the three-dimensional observation system. As a result, even if an error in the correspondence relationship occurs, it is possible to correct the error at regular intervals.

In the example of the first embodiment, the example in which the three-dimensional observation system exists outside the aircraft has been described, but the three-dimensional observation system may be installed in the aircraft and the same effect can be obtained.

Embodiment 2.
FIG. 6 is a block diagram showing the configuration of the passive positioning system according to the second embodiment. In FIG. 6, passive sensor control means 610A and 610B are added to the configuration of the first embodiment shown in FIG. The other configurations are the same as or equivalent to those in the first embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The passive sensor control unit 610 makes the passive positioning advantageous in the passive positioning according to the correlation determination state between the two-dimensional observation information based on the observation information of the three-dimensional sensor in the other sensor utilizing three-dimensional positioning unit 200. , Implement sensor control.

For example, if the three-dimensional observation situation is the situation of FIG. 5 described in the first embodiment, there is no observation result of the sensor 1 for the target positions 3-2 and 3-3 by the observation of the three-dimensional observation system 921. Further, there is no observation result of the sensor 2 for the target position 3-3. Therefore, a control instruction is issued to the sensor 1 so as to observe the target positions 3-2 and 3-3, and a control instruction is issued to the sensor 2 so as to observe the target position 3-3. Get out. Describing according to the configuration of FIG. 6, the passive sensor control unit 610A is directed to the passive sensor system 300A so as to search the direction of the target positions 3-2 and 3-3 notified from the three-dimensional observation system 921. A control instruction is issued, and the passive sensor control means 610B issues a sensor-oriented control instruction for searching the direction of the target position 3-3 notified from the three-dimensional observation system 921 to the passive sensor system 300B. To do.

In FIG. 5, if the sensor 1 corresponding to the passive sensor system 300A can obtain two-dimensional observation information in the direction of the target position 3-2, it is possible to calculate three-dimensional observation information for the target T2 by passive positioning. Become. If the sensor 1 corresponding to the passive sensor system 300A and the sensor 2 corresponding to the passive sensor system 300B can obtain two-dimensional observation information in the direction of the target position 3-3, the target at the target position 3-3 With respect to, it is possible to calculate three-dimensional observation information by passive positioning. Therefore, similarly to the target T1 of the first embodiment, it becomes possible to continuously obtain the three-dimensional observation information at a high update rate by using the mounted passive sensor.

Embodiment 3.
FIG. 7 is a block diagram showing the configuration of the passive positioning system according to the third embodiment. In FIG. 7, active sensor control means 612A and 612B are added to the configuration of the first embodiment shown in FIG. The other configurations are the same as or equivalent to those in the first embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The active sensor control unit 612 is advantageous in passive positioning in accordance with the correlation determination state between the two-dimensional observation information based on the observation information of the three-dimensional sensor in the other sensor utilization three-dimensional positioning unit 200. , Implement sensor control.

For example, in the situation of FIG. 5 in which the three-dimensional observation situation is described in the first embodiment, the broken line segments 1-2 and 2-4 depend on the situation in which a false alarm is constantly generated by the passive sensor. Appears. Therefore, control is performed so that the active sensor observes the intersection of the broken line segments 1-2 and 2-4. As a result of the control, the target cannot be observed by the active sensor. Therefore, this intersection is determined as a false alarm, and generation of wrong three-dimensional information is suppressed. Explaining according to the configuration of FIG. 7, the active sensor control unit 612 gives an instruction for sensor-oriented control for searching the intersection of the line segments 1-2 and 2-4 to the three-dimensional observation system 921 through the communication unit 801A. Get out. The instruction to the three-dimensional observation system 921 may be issued by the active sensor control means 612A mounted on the aircraft A or the active sensor control means 612B mounted on the aircraft B. That is, at least one of the active sensor control means 612A and 612B may be performed.

When only the passive sensor is used for observation, the observed values are continuously obtained at the intersections of the line segments 1-2 and 2-4, so that there is a high possibility of being mistaken for the target. On the other hand, in the method of the third embodiment, it is possible to easily determine that the alarm is a false alarm by observing the active sensor, and thus it is possible to suppress generation of erroneous three-dimensional observation information.

7 illustrates the case where active sensor control means 612A, 612B is added to the configuration of the first embodiment shown in FIG. 1, the active sensor control means 612A, 612A is added to the configuration of the second embodiment shown in FIG. 612B may be added. With such a configuration, it is possible to provide a system that also has the effects of the second embodiment.

Fourth Embodiment
FIG. 8 is a block diagram showing the configuration of the passive positioning system according to the fourth embodiment. In FIG. 8, the passive positioning system 110A includes a passive sensor system 300A, an active sensor system 400A, a detection data correlation/integration function unit 510A corresponding to a three-dimensional positioning logical sensor, and a three-dimensional positioning logical sensor system 210A, and a passive positioning system 110B is , A passive sensor system 300B, an active sensor system 400B, a three-dimensional positioning logic sensor compatible detection data correlation/integration function unit 510B, and a three-dimensional positioning logic sensor system 210B. The passive positioning system 110A is mounted on the aircraft 911A, and the passive positioning system 110B is mounted on the aircraft 911B. In addition to the passive positioning systems 110A and 110B, communication means 801A and 801B and output information utilization means 812A and 812B are mounted on the aircrafts 911A and 911B, respectively.

The detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logical sensor is a passive positioning calculation result generated by the three-dimensional positioning logical sensor system 210 in addition to the detection data of the passive sensor and the detection data of the active sensor. In addition to the observation information of the three-dimensional position, it has a function of performing correlation/integration processing (also referred to as “tracking processing”) between detection data of different types of sensors to generate a track.

Here, the detection data of the passive sensor includes two-dimensional direction detection data. The two-dimensional azimuth detection data is, for example, data regarding AZ and EL that represent the target azimuth. The detection data of the active sensor includes three-dimensional position detection data and Doppler data. The three-dimensional position detection data is, for example, data relating to AZ, EL (azimuth) and range (distance) representing a target position, and the Doppler data is, for example, Doppler velocity data representing a target velocity.

The technology for tracking the detection data of the passive sensor and the detection data of the active sensor in a mixed manner as described above has been realized in Patent Document 6 (Japanese Patent No. 4925845). The contents described in Patent Document 6 are incorporated into the present specification and constitute a part of the present specification.

The detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor uses the observation information of the three-dimensional position not including the Doppler velocity, that is, the correlation determination condition based on the three-dimensional position detection data obtained by removing the Doppler velocity from the detection data of the active sensor. Is added to realize tracking processing.

The three-dimensional positioning logic sensor system 210 includes an existing correlation utilizing three-dimensional positioning means 211 and a track storage means 212. The track storage means 212 records a track as a processing result of the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logical sensor. In addition, the track (including the track of the passive sensor) from another platform obtained through the communication unit 801 is recorded.

The existing correlation utilizing three-dimensional positioning unit 211 uses the information held in the track storage unit 212 to perform passive positioning. Specifically, in the track of the tracking processing result using the three-dimensional and two-dimensional detection data in the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor, the period during which the three-dimensional information is effective By using the data (referred to as “memory track three-dimensional data”), it is determined whether or not they are the same, the relative relationship is determined, and three-dimensional detection data is generated.

