Target tracking method and electronic apparatus therefor

Abstract

A target tracking method performed by an electronic device may include: a step of generating a first tracking track based on a measurement result for a target and a tracking filter; a step of determining whether a condition for estimating the occurrence of a separation for the target based on the measurement result is satisfied; a step of generating a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter when the condition is satisfied as a result of the determination; and a step of performing track management based on the state of the first tracking track and the temporary track.

Description

Technology Field

[0001] The present disclosure relates to a target tracking method that performs track management by creating a temporary track. Background Technology

[0002] During flight, a ballistic missile may generate separate components, such as boosters, shrouds, and / or fragments, in addition to the warhead due to various causes related to flight distance. These generated components possess dynamic characteristics similar to the warhead, undergo free-fall motion, and can fly at close range to the warhead.

[0003] However, when a separation occurs in a ballistic missile being tracked outside the atmosphere, the warhead and the separation are tracked in a manner where they initially exist in the same location and then gradually move apart. Consequently, they may coexist within the waveform resolution range; even when tracked using a high-resolution tracking waveform, there may be sections where only a single measurement is visible. Therefore, if a separation with characteristics identical to the warhead is present near the tracked warhead, tracking errors increase, potentially leading to problems such as the warhead being lost or a different separation being mistracked as the warhead. The problem to be solved

[0004] One objective of the embodiments of the present disclosure is to provide a target tracking method capable of rapidly and accurately estimating whether a target separation has occurred when a target separation occurs, and generating and managing a temporary track to minimize mistracking and tracking loss.

[0005] One objective of the embodiments of the present disclosure is to provide a target tracking method capable of accurately and robustly tracking a target by reflecting the motion characteristics of a separator.

[0006] The technical problems to be solved by the present disclosure are not limited to the technical problems described above, and other technical problems not mentioned will be clearly understood by those skilled in the art to which the present disclosure belongs from the description below. means of solving the problem

[0007] A target tracking method performed by an electronic device according to one embodiment may include: a step of generating a first tracking track based on a measurement result for a target and a tracking filter; a step of determining whether a condition for estimating the occurrence of a separation for the target based on the measurement result is satisfied; a step of generating a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter when the condition is satisfied as a result of the determination; and a step of performing track management based on the state of the first tracking track and the temporary track.

[0008] In a target tracking method performed by an electronic device according to one embodiment, the step of generating the first tracking track may include: a step of obtaining the measurement result based on a reflected signal received from the target after a radiation signal radiated toward the target is reflected from the target; a step of obtaining the third prediction result by applying the measurement result to the target model; and a step of generating the first tracking track based on a correction result obtained by inputting the measurement result and the third prediction result into a correction model included in the tracking filter.

[0009] In a target tracking method performed by an electronic device according to one embodiment, the determining step may include: a step of obtaining a normalized error for each measurement parameter for each measurement parameter included in the measurement result; a step of obtaining a tracking error based on each measurement parameter normalized error; a step of setting a first threshold value for the estimation; and a step of determining whether the condition that the first threshold value is less than the tracking error is satisfied.

[0010] In a target tracking method performed by an electronic device according to one embodiment, each measurement parameter may include at least one of distance, speed, elevation angle, and azimuth angle.

[0011] In a target tracking method performed by an electronic device according to one embodiment, the step of generating the temporary track may include: a step of setting a track status determination period based on the accuracy of the target model; and a step of generating the temporary track during the track status determination period.

[0012] In a target tracking method performed by an electronic device according to one embodiment, the step of performing track management may include the step of converting the temporary track into a second tracking track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a preset second threshold value, and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold value.

[0013] In a target tracking method performed by an electronic device according to one embodiment, the step of performing track management may include the step of deleting the temporary track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a preset second threshold value, and the error between the measurement result and the second prediction result exceeds a preset third threshold value.

[0014] In a target tracking method performed by an electronic device according to one embodiment, the step of performing the track management may include the step of converting the temporary track to a second tracking track and deleting the first tracking track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold value and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold value.

[0015] In a target tracking method performed by an electronic device according to one embodiment, the step of performing track management may include the step of maintaining the first tracking track and the temporary track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold value and the error between the measurement result and the second prediction result exceeds a preset third threshold value.

[0016] In a target tracking method performed by an electronic device according to one embodiment, the tracking filter may be a Kalman filter.

[0017] In a computer-readable, non-transient computer-readable storage medium storing a program for executing a target tracking method according to one embodiment on a computer, the target tracking method may include: a step of generating a first tracking track based on a measurement result for a target and a tracking filter; a step of determining whether a condition for estimating the occurrence of a separation of the target has occurred based on the measurement result; a step of generating a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter when the condition has occurred as a result of the determination; and a step of performing track management based on the state of the first tracking track and the temporary track.

[0018] An electronic device for performing a distance target tracking method according to one embodiment comprises: a processor; and one or more memories for storing one or more instructions, wherein, when the one or more instructions are executed, the processor may control the processor to: generate a first tracking track based on a measurement result for a target and a tracking filter, determine whether a condition for estimating the occurrence of a separation for the target based on the measurement result, and if the condition occurs as a result of the determination, generate a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter, and perform track management based on the state of the first tracking track and the temporary track.

[0019] The various embodiments of the present disclosure described above are merely some of the preferred embodiments of the present disclosure, and various embodiments reflecting the technical features of the various embodiments of the present disclosure can be derived and understood by those skilled in the art based on the detailed description to be described below. Effects of the invention

[0020] The target tracking method of the present disclosure has technical effects in that it provides an accurate and robust target tracking method that prevents false tracking and reduces tracking loss by estimating the occurrence of target separation and generating and managing temporary tracks to track the target.

[0021] The target tracking method of the present disclosure has a technical effect in that it can improve tracking continuity through a temporary track even if the target being tracked is not tracked normally.