The passive sensor system 300 is a sensor that outputs the detection data used in the above-described passive positioning, and generates the above-mentioned two-dimensional direction detection data and outputs it to the three-dimensional positioning logic sensor compatible detection data correlation/integration function unit 510. To do.

The active sensor system 400 is also a sensor that outputs the detection data used in the above-mentioned passive positioning, and generates the above-mentioned three-dimensional position detection data and Doppler data to detect and correlate the detection data with the three-dimensional positioning logic sensor. It is output to the section 510.

The communication means 801 is a communication means between the aircrafts A and B, and in the second embodiment, exchanges data between the wingmen in the formation, and specifically, corresponds to a three-dimensional positioning logic sensor used in passive positioning. The processing results of the detection data correlation/integration function unit 510 are exchanged with each other.

The output information utilization means 812 is means for utilizing the output of the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor.

Next, the operation of the passive positioning system according to the fourth embodiment will be described with reference to the drawings of FIGS. 8 and 9. FIG. 9 is a diagram showing an example of the input timing of observation information from various sensors and the generation state of a track in the fourth embodiment.

In FIG. 9, on the aircraft A side, the information from the passive sensor system A, the information from the active sensor system A, and the observation information from the passive sensor of the aircraft B, which is a fellow aircraft, are used as the three-dimensional positioning logic of the aircraft A. An example of input to the sensor-based detection data correlation/integration function unit 510 is shown. More specifically, although the detection data of the aircraft B can be obtained only by the passive sensor, the observation information obtained by the passive sensor of the aircraft B is always input to the aircraft A. On the other hand, in the aircraft A, the information from the active sensor system A whose distance information is valid is input at first, but the information from the active sensor system A is lost from the middle, and the information from the passive sensor system A without the distance information is input. Only information is entered.

In such a situation, first, when the detection data from the active sensor system A is input, the detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor uses the conventional function to detect the active detection data and the passive detection data. Correlates and integrates with detection data to generate a three-dimensional track. At this time, in the track storage means 212A, the three-dimensional track information of the detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor and the detection data corresponding to the three-dimensional positioning logic sensor of the fellow aircraft input via the communication means 801. Two-dimensional track information (direction information only) from the correlation/integration function unit 510B is held. The existing correlation utilizing three-dimensional positioning means 211 detects the three-dimensional positioning logical sensor corresponding to the three-dimensional positioning logical sensor corresponding detection data held in the track storage means 212 based on the three-dimensional tracking information of the correlation/integration function unit 510A. The correspondence with the two-dimensional track information from the data correlation/integration function unit 510B is determined. That is, the existing correlation utilizing three-dimensional positioning means 211 carries out the same determination between the tracks based on the three-dimensional track information.

Next, a case where the detection data from the active sensor system A is lost will be described. At this time, since only the detection data from the passive sensor system A that does not have the distance information is input to the detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor, the track information in which the distance information is invalid (hereinafter “Memory track two-dimensional track”) is generated. Since the memory track two-dimensional track is continuously tracked, the track ID when the three-dimensional information is held is maintained as an identifier for identifying the track (referred to as “track ID”). Can be dealt with. The memory track two-dimensional track is recorded in the track storage means 212A.

When the memory track two-dimensional track is recorded in the track storage unit 212A, the existing correlation utilizing three-dimensional positioning unit 211A determines that the two-dimensional track of the fellow aircraft determined to be the same based on the corresponding three-dimensional track information from the track ID. Information (hereinafter appropriately referred to as "passenger aircraft passive track") is specified.

The memory track two-dimensional track and the fellow crew passive track are determined to be observation values from the same target. Therefore, the existing correlation utilizing three-dimensional positioning means 211 uses two two-dimensional wakes, that is, a memory track two-dimensional wake and a fellow aircraft passive wake, and applies the triangulation method to perform positioning, thereby performing three-dimensional positioning. Generate detection data for.

The existing correlation utilizing three-dimensional positioning unit 211A outputs the generated three-dimensional position detection data to the detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor.

The detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor performs the correlation/integration using the three-dimensional position detection data generated by the existing correlation utilization three-dimensional positioning means 211, and as a tracking result, 3 Three-dimensional track information including dimensional position information and velocity information is generated.

The detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor outputs the generated three-dimensional track information as a range memory track three-dimensional track. When the range memory track three-dimensional track is generated, the tracking process from the memory track two-dimensional track is continued, so that the track ID is the same track ID as the memory track two-dimensional track. The range memory track three-dimensional track is held in the track storage means 212.

When the range memory track 3D track is stored in the track storage unit 212, the existing correlation utilizing 3D positioning unit 211 performs the same process as when the memory track 2D track is input using the track ID. Then, three-dimensional position detection data is generated and output to the detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor. The detection data correlation/integration function unit 510A corresponding to the three-dimensional positioning logic sensor continuously outputs the three-dimensional track information by using the three-dimensional position detection data generated by the existing correlation utilizing three-dimensional positioning means 211. can do.

In the output information utilization means 812, basically, any means or method of generation may be used as long as the three-dimensional track is input. Therefore, if the method of the fourth embodiment is adopted, the three-dimensional track information can be continuously used.

In the configuration of the fourth embodiment, if the detection data input from the active sensor system 400 is interrupted without the three-dimensional positioning logic sensor system 210, the three-dimensional positioning logic sensor compatible detection data correlation/integration function unit 510 Since the detection data is input only from the passive sensor in the middle, only the memory track two-dimensional track which is the track information with the invalid distance information is generated, and the three-dimensional track information cannot be output.

On the other hand, in the fourth embodiment, in the track of the tracking processing result using the three-dimensional position detection data and the two-dimensional detection data, the information of the period in which the three-dimensional information is effective is used to perform the relative operation. Since the relationship is determined, it is possible to accurately perform the same determination between the two tracks, and it is possible to generate correct three-dimensional observation information.

In addition, as a result of the above processing, even in a situation where it is difficult to observe a sensor that provides three-dimensional information, the three-dimensional track information is used as a reference to determine the correlation based on the highly accurate correlation determination based on the two-dimensional track information. Since the three-dimensional detection data is generated, the three-dimensional track information can be continuously output.

In the fourth embodiment, for the sake of convenience of explanation, the case where the three-dimensional information is invalid in the memory track two-dimensional track is illustrated, but the memory track two-dimensional track can be used even when the input of the active sensor is lost. It is possible to use it as three-dimensional track information for a certain period of time after the input of the active sensor is lost. Therefore, if the existing correlation utilizing three-dimensional positioning means 211 generates three-dimensional information by passive positioning and starts output within the period in which the three-dimensional information is valid in the memory track two-dimensional track, the output information utilizing means In 812, it is possible to continuously obtain three-dimensional track information without a break.

Embodiment 5.
FIG. 10 is a block diagram showing the configuration of the passive positioning system according to the fifth embodiment. 10, in the configuration of the fourth embodiment shown in FIG. 8, the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logical sensor corresponds to the detection data correlation/integration function unit corresponding to the three-dimensional positioning logical sensor with the quality criterion detection rejection function. Has been changed to 511. Note that other configurations are the same as or equivalent to those in the fourth embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

Next, the operation of the passive positioning system in the fifth embodiment will be described with reference to the drawings of FIGS. 9, 10 and 11. FIG. 11 is a flowchart showing an example of an operation flow of the detection data correlation/integration function unit 511 corresponding to the three-dimensional positioning logic sensor with quality standard detection and rejection function in the fifth embodiment.

First, the flowchart of FIG. 11 will be described. The detection data correlation/integration function unit 511 corresponding to the three-dimensional positioning logic sensor with quality standard detection rejection function selects a track to be correlated with the input detection data (step S21). In the processing of step S21, the three-dimensional positioning logic sensor-equipped detection data correlation/integration function unit 511 with quality reference detection and rejection function compares the input detection data with the state of the selected track (step S22). In the process of step S22, it is determined whether or not the quality of the input detection data can be improved. If it is difficult or impossible to improve the quality of the detection data, the process proceeds to step S23, and the input detection data is rejected. On the other hand, in the process of step S22, when the quality of the input detection data can be improved, the process proceeds to step S24, and the input detection data is integrated to update the track information.

Next, the processing of the main part in the flow of FIG. 11 will be supplemented. In the fifth embodiment, the case of determining the quality based on the index "detection delay" which is important in guiding the guide vehicle, etc. is described as the "determination of whether or not the quality can be improved" in step S22 of FIG. To do.

The detection data correlation/integration function unit 511 corresponding to the three-dimensional positioning logical sensor with the quality standard detection rejection function receives the detection data from at least one of the passive sensor system 300, the active sensor system 400 and the existing correlation utilizing three-dimensional positioning means 211. When input, the processes of steps S21 and S22 in the flow of FIG. 11 are executed.

Next, assume that the input from the active sensor system A is interrupted as shown in FIG. 9, for example. At this time, as described in the fourth embodiment, the three-dimensional detection data by the passive positioning from the existing correlation utilizing three-dimensional positioning means 211 is converted into the three-dimensional positioning logical sensor compatible detection data with the quality reference detection rejection function. The situation is that it is input to the function unit 511.

Here, in the passive positioning, the memory track 2D track or the range memory track 3D track from the detection data correlation/integration function unit 511 corresponding to the 3D positioning logic sensor with quality standard detection and rejection function is combined with the 2D track of the consort aircraft, This is a method of applying triangulation to generate detection data. Therefore, the 3D positioning logical sensor system 210 including the existing correlation utilizing 3D positioning means 211 and the track storage means 212A is, as its name implies, a logical sensor that generates 3D detection data by information processing. Therefore, the detection data output from the three-dimensional positioning logic sensor system 210 has a longer delay time than the detection data of the passive sensor system 300 or the active sensor system 400 which is a physical sensor.

When the input from the active sensor system 400 continues to be interrupted, the 3D detection data by passive positioning from the existing correlation utilizing 3D positioning means 211 is the only sensor that provides range information. Therefore, if the three-dimensional detection data obtained by the passive positioning can be used in the track generation as “quality can be improved”, the quality of tracking can be improved even if the delay time is large.

On the other hand, consider a case where the detection data is re-input from the active sensor system 400. At this time, the existing correlation utilizing three-dimensional positioning means 211 uses the observed value at a certain time (referred to as “time t20”) from the processing delay time and at an arbitrary time after the time t20 (“time t22”). It is assumed that the detection information is output to the detection data correlation/integration function unit 511 corresponding to the three-dimensional positioning logic sensor with quality standard detection and rejection function. Further, the active sensor system 400 detects the detection data at a certain time after the time t20 and before the time t22 (referred to as “time t21”) by the three-dimensional positioning logic sensor with the quality reference detection and rejection function. It is assumed that the data is output to the data correlation/integration function unit 511.

At this time, the detection data correlation/integration function unit 511 corresponding to the three-dimensional positioning logic sensor with quality standard detection and rejection function includes the range information of the active sensor system 400 at time t21 and updates the track with the data at observation time t21. .. After that, at time t22, the “passive positioning detection data generated using the observation value at time t20” is input to the same track.

According to the fifth embodiment, in order to judge the quality improvement based on the delay time, the processing is to discard the passive positioning detection data from the existing correlation utilizing three-dimensional positioning means 211 input at time t22. As a result, the three-dimensional positioning logic sensor-equipped detection data correlation/integration function unit 511 with the quality criterion detection and rejection function can avoid throwing detection information with a long delay time into the tracking processing, and thus improve the tracking quality. Is possible.

Further, according to the fifth embodiment, since the detection data is rejected only when other advantageous information is input, the passive positioning enables the same three-dimensional trajectory as the passive positioning system of the fourth embodiment. It is possible to guarantee that the ability to maintain

Sixth Embodiment
FIG. 12 is a block diagram showing the configuration of the passive positioning system in the sixth embodiment. In FIG. 12, the existing correlation utilizing three-dimensional positioning means 211 in the configuration of the fourth embodiment shown in FIG. 8 is changed to another sensor/existing correlation utilizing three-dimensional positioning means 221. Further, similarly to the first embodiment shown in FIG. 1, a three-dimensional observation system 921, which is a means for inputting three-dimensional observation information at a constant cycle from the outside, is illustrated. Note that other configurations are the same as or equivalent to those in the fourth embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The other sensor/existing correlation utilizing 3D positioning unit 221 has a function of utilizing 3D observation information when determining the correlation between 2D tracks with respect to the existing correlation utilizing 3D positioning unit 211. Has been added.

More specifically, the other sensor/existing correlation utilizing three-dimensional positioning means 221 has a function of the existing correlation utilizing three-dimensional positioning means 211 described in the fourth embodiment, in addition to the correlation target determining method by the memory track. As with the other sensor utilizing three-dimensional positioning means 200 in the first embodiment, it also has a function of using three-dimensional observation information from the outside. That is, the other sensor/existing correlation utilizing three-dimensional positioning means 221 of the sixth embodiment has the function of the other sensor utilizing three-dimensional positioning means 200 of the first embodiment and the existing correlation utilizing three-dimensional positioning of the fourth embodiment. It is a component having the function of the means 211. Which three-dimensional information is used is determined by the quality of the three-dimensional information (for example, observation delay, observation accuracy, etc.).

Here, in the sixth embodiment, it is assumed that the mounted sensor has higher quality than the external sensor. Therefore, when the other sensor/existing correlation utilizing three-dimensional positioning means 221 cannot determine the correlation target by the memory track, the correlation between the two-dimensional tracks is determined using the three-dimensional observation information from the outside. Will be done.

Further, in the example of FIG. 9 of the fourth embodiment, it was assumed that the active sensor system 400 can be observed first, but a situation in which only the passive sensor system 300 can be observed may occur at first. In such a situation, the existing correlation utilizing three-dimensional positioning unit 211 according to the fourth embodiment cannot perform passive positioning.

On the other hand, the other sensor/existing correlation utilizing three-dimensional positioning means 221 in the sixth embodiment uses the three-dimensional observation information from the outside even if only the passive sensor system 300 can be observed first. Since the correlation between the two-dimensional tracks can be determined by the three-dimensional detection data, the three-dimensional detection data can be output to the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor. You can get track information.

The situation in which only the passive sensor system 300 can be observed and then the active sensor system 400 can be observed, and the observation is interrupted thereafter is the situation described in the fourth embodiment. Therefore, in such a situation, the correlation between the two-dimensional tracks can be determined by the same means or method as in the fourth embodiment, and the three-dimensional detection data generated based on the determination can be used as the three-dimensional positioning logic sensor. It is possible to output the correspondence detection data to the correlation/integration function unit 510.

In addition, the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor uses the input correct three-dimensional detection data and performs the same determination between the two-dimensional tracks based on the high-quality three-dimensional information. Therefore, the output information utilizing means 812 can obtain correct three-dimensional track information.