[0022] The target tracking method of the present disclosure has a technical effect in that it can maintain target tracking by tracking the target and the separated object together via a temporary track, even if the separated object is mistaken for the target.

[0023] The effects obtainable from the present disclosure are not limited to those described above, and other unmentioned effects will be clearly understood by those skilled in the art from the description below. Brief explanation of the drawing

[0024] FIG. 1 is a diagram showing the configuration of an electronic device according to one embodiment. FIG. 2 is a flowchart of a target tracking method performed by an electronic device according to one embodiment. FIG. 3 is a flowchart of a method for determining whether a condition for estimating the occurrence of a separation of a target is satisfied by an electronic device according to one embodiment. FIGS. 4a and FIGS. 4b are drawings illustrating a method of an electronic device generating a track according to one embodiment. FIG. 5 is a flowchart of a method for an electronic device according to one embodiment to generate a temporary track based on a track status determination period. FIGS. 6a to 6d are flowcharts of a method for an electronic device to manage a track according to one embodiment. FIG. 7 is a diagram illustrating a method for an electronic device to track a target according to one embodiment. Specific details for implementing the invention

[0025] Hereinafter, various embodiments of the present disclosure are described in detail with reference to the accompanying drawings so that those skilled in the art can easily practice them. The detailed description disclosed below is intended to explain exemplary embodiments of various examples and is not intended to limit the scope to specific embodiments.

[0026] The terms used in the embodiments have been selected to be as widely used as possible, taking into account their functions in the present disclosure; however, these may vary depending on the intent of those skilled in the art, case law, the emergence of new technologies, etc. Additionally, in specific cases, terms have been arbitrarily selected by the applicant, and in such cases, their meanings will be described in detail in the relevant explanatory section. Therefore, terms used in the present disclosure should be defined not merely by their names, but based on their meanings and the overall content of the present disclosure.

[0027] The following embodiments are combinations of the components and features of various embodiments in a predetermined form. Each component or feature may be considered optional unless otherwise explicitly stated. Each component or feature may be implemented in a form not combined with other components or features. Additionally, various embodiments may be constructed by combining some components and features. The order of operations described in various embodiments may be changed. Some components or features of one embodiment may be included in another embodiment, or may be replaced with corresponding components or features of another embodiment.

[0028] In the description of the drawings, procedures or steps that could obscure the essence of the various embodiments were not described, nor were procedures or steps that could be understood by a person with ordinary knowledge in the relevant technical field described.

[0029] Throughout the specification, when a part is described as "comprising" or "including" a component, it means that, unless specifically stated otherwise, it does not exclude other components but may include additional components. In this document, the singular form of a noun corresponding to an item may be used to include both singular and plural forms, unless otherwise indicated in the specification or clearly contradicted by the context. In this document, phrases such as "A or B," "at least one of A and B," "at least one of A or B," "A, B or C," "at least one of A, B and C," and "at least one of A, B, or C" may each include any one of the items listed together in the corresponding phrase, or any combination thereof. Terms such as "first," "second," or "first" or "second" may be used simply to distinguish a component from other corresponding components and do not limit the components in any other aspect (e.g., importance or order).

[0030] Each component (e.g., module or program) of the components described in this document may include a singular or multiple entities. According to various embodiments, one or more of the components or operations may be omitted, or one or more other components or operations may be added. Additionally, multiple components (e.g., module or program) may be integrated into a single component. In this case, the integrated component may perform one or more functions of each of the components of the multiple components in the same or similar manner as they were performed by the corresponding component among the multiple components prior to integration. According to various embodiments, operations performed by a module, program, or other component may be executed sequentially, in parallel, or repeatedly; one or more of the operations may be executed in a different order; may be omitted; or one or more other operations may be added.

[0031] Various embodiments of this document may be implemented as software (e.g., a program or application) comprising one or more instructions stored in a storage medium (e.g., memory) readable by a machine. For example, the processor of the machine may call at least one of the one or more instructions stored from the storage medium and execute it. This enables the machine to operate to perform at least one function according to at least one called instruction. One or more instructions may include code generated by a compiler or code that can be executed by an interpreter. The storage medium readable by a machine may be provided in the form of a non-transitory storage medium. Here, 'non-transitory' simply means that the storage medium is a tangible device and does not contain a signal, and does not distinguish between cases where data is stored semi-permanently and cases where it is stored temporarily in the storage medium.

[0032] In addition, specific terms used in various embodiments are provided to aid in understanding the various embodiments, and the use of such specific terms may be modified in other forms within the scope of not departing from the technical concept of the various embodiments.

[0033] The target tracking method and electronic device for the same proposed in the present disclosure may correspond to a method and device capable of accurately and robustly tracking a target even when a separation occurs by generating a first tracking track based on a measurement result and a tracking filter for the target, determining whether a condition for estimating the occurrence of a separation of the target based on the measurement result is satisfied, and if the condition is satisfied as a result of the determination, generating a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter, and performing track management based on the state of the first tracking track and the temporary track.

[0034] In particular, the target tracking method of the present disclosure can be effectively applied in defense operational environments where accurate and robust tracking of a target is required even when target fragments occur. For example, when tracking a ballistic missile based on radar in a battlefield environment, the ballistic missile may generate fragments such as boosters, shrouds, and debris in addition to the warhead. However, since these fragments have dynamic characteristics with the warhead, tracking the target can be difficult; therefore, a technology capable of accurately and robustly tracking the target even when fragments occur is required. In response to such characteristics of the defense sector, the target tracking method according to the present disclosure below can track a target accurately and robustly by determining whether fragments have occurred and generating a temporary track to perform track management. Thus, it can be understood as a technical concept that is easily applicable to the defense sector.

[0035] FIG. 1 is a diagram showing the configuration of an electronic device according to one embodiment.