When the active sensor system 400 is in a situation where observation is difficult for a long time, it is possible to verify the correlation using three-dimensional observation information from the outside. By verifying such a correlation, it is possible to suppress generation of detection data by false passive positioning in a situation where the active sensor system 400 is difficult to observe.

In addition, since it is possible to improve the cross correlation determination ability by suppressing the generation of detection data due to incorrect passive positioning, the output information utilization unit 812 is unlikely to continue outputting false alarms. It is possible to obtain dimensional track information.

Embodiment 7.
FIG. 13 is a block diagram showing the configuration of the passive positioning system according to the seventh embodiment. In FIG. 13, passive positioning sensor control means 621A and 621B are added to the configuration of the sixth embodiment shown in FIG. The other configurations are the same as or equivalent to those in the sixth embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The passive positioning sensor control unit 621 performs sensor control so as to be advantageous in the passive positioning according to the status of the passive positioning process in the other sensor/existing correlation utilizing three-dimensional positioning unit 231.

According to the seventh embodiment, the passive positioning sensor control means 621 performs the same sensor control as the passive sensor control means 610 according to the second embodiment or the active sensor control means 612 according to the third embodiment. It is possible to obtain the same effect as that of the second and third embodiments.

Further, according to the seventh embodiment, in addition to the sensor control of the second or third embodiment, the sensor control according to the status of the passive positioning process in the other sensor/existing correlation utilizing three-dimensional positioning means 231. As described above, the effect of continuously generating the three-dimensional track information becomes more apparent.

Eighth embodiment.
FIG. 14 is a block diagram showing the configuration of the passive positioning system according to the eighth embodiment. In FIG. 14, a beam mobility determination unit 710 is added to the configuration of the sixth embodiment shown in FIG. Note that other configurations are the same as or equivalent to those in the seventh embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The beam movement determination means 710 determines from the output of the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor that the target has become the beam movement. Here, the beam maneuver means a maneuver whose relative velocity is close to 0, which is difficult to observe with a radar.

The other-sensor/existing-correlation-utilizing three-dimensional positioning unit 241 changes the control target when performing the passive positioning in accordance with the beam motion detection by the beam motion determination unit 710.

For example, the other sensor/existing correlation utilizing three-dimensional positioning means 241 determines that the range information or the like is unstable with respect to the output track of the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logical sensor. In this case, the output track of the detection data correlation/integration function unit 510 corresponding to the three-dimensional positioning logic sensor is regarded as a memory track two-dimensional track, and thereby three-dimensional detection data by passive positioning is generated.

In addition, the other sensor/existing correlation utilizing three-dimensional positioning unit 241 performs control through the passive positioning sensor control unit 621 to direct the passive sensor system 300A, which is advantageous in observation even during beam operation. It is possible to direct not only the onboard sensor of the own machine but also the passive sensor system 300B of the fellow machine through the communication means 801.

According to the eighth embodiment, it is possible to actively perform the triangulation processing between the two-dimensional tracks and the orientation of the passive sensor for data acquisition during the beam operation in which the radar observation becomes unstable. Therefore, it becomes possible to secure the input frequency of the three-dimensional detection data in the entire system.

Note that, in tracking processing, tracking maintenance is particularly important, and in tracking maintenance, the frequency of detection data input determines whether or not the ability is achieved. According to the eighth embodiment, the frequency of inputting the three-dimensional detection data can be increased, so that the tracking maintaining ability in three dimensions can be improved.

Ninth Embodiment
FIG. 15 is a block diagram showing the configuration of a mobile electronic device system including the passive positioning system according to the ninth embodiment. FIG. 16 is a block diagram showing a configuration of a typical mobile electronic device system as a comparative example. In addition, in the drawings of FIGS. 15 and 16, the same or equivalent components as those shown in FIGS. 1, 6 to 8, 10, and 12 to 14 are designated by the same reference numerals. Shows.

First, the configuration of FIG. 16 will be described. Note that FIG. 16 illustrates only one of the aircraft forming the formation (aircraft 912A in FIG. 16 ). Further, in FIG. 16, the mobile electronic device system 870 and the separated flying body 850 are mounted on the aircraft 912A, the pilot 830 as a crew member is a component of the system, and the external sensor management mechanism 930 is provided outside the aircraft 912A. It is shown in the existing example. Note that there are fellow aircraft in the formation that have the same on-board configuration, and when distinguishing aircraft, they will be referred to as aircraft 912A and aircraft 912B as in the description of the first embodiment and the like.

In FIG. 16, the separated flying object 850 is an object which is launched according to the launch instruction of the pilot 830, separates from the aircraft 912 to start flying after the launch, and flies toward the target according to the guidance from the aircraft 912.

The external sensor management mechanism 930 is a component that collects observation information of radars and the like arranged in a wide area and can input three-dimensional observation information to the aircrafts 912A and 912B as wide area sensor information. Output from the aircraft 912A, 912B to the external sensor management mechanism 930 is also possible.

The mobile electronic device system 870 is configured to include a passive sensor system 300, an active sensor system 400, another sensor system 860, a data fusion means 500, a sensor control means 600, an output information utilization means 812, and a communication means 801.

The passive sensor system 300, the active sensor system 400, and the other sensor system 860 are on-board sensors of the aircraft 912A. The passive sensor system 300 and the active sensor system 400 are sensors used in passive positioning and outputting detection data. 15 and 16, one passive sensor and one active sensor are mounted. The other sensor system 860 is a sensor that can directly use the track data and output the track data. When the other sensor system 860 can generate three-dimensional information, the other sensor system 860 is one of the information generating sources that are used as a reference in the same determination of passive positioning.

The passive sensor system 300 includes an observation unit 310, a detection unit 320, a tracking unit 330, and a control unit 340, the active sensor system 400 includes an observation unit 410, a detection unit 420, and a control unit 440, and the other sensor system 860 includes The configuration includes an observation unit 861, a detection unit 862, a tracking unit 863, and a control unit 864.

In the passive sensor system 300, the active sensor system 400, and the other sensor system 860, the observing unit 310, the observing unit 410, and the observing unit 861 are components including sensors including an antenna and a camera, and the detecting unit 320 and the detecting unit 420. The detection unit 862 is a component that generates detection data from the observation result, and the tracking unit 330 and the tracking unit 863 are components that perform tracking processing only with the detection data inside the sensor. The control unit 340 and the control unit The 440 and the control unit 864 are components that perform sensor control.

Although the internal configuration and processing differ depending on the type of sensor such as a radar or IR sensor, they are shown as processing blocks common to each sensor system to show the basic processing configuration of the sensor.

The active sensor system 400 does not include a tracking unit. In the case of the passive sensor system 300 and the active sensor system 400 that output detection data, a tracking system is also realized by a method of performing tracking processing by the data fusion means 500 described later and performing sensor control according to the sensor control means 600 described later. it can. Therefore, it is also possible to realize it as an internal tracking process and a double tracking loop as in the passive sensor system 300 in FIG. 16, and as a single tracking loop as in the active sensor system 400 in FIG. It is also possible. FIG. 16 intentionally presents both formats as an example showing that both configurations can be selected, and which tracking loop (single or double) forms the gist of the present invention. ..