[0036] Referring to FIG. 1, the electronic device (100) may include a processor (110) and a memory (120) according to one embodiment. The electronic device (100) illustrated in FIG. 1 is illustrated only with components related to the present embodiment, and it will be understood by those skilled in the art related to the present embodiment that other general-purpose components may be included in addition to the components illustrated in FIG. 1.

[0037] For example, an electronic device (100) may include a communication device comprising one or more transceivers, an input unit, and an output unit. The communication device is a device for performing wired / wireless communication and can communicate with an external electronic device. The external electronic device may be a terminal or a server. In addition, communication technologies used by the communication device may include GSM (Global System for Mobile communication), CDMA (Code Division Multi Access), LTE (Long Term Evolution), 5G, WLAN (Wireless LAN), Wi-Fi (Wireless-Fidelity), Bluetooth, RFID (Radio Frequency Identification), Infrared Data Association (IrDA), ZigBee, NFC (Near Field Communication), etc. The input unit may be, for example, a traditional type of keypad or keyboard, a mouse, a microphone for receiving voice signals, a camera, and various other types of input means for detecting or receiving various forms of user input. The output unit may be, for example, a display that outputs images, a speaker that outputs sound, a haptic device that generates vibrations, and various other forms of output means.

[0038] Additionally, at least some of the components within the electronic device (100) may be implemented as an integrated unit or as a single or multiple unit. At least some of the components within the electronic device (100) may be connected to each other via a bus, GPIO (general purpose input / output), SPI (serial peripheral interface) or MIPI (mobile industry processor interface), etc., to exchange data and / or signals.

[0039] A processor (110) is a component capable of performing operations or data processing regarding the control and / or communication of each component of an electronic device (100). For example, the processor (110) can control the electronic device (100) overall by executing programs stored in memory (120) within the electronic device (100). The processor (110) may be implemented as a CPU (central processing unit), GPU (graphics processing unit), AP (application processor), etc., provided within the electronic device (100), but is not limited thereto. Unless there are special circumstances, in this disclosure, the processor (110) may refer to a set of one or more processors (110).

[0040] The processor (110) may be implemented as a computer or a similar device according to hardware, software, or a combination thereof. In terms of hardware, the processor (110) may be implemented in the form of an electronic circuit that processes electrical signals to perform control functions, and in terms of software, it may be implemented in the form of a program that drives the hardware processor (110). Meanwhile, unless otherwise specifically mentioned in the description below, the operation of the electronic device (100) may be interpreted as being performed by the control of the processor (110). That is, when modules implemented in the electronic device (100) are executed to perform a method of tracking a target, the modules may be interpreted as controlling the processor (110) to perform the following operations of the electronic device (100).

[0041] According to one embodiment, the processor (110) can perform a target tracking method. Specifically, the processor (100) can generate a first tracking track based on a measurement result and a tracking filter for a target, determine whether a condition for estimating the occurrence of a separation of a target based on the measurement result is satisfied, and if the condition is satisfied as a result of the determination, generate a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter, and perform track management based on the status of the first tracking track and the temporary track.

[0042] According to one embodiment, the processor (110) can obtain a measurement result based on a reflection signal received from the target after a radiation signal radiated toward the target is reflected from the target, obtain a third prediction result by applying the measurement result to a target model, and generate a first tracking track based on the correction result obtained by inputting the measurement result and the third prediction result into a correction model included in a tracking filter.

[0043] According to one embodiment, the processor (110) can obtain a normalized error for each measurement parameter included in the measurement result, obtain a tracking error based on each measurement parameter normalized error, set a first threshold value for estimation, and determine whether the condition that the first threshold value is less than the tracking error is satisfied.

[0044] In a target tracking method performed by a processor (110) according to one embodiment, each measurement parameter may include at least one of distance, speed, elevation angle, and azimuth angle.

[0045] According to one embodiment, the processor (110) may set a track status determination period based on the accuracy of the target model and generate a temporary track during the track status determination period.

[0046] According to one embodiment, the processor (110) can switch the temporary track to the second tracking track if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a preset second threshold value, and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold value.

[0047] According to one embodiment, the processor (110) may delete a temporary track if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a preset second threshold value, and the error between the measurement result and the second prediction result is greater than a preset third threshold value.

[0048] According to one embodiment, if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold, the processor (110) may switch the temporary track to a second tracking track and delete the first tracking track.

[0049] According to one embodiment, the processor (110) may maintain a first tracking track and a temporary track when the error between the measurement result and the third prediction result obtained by applying the measurement result to a target model exceeds a preset second threshold value and the error between the measurement result and the second prediction result exceeds a preset third threshold value.

[0050] In a target tracking method performed by a processor (110) according to one embodiment, the tracking filter may be a Kalman filter.

[0051] Memory (120) is hardware that stores various data processed within an electronic device (100), and memory (120) can temporarily or semi-permanently store data processed and data to be processed in the electronic device (100). For example, data regarding an operating system (OS) for operating the electronic device (100) can be stored in the memory (120) of the electronic device (100). Memory (120) may include random access memory (RAM) such as dynamic random access memory (DRAM) and static random access memory (SRAM), read-only memory (ROM), electrically erasable programmable read-only memory (EEPROM), CD-ROM, Blu-ray or other optical disc storage, hard disk drive (HDD), solid state drive (SSD), or flash memory. Such memory (120) may be provided as an embedded type or a removable type. Additionally, memory (120) may store instructions for the operation of the processor (110). Unless there are special circumstances, in the present disclosure, memory (120) may mean a set of one or more memories (120).

[0052] The target tracking method of the present disclosure, performed by the electronic device (100) of FIG. 1, may also be implemented by a computer-readable, non-transient computer-readable storage medium (or non-transient recording medium) for the operation. The target tracking method may be implemented as a software module or algorithm and may be stored on a computer-readable recording medium as computer-readable code or program instructions executable on a processor (110). Here, computer-readable recording media include magnetic storage media (e.g., ROM (read-only memory), floppy disk, hard disk, etc.) and optical reading media (e.g., CD-ROM, DVD: Digital Versatile Disc). Computer-readable recording media may be distributed across networked computer systems, so that computer-readable code may be stored and executed in a distributed manner. The medium may be computer-readable, stored in memory (120), and executed on a processor (110).