Next, the functions of the main components that make up the mobile electronic device system 870 will be described with reference to FIG. First, the data fusion means 500 is a correlation/integration function unit of the entire system, and includes a detection data correlation/integration function unit 530, a track correlation/integration function unit 540, and a target management unit 550. As shown in FIG. 16, the detection data correlation/integration function unit 530 has three-dimensional detection data of the active sensor (azimuth: AZ, EL, range, Doppler velocity) and two-dimensional detection data of the passive sensor (azimuth: AZ. , EL) are input. The detection data correlation/integration function unit 530 correlates and integrates the three-dimensional detection data of the active sensor and the two-dimensional detection data of the passive sensor to generate a track.

Since the sensor data fluctuates due to a stochastic phenomenon, it is possible that only three-dimensional detection data and only two-dimensional detection data are input, but even in such a case, a wake can be generated. However, when only two-dimensional detection data is input, two-dimensional track information is output.

Functionally, it is also possible to input detection data from outside via the communication unit 801. However, in general, the contribution to the ability improvement in line with the gist of the present invention is small, and thus the detailed description thereof will be omitted.

The track correlation/integration function unit 540 is a means for unifying the track information, and correlates and integrates the track information from the on-board sensor and the track information from outside via the communication means 801 to generate a track. .. It goes without saying that the track generated by the detection data correlation/integration function unit 530 is also a target of correlation/integration.

The target management unit 550 is a unit that integrally manages the observation information generated by the detection data correlation/integration function unit 530 and the track correlation/integration function unit 540 as “target information”. In addition to track information, related information such as sensor status, observation status, and delay time is also stored and managed along with "target information." The target management unit 550 also provides an interface between the pilot interface unit 820 and the separated flying body control unit 840 that utilize the “target information”. Further, the target management unit 550 unifies as “target information” including additional information to the observation information in cooperation with the user, such as pilot operation, management of target information targeted for guidance of the separated flying object 850, and the like. to manage. Further, the target management unit 550 also provides an information exchange interface between the aircraft 912B, which is a fellow aircraft in the formation, and the external sensor management mechanism 930 via the communication unit 801.

The sensor control means 600 is means for issuing a control command to the mounted sensor. The sensor control unit 600 cooperates with the data fusion unit 500 to realize cooperative control and automatic control of the mounted sensor. Further, the sensor control means 600, including the pilot interface means 820, realizes manual operation and semi-automatic sensor control. Further, the sensor control unit 600 presets a sensor control rule according to the situation as a “sensor control rule 630” in advance due to restrictions such as priority order in operation and sensor resources. Further, the sensor control means 600 grasps the current situation based on the “target information” from the data fusion means 500 during the execution of the sensor control, and based on the current situation and the “sensor control rule 630”, the sensor control means A control method is determined, and a sensor control command is issued according to the determined sensor control method.

The output information utilization means 812 includes pilot interface means 820 and separated flying body control means 840. The pilot interface unit 820 is a unit that provides an interface to the pilot, and generates output information such as screen display and alarm sound generation based on the “target information” from the target management unit 550. Further, the output information utilizing means 812 receives a control input from a pilot such as a switch button and outputs it to a related device.

The separated flying object control means 840 is a means for providing an interface to the separated flying object 850. Based on the “target information” from the target management unit 550, the separated flying body 850 is notified of the target position and the like. The separated flying body control means 840 outputs the information from the separated flying body 850 to the data fusion means 500.

The main functions of the mobile electronic device system 870 have been described above. Since the operation and effect of the mobile electronic device system 870 are the same as or similar to the contents described in the above-mentioned Patent Document 1 (Patent No. 4925845) or Patent Document 2 (Patent No. 5697734), here The detailed description of is omitted.

Next, the configuration of the passive positioning system according to the ninth embodiment will be described with reference to FIG. 15, in the configuration of the typical mobile electronic device system shown in FIG. 16, a three-dimensional positioning logic sensor system 250, which is a main part of the passive positioning system, is added, and the detection data correlation/integration function unit 530 is three. The dimensional positioning logic sensor compatible detection data correlation/integration function unit 531 is changed, the target management unit 550 is changed to the target management unit 551, and the sensor control rule 630 is changed to the sensor control rule 631. Further, the function of outputting information required for passive positioning to the track storage means 252 in the three-dimensional positioning logic sensor system 250 and the information required for passive positioning through the communication means 801 are exchanged in the target management unit 551. Functions and are added. Further, in the sensor control unit 601 and the sensor control rule 631, a necessary function for controlling the three-dimensional positioning logic sensor system 250 is added to each of the sensor control unit 600 and the sensor control rule 630. Due to these functional changes, between the three-dimensional positioning logic sensor system 250 and the sensor control unit 601, and between the track storage unit 252 of the three-dimensional positioning logic sensor system 250 and the target management unit 551 of the data fusion unit 501. , A new communication line has been added. Note that other configurations are the same as or equivalent to those in FIG.

The three-dimensional positioning logic sensor system 250 includes another sensor/existing correlation utilizing three-dimensional positioning means 251 and a track storage means 252. The other sensor/existing correlation utilizing three-dimensional positioning means 251 has the same function as the other sensor/existing correlation utilizing three-dimensional positioning means 221 in the sixth embodiment shown in FIG. 12, and the track storage means 252 includes It has the same function as the track storage means 212 in the sixth embodiment.

The detection data correlation/integration function unit 531 corresponding to the three-dimensional positioning logic sensor is added to the detection data correlation/integration function unit 530 shown in FIG. 16 to detect the detection data correlation corresponding to the three-dimensional positioning logic sensor in the fourth embodiment shown in FIG. This is realized by adding the same function as the integrated function unit 510 corresponding to the three-dimensional detection data from passive positioning. In FIG. 15, the data fusion means 501 is a component including the detection data correlation/integration function unit 531 corresponding to the three-dimensional positioning logic sensor to which a new function is added and the conventional track correlation/integration function unit 540. ..

The function of each component forming the main part of the passive positioning system of the ninth embodiment is as described above, and further detailed description is omitted here.

According to the ninth embodiment, even in a complicated multi-sensor system such as a mobile electronic device system, it is possible to utilize three-dimensional detection data by passive positioning with high accuracy of the same determination. In a complex multi-sensor system such as a mobile electronic device system, it is particularly important to continuously output three-dimensional track data for the same target. According to the ninth embodiment, since the three-dimensional detection data using the passive sensor can also be used for the track generation, the continuity of continuously outputting the three-dimensional track data is improved and the three-dimensional tracking is maintained. The ability can be improved.

Further, in the ninth embodiment, there are no restrictions on the movement of the aircraft, the arrangement of the aircraft, the number of aircraft, the number of sensors, and the like, and there are no restrictions on the pilot who is the operator. For this reason, it becomes possible for the pilot to be configured as a system in which an advantageous maneuver can be selected according to tactics and the like.

In a complicated multi-sensor system such as the mobile electronic device system shown in FIG. 16, a sensor control function for reducing radio wave emission according to the quality of a track has been realized. In such a multi-sensor system, by combining detection data of a plurality of sensors, it is possible to enhance the ability to resist electromagnetic interference. Therefore, if the method of the ninth embodiment is applied to such a multi-sensor system, the three-dimensional detection data using the passive sensor can also be used for the track generation, so that the three-dimensional tracking quality is maintained and the radio wave is maintained. It is possible to realize the sensor control to further reduce the radiation amount of the radio wave and to increase the means for obtaining the three-dimensional detection data at the time of the radar interference, so that it is possible to improve the coping ability against the radio interference. Become.