[0053] An electronic device (100) according to one embodiment may further include a display (not shown). The display may visually provide various information to the outside under the control of a processor (110). The display may include a touch circuit configured to detect a user's touch or a sensor circuit configured to measure the intensity of the force generated by the touch.

[0054] FIG. 2 is a flowchart of a target tracking method performed by an electronic device according to one embodiment. As shown in FIG. 2, the target tracking method may include a plurality of steps (S210 to S260).

[0055] In step S210, the electronic device (100) can generate a first tracking track based on the measurement results and tracking filter for the target.

[0056] In the present disclosure, a target may refer to an object that is the subject of tracking performed by an electronic device (100). For example, the target may be a ballistic missile tracked outside the atmosphere by the electronic device (100). Furthermore, the target may be an object having motion characteristics similar to a ballistic missile, which performs free-fall motion due to gravity and Earth's rotation without additional maneuvering in most situations. In the present disclosure, if it is presumed that a separation of the target has occurred, the remaining part excluding the separation may be referred to as the main body. In the present disclosure, if it is presumed that a separation of the target has occurred, the separation and the main body may each be referred to as the target.

[0057] In the present disclosure, the measurement result may refer to information about a target obtained by the electronic device (100) tracking the target. In some embodiments, the electronic device (100) may radiate a signal toward the target. The signal radiated toward the target may be reflected from the surface of the target and received through the electronic device (100). The received signal may be converted into a measurement result including measurement parameters through a signal processing process by the electronic device (100). In other embodiments, the electronic device (100) may control a transmitter or transceiver, such as a radar, located outside the electronic device (100) to radiate a signal toward the target. The signal radiated toward the target may be reflected from the surface of the target, and the electronic device (100) may control a receiver or transceiver located outside the electronic device (100) to receive the reflected signal and transmit it to the electronic device (100). The received signal may be converted into a measurement result including measurement parameters through a signal processing process by the electronic device (100). In some embodiments, the measurement parameters may include at least one of distance, speed, elevation, and azimuth. Accordingly, the electronic device (100) can determine information such as the position, speed, elevation, and azimuth of the target at a specific point in time by tracking the target and obtaining measurement results. In some embodiments, the measurement results may exceed one. For example, if at least one separation occurs, the electronic device (100) can receive signals regarding the main body and at least one separation, so the measurement results may exceed one.

[0058] In the present disclosure, the tracking filter is a prediction model including a target model and a correction model, and the electronic device (100) can predict the next position and velocity of the target by inputting measurement results into the tracking filter. Specifically, the target model may be a model that outputs a prediction result for the next time point when a measurement result at a specific time point is input. Accordingly, the electronic device (100) can verify information such as the position, velocity, elevation angle, and azimuth angle of the target at the next time point by obtaining the prediction result.

[0059] In some embodiments, the target model may be a ballistic missile model that incorporates external force effects such as gravity, centrifugal force due to Earth's rotation, and Coriolis force. The correction model may be a model that outputs a correction result at a specific point in time by correcting the measurement result based on the prediction result when the measurement result and the prediction result at a specific point in time are input. In this case, an algorithm of the Kalman filter family (e.g., linear Kalman filter, extended Kalman filter, undirectional Kalman filter, etc.) may be applied to the correction model. The electronic device (100) can improve the accuracy and continuity of target tracking by obtaining a prediction result through the target model and obtaining a correction result based on the measurement result and the prediction result through the correction model.

[0060] The electronic device (100) can obtain a correction result by inputting the measurement result obtained through the above-described process into a tracking filter, and can generate a first tracking track based on the obtained correction result. The method by which the electronic device (100) generates the first tracking track will be described in detail with reference to FIG. 4a, which will be described later.

[0061] In step S220, the electronic device (100) can determine whether the conditions for estimating the occurrence of a separation of the target are satisfied based on the measurement results.

[0062] When the electronic device (100) tracks a target outside the atmosphere where no additional maneuvers exist, the target can be tracked with high accuracy because there is almost no air resistance. Based on this assumption, the electronic device (100) can determine whether the conditions for estimating the occurrence of a separation of the target are satisfied based on the measurement results. The method by which the electronic device (100) determines whether the conditions for estimating the occurrence of a separation of the target are satisfied will be explained in detail with reference to FIG. 3, which will be described later.

[0063] FIG. 3 is a flowchart of a method for determining whether a condition for estimating the occurrence of a separation of a target is satisfied by an electronic device according to one embodiment. As illustrated in FIG. 3, the method for determining whether a condition for estimating the occurrence of a separation of a target is satisfied may include a plurality of steps (S310 to S340).

[0064] In step S310, the electronic device (100) can obtain the normalization error of each measurement parameter for each measurement parameter included in the measurement result.

[0065] As described above, the measurement result may include measurement parameters. Additionally, the measurement parameters may include at least one of distance, speed, elevation angle, and azimuth angle. For each measurement parameter, the electronic device (100) may obtain a normalized error for each measurement parameter. For example, the electronic device (100) obtains a normalized error for the x measurement parameter for the x measurement parameter. It can be obtained in the same way as [Mathematical Formula 1].

[0066] [Mathematical Formula 1]

[0067]

[0068] In [Mathematical Formula 1], is the error between the measurement result and the prediction result for the x measurement parameter, is the standard deviation according to the Signal-to-Noise Ratio (SNR) for the x measurement parameter, may be a value corresponding to the x measurement parameter among the diagonal elements of the prediction covariance matrix of the tracking filter. By obtaining the normalized error for each measurement parameter, the electronic device (100) can statistically and uniformly estimate whether a separation occurs for a target without being affected by unit differences or scale differences between each measurement parameter.

[0069] In step S320, the electronic device (100) can obtain a tracking error based on the normalization error of each measurement parameter.

[0070] For example, the electronic device (100) obtains measurement parameter normalization errors for distance, speed, elevation, and azimuth measurement parameters. , , and Based on, tracking error in the same way as [Equation 2] You can obtain.

[0071] [Mathematical Formula 2]

[0072]

[0073] The electronic device (100) can quantitatively estimate whether a target separation occurs by obtaining the tracking error in the form of a root mean square based on the normalization error of each measurement parameter.

[0074] In step S330, the electronic device (100) can set a first threshold value for estimating the occurrence of a separation for the target.

[0075] In some embodiments, the electronic device (100) may set a first threshold value to accurately and robustly estimate whether a target separation occurs, taking into account the characteristic that the error between the measurement result and the prediction result increases when a number of targets are within the resolution of the tracking waveform. Specifically, the electronic device (100) may set the first threshold value smaller than the threshold value used in the nearest distance-based target association technique. For example, since the threshold value used in the Nearest Neighbor Algorithm may be set to about 10, the electronic device (100) may set the first threshold value to about 1, which is a value relatively smaller than 10.

[0076] In step S340, the electronic device (100) can determine whether the condition for the occurrence of a separation where the first threshold value is less than the tracking error is satisfied.

[0077] For example, if the tracking error is set as in [Equation 2], the electronic device (100) can determine whether the separation condition of [Equation 3] is satisfied. In this case, C may be a first threshold value.

[0078] [Mathematical Formula 3]

[0079]

[0080] Accordingly, the electronic device (100) determines whether the conditions for the occurrence of a separation are satisfied, and can accurately and robustly estimate that the main body and at least one separation may exist within the resolution of the tracking waveform when the tracking error exceeds a first threshold value.

[0081] Referring again to FIG. 2, in step S230, if the judgment result condition is satisfied, the electronic device (100) can generate a temporary track based on a second prediction result calculated by applying a first prediction result output from a tracking filter to a target model included in the tracking filter. For example, at the first time point when the electronic device (100) generates a temporary track, the electronic device (100) can generate a temporary track based on a third prediction result obtained by inputting a measurement result from the time point immediately preceding the first time point into the target model. At times points after the first time point, the electronic device (100) can generate a temporary track based on a second prediction result calculated by applying a first prediction result output from a tracking filter to a target model included in the tracking filter.

[0082] For convenience of explanation, the method by which the electronic device (100) generates a temporary track will be described with reference to FIG. 4a and FIG. 4b, in comparison with the method by which the electronic device (100) generates a first track track.

[0083] FIGS. 4a and 4b are drawings illustrating a method of an electronic device generating a track according to one embodiment. In the following description of FIGS. 4a and 4b, the operation of the electronic device (100) will be described based on a specific point in time. Specifically, the electronic device (100) can obtain a measurement result based on a preset period, and T N+1 The point in time is T N It can be understood as the point in time after a pre-set period has passed. For example, the electronic device (100) is T N The measurement results at time point can be obtained, and T N+1 You can obtain the predicted results at a given time.

[0084] FIG. 4a shows that the electronic device (100) is T MThis is a diagram illustrating a method for generating a first tracking track at a given time point. Referring to FIG. 4a, the tracking filter (400a) may include a target model (410a) and a correction model (420a). As described above, the electronic device (100) is based on a reflected signal received from the target, which is reflected from the target, and T M-1 Correction result (405) and T obtained at time M The measurement result (415) obtained at that point in time can be checked. The electronic device (100) is T M-1 The correction result (405) obtained at that time is input into the target model (410a), and T M A third prediction result (425) at a given time point can be obtained. The electronic device (100) is T M Measurement result (415) and T at time point M The third prediction result (425) at time point is input into the correction model (420a), and T M Correction results (435) of the time point can be obtained. Since the measurement results (415) obtained based on the reflected signal contain noise generated during the signal processing process, it may be difficult to accurately track the actual position, speed, elevation, and azimuth of the target based solely on the measurement results (415). Therefore, the electronic device (100) [can obtain] T corresponding to the actual measurement results. M The measurement result at time point (415), and T corresponding to the result theoretically calculated through the target model M By applying the third prediction result (425) at time point to the correction model (420a), the correction result (435) with reduced noise influence is obtained through T M By generating a first tracking track at a given time, the accuracy of target tracking can be improved.

[0085] FIG. 4b shows that the electronic device (100) is T LThis is a diagram illustrating a method for generating a temporary track at a given point in time. Referring to FIG. 4b, the tracking filter (400b) may each include a target model (410b). The temporary track is a track generated when it is estimated that a separation has occurred regarding the target, and can be understood as a track for continuously tracking the target without measurement results. Therefore, unlike the first tracking track described above with reference to FIG. 4a, the temporary track can be generated based on prediction results rather than measurement results. Specifically, the electronic device (100) [represents] the T output from the target model (410b). L-1 The first prediction result (445) at that time is input back into the target model (410b) to obtain T L Based on the second prediction result (455) at time point, T L A temporary track can be generated at a given time point. By generating a temporary track along with a first tracking track to track a target, the electronic device (100) can maintain the continuity of tracking even when it is presumed that a separation of the target has occurred. In some embodiments, at the first time point when the electronic device (100) generates the temporary track, the electronic device (100) can generate the temporary track based on a third prediction result obtained by inputting the measurement result from the time point immediately preceding the first time point into the target model. At times points after the first time point, the electronic device (100) can generate the temporary track based on a second prediction result calculated by applying the first prediction result output from the tracking filter to the target model included in the tracking filter. In some embodiments, the temporary track can be generated during the track status determination period. The method of generating the temporary track during the track status determination period will be described in detail through FIG. 5, which will be described later.