Embodiment 10.
FIG. 17 is a block diagram showing the configuration of a mobile electronic device system including the passive positioning system according to the tenth embodiment. In FIG. 17, in the configuration of the ninth embodiment shown in FIG. 16, the three-dimensional positioning logical sensor compatible detection data correlation/integration function unit 531 is a three-dimensional positioning logical sensor compatible detection data correlation/integration function unit with a quality criterion detection rejection function. Has been changed to 532. Note that other configurations are the same as or equivalent to those in the ninth embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The detection data correlation/integration function unit 532 corresponding to the three-dimensional positioning logic sensor with quality standard detection/rejection function is a detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor with quality standard detection/rejection function of the fifth embodiment shown in FIG. It has the same function as 511. Therefore, even in a complicated multi-sensor system such as a mobile electronic device system, it is possible to flexibly use three-dimensional detection data with large delay due to passive positioning according to the observation situation, as in the fifth embodiment. Becomes

Eleventh Embodiment
FIG. 18 is a block diagram showing the configuration of a mobile electronic device system including the passive positioning system according to the eleventh embodiment. 18, in the configuration of the tenth embodiment shown in FIG. 17, a passive positioning sensor control unit 640 is added inside the sensor control unit 602. Note that other configurations are the same as or equivalent to those in the ninth embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The passive-positioning sensor control unit 640, like the passive-positioning sensor control unit 621 of the seventh embodiment shown in FIG. 13, is advantageous in passive positioning with respect to the passive sensor and the active sensor that are the detection data input targets. Is a means for controlling the sensor. Further, in the eleventh embodiment, the information exchange for controlling the sensor of the fellow aircraft can be performed through the communication means 801.

According to the eleventh embodiment, even in a complex multi-sensor system such as a mobile electronic device system, it is possible to carry out sensor control in consideration of passive positioning as in the seventh embodiment.

Twelfth Embodiment
FIG. 19 is a block diagram showing the configuration of a mobile electronic device system including the passive positioning system according to the twelfth embodiment. In FIG. 19, in the configuration of the eleventh embodiment shown in FIG. 18, a beam mobility determination means 720 is added inside the mobile electronic device system 871. Note that other configurations are the same as or equivalent to those in the eleventh embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The beam movement determination means 720, similar to the beam movement determination means 710 of the eighth embodiment shown in FIG. 14, outputs the beam movement from the output of the detection data correlation/integration function part 533 corresponding to the three-dimensional positioning logic sensor with quality reference detection rejection function. The determination is performed and the determination result is transmitted to the other sensor/existing correlation utilizing three-dimensional positioning means 271. The operation after the beam motion determination is the same as in the eighth embodiment.

According to the twelfth embodiment, even in a complex multi-sensor system such as a mobile electronic device system, similar to the eighth embodiment, the passive positioning processing and the sensor control are performed in consideration of the beam mobility determination corresponding to the passive positioning. It becomes possible.

Thirteenth Embodiment
FIG. 20 is a block diagram showing the configuration of a mobile electronic device system including the passive positioning system according to the thirteenth embodiment. In FIG. 20, in the configuration of the twelfth embodiment shown in FIG. 19, the other sensor/existing correlation utilizing three-dimensional positioning means 271 is changed to an observation condition/other sensor/existing correlation utilizing three-dimensional positioning means 281, and the observation condition is changed. The determination means 283 is added inside the three-dimensional positioning logic sensor system 280. Note that other configurations are the same as or equivalent to those in the twelfth embodiment, and the same or equivalent components are designated by the same reference numerals and duplicate description will be omitted.

The observation condition determination unit 283 has a function of determining whether or not to perform the same determination using only the passive sensor, based on the observation conditions output from the target management unit 552 and the track calculation status output from the track storage unit 252.

The observation condition/other sensor/existing correlation utilization three-dimensional positioning means 281 performs passive positioning using the information stored in the track storage means 252, and the observation condition determination means 283 can make the same determination using only the passive sensor. It has a function of performing passive positioning between the two-dimensional tracks determined to be and outputting three-dimensional observation information.

For example, if there is almost no false alarm in clear sky and only one target is stably observed by a plurality of passive sensors, it is determined that the same determination can be made only by the passive sensors. At this time, the same determination result in the past may be learned to determine whether or not the same determination is performed only by the passive sensor.

According to the thirteenth embodiment, even in a complicated multi-sensor system such as a mobile electronic device system, if the observation conditions are advantageous, the same determination is performed only by the passive sensor to generate three-dimensional observation data. To do. As a result, in a situation where three-dimensional detection data can be continuously generated, it is possible to perform an operation of launching and guiding the separated flying object only with the passive sensor.

Finally, a hardware configuration when implementing various control means in the present embodiment by software will be described with reference to FIG. The various control means referred to here are data fusion means, sensor control means, beam movement determination means, three-dimensional information use means, output information use means, and various three-dimensional positioning logic sensor system. Positioning means, track storage means, etc. are applicable.

When the functions of the various control means described above are realized by software, as shown in FIG. 23, a CPU (Central Processing Unit) 950 that performs an operation and a memory in which a program read by the CPU 950 is stored. A configuration including an interface 970 for inputting and outputting a signal 960 and a signal can be employed. The CPU 950 may be what is called an arithmetic unit, a microprocessor, a microcomputer, a processor, a DSP (Digital Signal Processor), or the like. The memory 960 is, for example, a nonvolatile or volatile semiconductor memory such as a RAM (Random Access Memory), a ROM (Read Only Memory), a flash memory, an EPROM (Erasable Programmable ROM), and an EEPROM (Electrically EPROM). Is applicable.

Specifically, the memory 960 stores programs that execute the functions of various control means. The CPU 950 exchanges necessary information via the interface 970, the other interface and the communication means described in the present embodiment, and thereby executes the various arithmetic processes described in the present embodiment.

Note that the CPU 950 and the memory 960 illustrated in FIG. 23 may be replaced with a processing circuit. The processing circuit corresponds to, for example, a single circuit, a composite circuit, a programmed processor, a parallel programmed processor, an ASIC (Application Specific Integrated Circuit), an FPGA (Field-Programmable Gate Array), or a combination thereof. .. Further, the above hardware can be realized as a single computing device or a plurality of computing devices connected by a network. It can be implemented as a dedicated computing device, or can be implemented by mixing three-dimensional positioning logic sensor systems in the signal processing device of the sensor system.

<Effect of the present invention>
As described above, according to the passive positioning system according to the present embodiment, by using the three-dimensional observation information of different types of sensors, even when the observation conditions such as false alarms and detection probabilities are severe, the passive sensors are Since the same determination can be accurately performed, the effect of reducing the cross correlation can be obtained, and the same determination between the passive sensors can be accurately performed with a smaller number of passive sensors than the target of the observation target. can get.

Further, according to the passive positioning system according to the present embodiment, since the passive sensor and the heterogeneous sensor have a low probability of occurrence of false alarm occurrence locations, the passive sensor is compared with the sensor realized by only the same type of passive sensor. It is possible to obtain the effect that the same determination can be accurately performed.

Further, according to the passive positioning system according to the present embodiment, since an active sensor that can suppress false alarms is used as a heterogeneous sensor than a passive sensor such as a radar, the influence of false alarms of the passive sensor is reduced. As a result, the effect that the same determination between the passive sensors can be accurately performed is obtained.