[0086] As described above with reference to FIGS. 4a and 4b, the electronic device (100) can track a target by generating a first tracking track and a temporary track. The electronic device (100) can perform track management based on the state of the first tracking track generated based on measurement results and the temporary track generated based on prediction results. A method for performing track management will be described with reference to FIG. 2.

[0087] Referring again to FIG. 2, in step S240, the electronic device (100) can perform track management based on the status of the first tracking track and the temporary track.

[0088] In the present disclosure, track management may refer to the operation of deleting, switching, or maintaining a first tracking track and / or a temporary track. Track management may be performed to maintain tracking consistency by utilizing the status information of the remaining tracks, even if the reliability of the track is reduced or tracking is lost due to errors identified as a separation is presumed to have occurred. For example, if a measurement result exists on a temporary track even when tracking is lost on the first tracking track, the electronic device (100) may ensure tracking continuity by switching the temporary track to a second tracking track. Conversely, if tracking is performed normally on the first tracking track but no measurement result exists on the temporary track, the electronic device (100) may delete the temporary track to reduce unnecessary computation. In this way, the electronic device (100) can maintain stable target tracking performance even in an environment where separation occurs by dynamically performing track management based on the status of the first tracking track and the temporary track. Specific embodiments of the track management operation will be described in detail with reference to FIGS. 6a to 6d, which will be described later.

[0089] In some embodiments, the electronic device (100) may perform track management based on the status of the first tracking track and temporary track confirmed after the track status determination period. Specific examples of the electronic device (100) performing track management based on the status of the first tracking track and temporary track confirmed after the track status determination period will be described in detail with reference to FIG. 5, which will be described later. However, the contents of some embodiments described later with reference to FIG. 5 are not limited to the case where a temporary track is not created after the track status determination period has elapsed. In some embodiments, the electronic device (100) may create a temporary track even after the track status determination period if the conditions for the generation of a separation of the target are satisfied again. That is, the configuration of the present disclosure is not intended to restrict the creation of a temporary track after the track status determination period has elapsed, but rather to define a reference point for performing track management operations based on the status of the first tracking track and temporary track confirmed during the said period.

[0090] FIG. 5 is a flowchart of a method for an electronic device according to one embodiment to generate a temporary track based on a track status determination period. As illustrated in FIG. 5, the method for generating a temporary track based on a track status determination period may include steps S510 and S520.

[0091] In step S510, the electronic device (100) can set a track status determination period based on the accuracy of the target model.

[0092] In the present disclosure, the accuracy of the target model may be an indicator of how precisely the predicted results, such as the position, velocity, elevation, and azimuth of the target calculated by the target model, reflect the motion characteristics of the actual target. For example, since a ballistic missile undergoes almost no additional maneuver outside the atmosphere and mostly moves in free fall due to gravity and the Earth's rotation, it can be tracked with very high accuracy by a ballistic missile model. In such cases, the accuracy of the ballistic missile tracking model may be judged to be high, and in this case, the stability of the track can be ensured by setting a relatively long track state judgment period. On the other hand, if the accuracy of the target model is judged to be low due to causes such as the motion characteristics of the target appearing uncertain, the prediction error can be reduced by setting a relatively short track state judgment period.

[0093] In step S520, the electronic device (100) can generate a temporary track during the track status determination period.

[0094] In some embodiments, the electronic device (100) may generate a temporary track during a track status determination period based on a tracking period. In the present disclosure, the tracking period may refer to a period in which a measurement result is obtained. For example, if the track status determination period is set to 10 seconds and the tracking period is 1 second, the electronic device (100) may generate a temporary track in 1-second increments up to 10 seconds after the point in time when it is determined that the condition for estimating the occurrence of a separation is satisfied. However, if the target is to be tracked with higher accuracy, the electronic device (100) may generate a temporary track based on a period shorter than the tracking period. For example, the electronic device (100) may generate a temporary track in 0.5-second increments up to 10 seconds after.

[0095] According to the above description with reference to FIGS. 2 to 5, the electronic device (100) can generate a first tracking track based on a measurement result for a target and a tracking filter, determine whether a condition for estimating the occurrence of a separation of the target based on the measurement result is satisfied, generate a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter, and perform track management based on the state of the first tracking track and the temporary track. In particular, the electronic device (100) can perform track management operations according to the state of the first tracking track and the temporary track. Hereinafter, a track management method according to the state of the first tracking track and the temporary track will be described in detail with reference to FIGS. 6a to 6d.

[0096] FIGS. 6a to 6d are flowcharts of a method for an electronic device to manage a track according to one embodiment. As illustrated in FIGS. 6a to 6d, the method for managing a track may include a plurality of steps (S605 to S660).

[0097] In some embodiments, the state of the first tracking track may be distinguished based on whether it is being tracked normally on the first tracking track. Specifically, if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a second threshold, it implies that the measurement result, which is the actually measured value, and the third prediction result, which is the theoretically predicted value, are statistically similar, and thus it may be determined to be in a state of being tracked normally. On the other hand, if the error between the measurement result and the third prediction result exceeds the second threshold, it may be determined to be in a state of not being tracked normally. In some embodiments, the second threshold may be set based on the accuracy of the target model and / or the signal-to-noise ratio of the measurement signal, etc. That is, if the accuracy of the target model is high or the quality of the measurement signal is excellent, a small threshold may be set because the tracking accuracy is high; conversely, if the accuracy of the target model is low or the quality of the measurement signal is low and the tracking uncertainty is large, a relatively large threshold may be set.

[0098] In some embodiments, the state of the temporary track may be distinguished based on whether the measurement result exists on the temporary track. Specifically, if the error between the measurement result and the second prediction result is less than or equal to a third threshold, it implies that the measurement result, which is the actually measured value, is statistically similar to the predicted value on the temporary track, and thus the state in which the measurement result exists on the temporary track may be determined. On the other hand, if the error between the measurement result and the second prediction result exceeds the third threshold, the state in which the measurement result does not exist on the temporary track may be determined. In some embodiments, the third threshold may be set based on the track state determination period and the tracking error at the time of estimating the occurrence of the separator, etc. The electronic device (100) can reduce tracking uncertainty by setting the third threshold based on the track state determination period and the tracking error, which are parameters for tracking accuracy after the time of estimating the occurrence of the separator.

[0099] As described above, the electronic device (100) can perform track management operations depending on whether it is tracked normally on the first track and whether a measurement result exists on the temporary track. Below, the track management operations performed by the electronic device (100) will be described in detail.

[0100] FIG. 6a is a flowchart of a method in which an electronic device (100) performs track management when tracking is performed normally on a first tracking track and a measurement result exists on a temporary track. In step S610, the electronic device (100) can check the status of the first tracking track and the temporary track based on the measurement result, the second prediction result, and the third prediction result. In some embodiments, the electronic device (100) can check the status of the first tracking track and the temporary track after the track status determination period has elapsed. In step S620, based on the status of each track confirmed, the electronic device (100) can determine whether tracking is performed normally on the first tracking track and whether a measurement result exists on the temporary track, and switch the temporary track to a second tracking track. In the present disclosure, the second tracking track may be understood as a track having the same characteristics as the first tracking track. For example, the electronic device (100) can obtain a measurement result based on a reflected signal received from the target after a radiation signal radiated toward the target is reflected from the target, obtain a third prediction result by applying the measurement result to a target model, and generate a second tracking track based on the obtained correction result by inputting the measurement result and the third prediction result into a correction model included in a tracking filter. Since the measurement result exists on the temporary track, the electronic device (100) can convert the temporary track into the second tracking track generated based on the measurement result. The electronic device (100) can improve the continuity of tracking by generating the first tracking track and the second tracking track and continuing to perform tracking on the main body and the separated body.

[0101] FIG. 6b is a flowchart of a method in which an electronic device (100) performs track management when tracking is performed normally on the first tracking track and the measurement result does not exist on the temporary track. In step S630, the electronic device (100) can check the status of the first tracking track and the temporary track based on the measurement result, the second prediction result, and the third prediction result. In some embodiments, the electronic device (100) can check the status of the first tracking track and the temporary track after the track status determination period has elapsed. In step S640, based on the status of each track confirmed, the electronic device (100) can delete the temporary track by determining whether tracking is performed normally on the first tracking track and the measurement result does not exist on the temporary track. Since the measurement result does not exist on the temporary track, the electronic device (100) can delete the temporary track and create the first tracking track to perform tracking on the target. The electronic device (100) can create the first tracking track and repeat the steps S220 through S240 described above.

[0102] FIG. 6c is a flowchart of a method in which an electronic device (100) performs track management when normal tracking is not performed on the first tracking track and the measurement result exists on the temporary track. In step S650, the electronic device (100) can check the status of the first tracking track and the temporary track based on the measurement result, the second prediction result, and the third prediction result. In some embodiments, the electronic device (100) can check the status of the first tracking track and the temporary track after the track status determination period has elapsed. In step S660, based on the status of each track confirmed, the electronic device (100) can determine whether normal tracking is not performed on the first tracking track and the measurement result exists on the temporary track, switch the temporary track to the second tracking track, and delete the first tracking track. Specifically, the electronic device (100) can delete the first tracking track because normal tracking is not performed on the first tracking track. Additionally, since measurement results exist on the temporary track, the electronic device (100) can switch the temporary track to a second tracking track generated based on the measurement results. Even if it is presumed that a separation has occurred regarding the target, the electronic device (100) can generate a temporary track and switch to the second tracking track to continue tracking, thereby improving the continuity of tracking for the main body. For example, when tracking a ballistic missile, the ballistic missile may separate into a warhead and a separation. However, since the separation is small in size, it is frequently not tracked normally, so it may be understood that the first tracking track tracks the separation and the temporary track tracks the warhead. Therefore, even if it is determined that a separation has occurred regarding the ballistic missile, the electronic device (100) can perform accurate and robust tracking that prevents false tracking and reduces tracking loss by continuing to track the warhead through the second tracking track.In addition, even if the electronic device (100) is not tracked normally on the first tracking track, it can improve tracking continuity by tracking the target through a temporary track.

[0103] FIG. 6d is a flowchart of a method in which an electronic device (100) performs track management when tracking is performed normally on a first tracking track and the measurement result does not exist on a temporary track. In step S670, the electronic device (100) can check the status of the first tracking track and the temporary track based on the measurement result, the second prediction result, and the third prediction result. In some embodiments, the electronic device (100) can check the status of the first tracking track and the temporary track after the track status determination period has elapsed. In step S680, based on the status of each track confirmed, the electronic device (100) can maintain the first tracking track and the temporary track by determining whether tracking is not performed normally on the first tracking track and whether the measurement result does not exist on the temporary track. By maintaining the first tracking track and the temporary track without deleting them and continuing to perform tracking, the electronic device (100) can perform track management by promptly reflecting the acquired measurement result when the measurement result is obtained at a later point in time. Accordingly, the electronic device (100) can maintain the continuity of tracking of the target even in a period where tracking reliability is temporarily reduced, and secure the possibility of resuming tracking.

[0104] FIG. 7 is a diagram illustrating a method for an electronic device to track a target according to one embodiment. Referring to FIG. 7, the horizontal axis of FIG. 7 may represent the horizontal distance to the position of the target, and the vertical axis may represent the altitude of the target.