Further, according to the passive positioning system according to the present embodiment, it is possible to perform the same determination between the passive sensors more accurately, and thus it is possible to obtain the effect that the positioning processing by the triangulation using the passive sensor can be accurately performed. ..

Further, according to the passive positioning system according to the present embodiment, it is possible to accurately calculate the three-dimensional observation information, which is the positioning processing result, and thus to calculate the observation result of the position greatly apart from the target existing position due to the cross correlation. The effect of being able to reduce the risk is obtained. As a result, it is possible to obtain an effect that a system capable of calculating highly accurate three-dimensional observation information using a passive sensor can be configured.

In addition, according to the passive positioning system according to the present embodiment, by using the three-dimensional observation information of the different types of sensors, there are restrictions on the number and arrangement of the passive sensors and the mobility of the mobile body equipped with the passive sensors. It is possible to provide a system that correctly performs the same determination without providing the same. It is possible to provide an effect that it is possible to provide a passive positioning system in which there is no restriction on the operation such as the number and placement mobility, and the same determination can be correctly performed to generate three-dimensional detection data.

Further, according to the passive positioning system according to the present embodiment, the information of the period during which the three-dimensional information is effective is used in the track of the tracking processing result using the three-dimensional detection data and the two-dimensional detection data. Then, the relative relationship is determined (correlation determination method using memory track three-dimensional data), whereby the same determination can be accurately performed and a system for generating three-dimensional observation information can be obtained. As a result, even when it becomes difficult to observe a sensor that can observe 3D, it is possible to obtain 3D detection data based on correlation determination with high accuracy based on 3D information using 2D track information. It is possible to obtain an effect that a system that can generate and continuously output three-dimensional track information can be obtained.

In addition, according to the passive positioning system according to the present embodiment, the quality of newly input detection data such as delay time is compared with the quality of detection data that has already been input to the tracking process, and three-dimensional and two-dimensional By selecting the detection data to be input into the tracking processing using the detection data of 1, there is an effect that it is possible to realize the tracking processing that uses the detection data of passive positioning having a large processing delay according to the status of the tracking processing. It is possible to achieve the effect that it is possible to realize a system in which the most advantageous detection data can be selected for both tracking maintenance and tracking quality.

Further, according to the passive positioning system according to the present embodiment, by incorporating the passive positioning function into a complicated multi-sensor system such as a mobile electronic device system, the accuracy of the same determination can be improved even in the mobile electronic device system. The effect that three-dimensional detection data by high passive positioning can be utilized is obtained.

Further, according to the passive positioning system according to the present embodiment, in a complex multi-sensor system such as a mobile electronic device system, it is particularly important to continuously output three-dimensional track data for the same target. By the passive positioning of the present invention, three-dimensional detection data using a passive sensor can also be used for track generation, and the effect of improving the three-dimensional tracking maintaining ability can be obtained. In addition, since this type of mobile electronic device system has already realized the sensor control function that reduces radio wave emission according to the quality of the track, the radio wave emission amount is further increased while maintaining three-dimensional tracking quality. There is an effect that sensor control to be reduced can be realized. Furthermore, in this type of mobile electronic device system, the ability to resist radio interference can be enhanced by combining the detection data of a plurality of sensors, so the means for obtaining three-dimensional detection data during radar interference increases. As a result, it is possible to obtain the effect of improving the ability to cope with radio interference.

Further, the passive positioning system according to the present embodiment, there is no restriction on the movement and placement of the aircraft, the number of aircraft, the number of sensors, etc., and there are no restrictions on the pilot who is the operator, so the pilot is tactical. The effect that it can be configured as a system capable of selecting an advantageous maneuver according to the effect is obtained.

Note that the configurations described in the above embodiments are examples of the content of the present invention, and can be combined with other known techniques, and configurations within the scope of the present invention It is also possible to omit or change a part of.

100 (100A, 100B), 110 (110A, 110B) Passive positioning system, 200 (200A, 200B) Other sensor utilizing three-dimensional positioning means, 210 (210A, 210B) Three-dimensional positioning logical sensor system, 211 (211A, 211B) Existing correlation utilizing 3D positioning means, 212 (212A, 212B) Track storage means, 220 3D positioning logical sensor system, 221 etc. Sensor/existing correlation utilizing 3D positioning means, 230 3D positioning logical sensor system, 231 etc. Sensor/Existing Correlation Utilization 3D Positioning Means, 240 3D Positioning Logic Sensor System, 241 Other Sensor/Existing Correlation Utilization 3D Positioning Means, 250 3D Positioning Logic Sensor System, 251 Other Sensors/Existing Correlation Utilization 3D Positioning means, 252 Track storage means, 260 3D positioning logical sensor system, 261 Other sensor/existing correlation utilizing 3D positioning means, 270 3D positioning logical sensor system, 271 Other sensor/existing correlation utilizing 3D positioning means, 280 Three-dimensional positioning logic sensor system, 281 Observation condition/other sensor/existing correlation utilization Three-dimensional positioning means, 283 Observation condition determination means, 300 (300A, 300B) Passive sensor system, 310 Observation part, 320 Detection part, 330 Tracking Unit, 340 control unit, 400 (400A, 400B) active sensor system, 410 observation unit, 420 detection unit, 440 control unit, 500, 501 data fusion means, 510 (510A, 510B) three-dimensional positioning logical sensor correspondence detection data correlation -Integrated function unit, 511 Detected data correlation/integrated function unit corresponding to 3D positioning logical sensor with quality standard detection and rejection function, 530 Detected data correlation/integrated function unit, 531 Detected data correlation/integrated function unit corresponding to 3D positioning logical sensor, 532 Detecting Data Correlation/Integration Function Unit for 3D Positioning Logical Sensor with Quality Criteria Detection and Rejection Function, 533 Detection Data Correlation/Integration Function Unit for 3D Positioning Logic Sensor with Quality Reference Detection and Rejection Function, 540 Track Correlation/Integration Function Unit 550 target management unit, 551 target management unit, 552 target management unit, 600, 601, 602 sensor control unit, 610 (610A, 610B) passive sensor control unit, 612 (612A, 612B) active sensor control unit, 621 (621) A, 621B) Passive positioning sensor control means, 630 sensor control rule, 631 sensor control rule, 632 sensor control rule, 640 Passive positioning sensor control means, 710 beam mobility determination means, 720 beam mobility determination means, 801 (801A, 801A, 801B) Communication means, 811 (811A, 811B) Three-dimensional information utilization means, 812 (812A, 812B) Output information utilization means, 820 Pilot interface means, 830 Pilot, 840 Separate flying vehicle control means, 850 Separate flying vehicle, 860 etc. Sensor system, 861 observation unit, 862 detection unit, 863 tracking unit, 864 control unit, 871 mobile electronic device system, 911 (911A, 911B), 912 (912A, 912B) aircraft, 921 three-dimensional observation system, 930 external sensor Management mechanism, 950 CPU, 960 memory, 970 interface.

Claims (23)

In a passive positioning system including a plurality of passive sensors, an active sensor for inputting observation information of a three-dimensional position, and a three-dimensional positioning means utilizing another sensor,
The other sensor utilizing three-dimensional positioning means is
A three-dimensional positioning logic sensor as a logic sensor for generating three-dimensional detection data by information processing,
Correlation/integration processing between the detection data by adding the observation information of the three-dimensional position which is the calculation result of the passive positioning generated by the three-dimensional positioning logic sensor to the detection data of the passive sensor and the detection data of the active sensor. A three-dimensional positioning logic sensor compatible detection data correlation/integration function unit that implements
Equipped with
The three-dimensional positioning logic sensor is
A track storage unit for holding a track as a processing result of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor and a track from another platform obtained through the communication unit,
An existing correlation utilizing three-dimensional positioning means for carrying out passive positioning using the information held in the track storage means;
A passive positioning system comprising: The passive positioning according to claim 1, further comprising: a passive sensor control unit that controls the passive sensor so that the passive positioning using the passive sensor is more advantageous than the passive positioning not using the passive sensor. system. An active sensor that inputs observation information of three-dimensional position,
An active sensor control means for controlling the active sensor so passive positioning is advantageous over the passive positioning which does not use the observation information of the active sensor utilizing observation information of the active sensor,
The passive positioning system according to claim 1 or 2, further comprising: Since the three-dimensional observation information has been obtained in the past in the track to be processed by the existing correlation utilizing three-dimensional positioning means, and the information of the active sensor is no longer input, the observation information of the passive sensor is obtained. The passive positioning system according to any one of claims 1 to 3, wherein a first track in which the two-dimensional observation information is valid is included. The track to be processed by the existing correlation utilizing three-dimensional positioning means includes two-dimensional observation information generated by the observation information of a passive sensor different from the passive sensor used when generating the first track. The passive positioning system according to claim 4, wherein a valid second track is included. Of the first track and the second track, when the three-dimensional observation information is valid in the first track, the third track having the same target is used to perform triangulation The passive positioning system according to claim 5, wherein three-dimensional position information is generated in principle. The passive positioning system according to claim 6, wherein the time at which the triangulation is performed is a time at which the two-dimensional observation information of the first track is valid. The passive positioning system according to claim 6, wherein passive positioning is not performed when the three-dimensional position information is valid. The detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor uses the information held in the track storage means to determine the quality of the entire tracking process of the input detection data when performing the passive positioning. The passive positioning system according to any one of claims 1 to 8, wherein it is determined whether or not to reject. 10. The existing correlation utilizing three-dimensional positioning means uses the observation information of the three-dimensional position by another sensor to perform the same determination between the observation values of a plurality of passive sensors. The passive positioning system according to any one of 1. Beam movement determination means for determining that the target is beam movement from the output of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor is provided.
11. The existing correlation utilizing three-dimensional positioning means instructs a sensor control for passive positioning to be advantageous through a passive positioning sensor control means in response to a beam motion detection. The passive positioning system according to item 1. In a passive positioning system including a plurality of passive sensors, an active sensor for inputting observation information of a three-dimensional position, and a three-dimensional positioning means utilizing another sensor,
The other sensor utilizing three-dimensional positioning means is
A three-dimensional positioning logic sensor as a logic sensor for generating three-dimensional detection data by information processing,
A three-dimensional positioning logic sensor that adds the three-dimensional detection data generated by the three-dimensional positioning logic sensor to the detection data of the passive sensor and the detection data of the active sensor and performs correlation/integration processing between the detection data. Correspondence detection data correlation and integration function section,
A passive sensor control means for controlling the passive sensors as passive positioning is advantageous over the passive positioning without using the passive sensors using the passive sensor,
A passive positioning system comprising: An active sensor that inputs observation information of three-dimensional position,
An active sensor control means for controlling the active sensor so passive positioning is advantageous over the passive positioning which does not use the observation information of the active sensor utilizing observation information of the active sensor,
The passive positioning system according to claim 12, further comprising: 14. A plurality of passive sensors, an active sensor that inputs observation information of a three-dimensional position, another sensor that is a mounted sensor other than the passive sensor and the active sensor, and the sensor according to claim 1. A multi-sensor system including a three-dimensional positioning logic sensor in a passive positioning system and a data fusion means which is a correlation/integration function unit of the entire system. The data fusion means is
Correlation/integration processing between the detection data by adding the observation information of the three-dimensional position which is the calculation result of the passive positioning generated by the three-dimensional positioning logic sensor to the detection data of the passive sensor and the detection data of the active sensor. A detection data correlation/integration function unit corresponding to a three-dimensional positioning logic sensor that implements
A track correlation/integration function unit that generates a track by correlating and integrating the track information from the outside via the other sensor and communication means and the track generated by the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor. ,
A target management unit that manages, as target information, observation information including a track generated by the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor and the track correlation/integration function unit;
The multi-sensor system according to claim 14, further comprising: And a sensor control unit for issuing a control command to the passive sensor, the active sensor, the other sensor, and the three-dimensional positioning logic sensor,
The sensor control means, in cooperation with the data fusion means, executes cooperative control and automatic control for the passive sensor, the active sensor, the other sensor, and the three-dimensional positioning logic sensor. 15. The multi-sensor system according to 15. The sensor control means presets a sensor control rule according to the situation as a sensor control rule in advance from a constraint including an operation priority and a sensor resource, and while executing sensor control, the sensor control means The present situation is grasped based on the target information of 1., and the control command is issued to the passive sensor, the active sensor, the other sensor and the three-dimensional positioning logic sensor based on the present situation and the sensor control rule. 17. The multi-sensor system according to claim 16, characterized in that 18. Pilot interface means for generating output information including screen display for a pilot and generation of an alarm sound based on the target information from the target management unit is provided. The described multi-sensor system. Based on the target information from the target management unit, a separation projectile control means is provided for notifying the separated projectile of the target position and outputting the information from the separation projectile to the data fusion means. The multi-sensor system according to any one of claims 15 to 18, characterized in that: The three-dimensional positioning logic sensor includes track storage means for holding a track as a processing result of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor,
The detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor uses the information held in the track storage means to determine the quality of the entire tracking process of the input detection data when performing the passive positioning. The multi-sensor system according to any one of claims 15 to 19, wherein it is determined whether or not to reject. A passive positioning sensor control means for controlling at least one of the passive sensor, the active sensor, the other sensor or the three-dimensional positioning logic sensor so that passive positioning is advantageous. The multi-sensor system according to any one of claims 15 to 20. Beam movement determination means for determining that the target is beam movement from the output of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor is provided.
The three-dimensional positioning logic sensor is
A track storage means for holding a track as a processing result of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor,
An existing correlation utilizing three-dimensional positioning means for performing passive positioning using the information held in the track storage means;
In response to the beam motion detection, another sensor for instructing sensor control to make passive positioning advantageous through the passive positioning sensor control means, a three-dimensional positioning means utilizing existing correlation,
The multi-sensor system according to claim 21, further comprising: The three-dimensional positioning logic sensor is
A track storage means for holding a track as a processing result of the detection data correlation/integration function unit corresponding to the three-dimensional positioning logic sensor,
Observation condition determining means for determining whether or not to perform the same determination only with the passive sensor from the observation conditions output from the target management unit and the calculation status of the track output from the track storage means,
The passive positioning is performed using the information held in the track storage means, and the passive positioning is performed between the two-dimensional tracks determined to be the same determination only by the passive sensor in the observation condition determination means. Observing conditions, other sensors, existing correlation utilizing 3D positioning means that outputs 3D observation information,
The multi-sensor system according to any one of claims 15 to 21, further comprising:

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