[0105] FIG. 7 illustrates a method by which an electronic device (100) tracks a target in a case where the target is not tracked normally on the first tracking track as described above with reference to FIG. 6c, and the measurement result exists on a temporary track. Referring to FIG. 7, the electronic device (100) can create a first tracking track for the target in Step 1. In FIG. 7, a solid line may represent the first tracking track or the second tracking track. The creation of the first tracking track may be performed based on the operation of FIG. 4a described above. Subsequently, in Step 2, the electronic device (100) determines that the condition for estimating the occurrence of a separation of the target is satisfied and, in response, can create a temporary track. The creation of the temporary track may be performed based on the operation of FIG. 4b described above. In FIG. 7, a dotted line may represent the temporary track. At this time, the first tracking track may also be created simultaneously. Furthermore, in step 3, the electronic device (100) can confirm that the measurement result is not being tracked normally on the first tracking track and exists on the temporary track. Accordingly, in step 4, as described above with reference to FIG. 6c, the electronic device (100) can switch the temporary track to the second tracking track and delete the first tracking track. Finally, in step 5, the electronic device (100) creates the second tracking track and performs tracking, thereby improving the tracking continuity and stability of the target even though it is presumed that a separation has occurred on the target.

[0106] In the foregoing, although all components constituting the embodiments disclosed in this document have been described as being combined or operating in combination, the embodiments disclosed in this document are not necessarily limited to such embodiments. That is, within the scope of the purposes of the embodiments disclosed in this document, all components may be selectively combined in one or more ways to operate.

[0107] Furthermore, terms such as "include," "compose," or "have" as described above, unless specifically stated otherwise, mean that the relevant component may be inherent; thus, they should be interpreted as allowing for the inclusion of additional components rather than excluding them. All terms, including technical or scientific terms, have the same meaning as generally understood by those skilled in the art to which the embodiments disclosed in this document pertain, unless otherwise defined. Commonly used terms, such as those defined in advance, should be interpreted in accordance with their meaning in the context of the relevant technology and, unless explicitly defined in this document, should not be interpreted in an ideal or overly formal sense.

[0108] The foregoing description is merely an illustrative explanation of the technical concept disclosed in this document, and a person skilled in the art to which the embodiments disclosed in this document pertain can make various modifications and variations within the scope of the essential characteristics of the embodiments disclosed in this document. Accordingly, the embodiments disclosed in this document are intended to explain, not limit, the technical concept of the embodiments disclosed in this document, and the scope of the technical concept disclosed in this document is not limited by these embodiments. The scope of protection of the technical concept disclosed in this document shall be interpreted by the claims below, and all technical concepts within an equivalent scope shall be interpreted as being included within the scope of rights of this document.

Claims

Claim 1 A target tracking method performed by an electronic device, comprising: a step of generating a first tracking track based on a measurement result for a target and a tracking filter; a step of determining whether a condition for estimating the occurrence of a separation for the target based on the measurement result is satisfied; a step of generating a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter when the condition is satisfied based on the determination result; and a step of performing track management based on the state of the first tracking track and the temporary track, wherein the step of performing track management includes, if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold value and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold value, the step of converting the temporary track to a second tracking track and deleting the first tracking track. Claim 2 A target tracking method according to claim 1, wherein the step of generating the first tracking track comprises: a step of obtaining the measurement result based on a reflected signal received from the target after a radiation signal radiated toward the target is reflected from the target; a step of obtaining the third prediction result by applying the measurement result to the target model; and a step of generating the first tracking track based on the correction result obtained by inputting the measurement result and the third prediction result into a correction model included in the tracking filter. Claim 3 A target tracking method according to claim 1, wherein the determining step comprises: a step of obtaining a normalized error for each measurement parameter for each measurement parameter included in the measurement result; a step of obtaining a tracking error based on each measurement parameter normalized error; a step of setting a first threshold value for the estimation; and a step of determining whether the condition that the first threshold value is less than the tracking error is satisfied. Claim 4 A target tracking method according to paragraph 3, wherein each of the above measurement parameters includes at least one of distance, speed, elevation angle, and azimuth angle. Claim 5 A target tracking method according to claim 1, wherein the step of generating the temporary track comprises: a step of setting a track state determination period based on the accuracy of the target model; and a step of generating the temporary track during the track state determination period. Claim 6 A target tracking method according to claim 1, wherein the step of performing the track management includes the step of converting the temporary track to a second tracking track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a preset second threshold value, and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold value. Claim 7 A target tracking method according to claim 1, wherein the step of performing the track management includes the step of deleting the temporary track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model is less than or equal to a preset second threshold value and the error between the measurement result and the second prediction result exceeds a preset third threshold value. Claim 8 delete Claim 9 A target tracking method according to claim 1, wherein the step of performing the track management includes the step of maintaining the first tracking track and the temporary track when the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold value and the error between the measurement result and the second prediction result exceeds a preset third threshold value. Claim 10 A target tracking method according to claim 1, wherein the tracking filter is a Kalman filter. Claim 11 A computer-readable, non-transient computer-readable storage medium having a program for executing a target tracking method on a computer, wherein the target tracking method comprises: a step of generating a first tracking track based on a measurement result for a target and a tracking filter; a step of determining whether a condition for estimating the occurrence of a separation of the target based on the measurement result has occurred; a step of generating a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter when the condition has occurred as a result of the determination; and a step of performing track management based on the state of the first tracking track and the temporary track, wherein the step of performing track management comprises, if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold, the step of converting the temporary track to a second tracking track and deleting the first tracking track. Claim 12 In an electronic device for performing a target tracking method, a processor; An electronic device comprising one or more memories for storing one or more instructions, wherein, when the one or more instructions are executed, the processor: generates a first tracking track based on a measurement result and a tracking filter for a target, determines whether a condition for estimating the occurrence of a separation for the target based on the measurement result, and if the condition occurs as a result of the determination, generates a temporary track based on a second prediction result calculated by applying a first prediction result output from the tracking filter to a target model included in the tracking filter, and performs track management based on the state of the first tracking track and the temporary track, and the processor converts the temporary track to a second tracking track and deletes the first tracking track if the error between the measurement result and the third prediction result obtained by applying the measurement result to the target model exceeds a preset second threshold and the error between the measurement result and the second prediction result is less than or equal to a preset third threshold.

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