Method and system for tracking plurality of targets by using active electronically scanned array radar

Abstract

A method for tracking a plurality of targets by using an active electronically scanned array radar of the present invention comprises determining the priorities of a plurality of targets in real time on the basis of a priority application rule based on tracking information of the targets in an air-to-air mode, and classifying the plurality of targets according to the target priorities and the level of target tracking accuracy, thereby processing a tracking beam for a target having a high priority without delay.

Description

Method and system for tracking multiple targets using active phased array radar

[0001] The present invention relates to a method and system for tracking multiple targets, and more particularly, to a method and system for tracking multiple targets using an active phased array radar based on priority and tracking information of the multiple targets in an air-to-air mode.

[0002] Active Electronically Scanned Array Radar (AESA) electronically steers its beams, which dramatically improves beam steering time. This greatly enhances its multi-target processing capability, enabling high tracking accuracy for multiple targets compared to conventional mechanical beam-steering radars. Conventional mechanical radars primarily use the Track While Scan (TWS) technique to track multiple targets. This method tracks targets using only the search beam without a separate tracking beam. Therefore, if a target leaves the search area, the mechanical radar loses target tracking. Target tracking using a search beam without a separate tracking beam has low tracking accuracy because it cannot accurately emit the tracking beam toward the target's location. Among the many targets with low accuracy, if the pilot designates one or two targets to engage, only those targets can be managed with high priority and intensively tracked.

[0003] In contrast, active phased array radars utilize the Search While Track (SWT) technique, allocating separate tracking beams to track multiple targets individually. This provides significantly higher tracking accuracy across multiple targets, significantly increasing the number of targets available for engagement. Furthermore, tracking beams can be differentially operated for each target, taking into account the weaponry and radar mission objectives of the fighter, providing different tracking accuracies for each target.

[0004] The problem to be solved by the present invention is to provide a method for tracking multiple targets based on priority and tracking information of the multiple targets using an active phased array radar.

[0005] The problem to be solved by the present invention is to provide a system for tracking multiple targets based on priority and tracking information of the multiple targets using an active phased array radar.

[0006] The present invention is a technical means for solving the above-described conventional technical problem, and a method for tracking multiple targets using an active phased array radar according to an aspect of the present invention comprises the steps of: obtaining tracking information including a tracking mode for each of the multiple targets; assigning a target priority to each of the multiple targets based on the tracking information of each of the multiple targets and a preset priority rule; extracting a plurality of tracking targets having the tracking mode as a first tracking mode from the multiple targets based on the target priorities; extracting a plurality of tracking candidate targets having the tracking mode as a second tracking mode from among targets excluding the multiple tracking targets among the multiple targets; setting targets as many as a preset maximum number of display targets in the order of the target priorities among the multiple tracking targets as multiple display targets, and setting each of the targets excluding the multiple display targets among the multiple tracking targets as a non-display target; and performing tracking on the display targets, wherein in the step of obtaining tracking information for each of the multiple targets, if the tracking information of at least one target among the multiple targets is changed, based on the target priority, the distance from the radar, and the preset maximum display distance of each of the multiple targets, It is characterized by further including a step of changing the tracking mode for each of the plurality of targets.

[0007] According to one example, the tracking information of at least one target among the plurality of targets may include angular information including azimuth and elevation angle according to the position of the target, a tracking mode of the target, a distance from the target to the radar, engagement information of the target, and a target priority of the target.

[0008] According to another example, the step of assigning a target priority to each of the plurality of targets may include the steps of: setting a target in engagement mode with the radar among the plurality of tracked targets as a highest priority target, and assigning the target priority to each of the plurality of highest priority targets in the order of the most recent engagement start time of the highest priority target; setting a target in engagement standby mode with the radar among the plurality of tracked targets excluding the highest priority target, as a high priority target, and assigning the target priority to each of the high priority targets based on the priority rule; setting a target in non-combat mode with the radar among the display targets excluding the highest priority target and the high priority target, as a situation awareness target, and assigning the target priority to each of the situation awareness targets based on the priority rule; and assigning the target priority to each of the non-displayed targets among the plurality of tracked targets based on the priority rule.

[0009] According to another example, the method may further include a step of comparing the target priority of the situational awareness target with the target priority of the non-visual target, and when the target priority of the first non-visual target among the non-visual targets is higher than the target priority of the first situational awareness target among the situational awareness targets, the first non-visual target is converted to the situational awareness target, and the first situational awareness target is converted to the non-visual target.

[0010] According to another example, the method may further include a step of detecting at least one tracking candidate target among the plurality of tracking candidate targets when the number of the plurality of tracking targets is equal to the sum of the maximum number of display targets and the preset maximum number of non-display targets.

[0011] According to another example, the step of detecting a first tracking candidate target among the plurality of tracking candidate targets may further include the step of obtaining tracking information of the first tracking candidate target, and the step of changing the tracking mode of the first tracking candidate target to the first tracking mode and converting the first tracking candidate target to a situational awareness target when the distance of the first tracking candidate target from the radar is greater than or equal to the preset maximum display distance and the target priority of the first tracking candidate target is higher than the smallest target priority among the target priorities of the targets included in the plurality of display targets.

[0012] According to another example, in the step of acquiring tracking information of the first tracking candidate target, if the distance of the first tracking candidate target from the radar is greater than or equal to the preset maximum display distance and the target priority of the first tracking candidate target is lower than the smallest target priority among the target priorities of the targets included in the plurality of display targets, the step of determining whether the first tracking candidate target exists within a preset search area may be further included.

[0013] According to another example, the step of determining whether the first tracking candidate target exists within the preset search area may include the step of determining whether an azimuth and an elevation of the first tracking candidate target exist within an azimuth and an elevation range of the preset search area, respectively; and, if the first tracking candidate target is located within the preset search area, the step of changing the tracking mode of the first tracking candidate target to the first tracking mode and switching the first tracking candidate target to the non-visual target; and, if the first tracking candidate target is not located within the preset search area, the step of setting the tracking mode of the first tracking candidate target to the second tracking mode.

[0014] According to another example, the target priority according to the preset priority rule may be calculated based on the altitude according to the position of each of the plurality of targets, the angle formed by each of the plurality of targets from the center of the radar, the distance of each of the plurality of targets from the radar, and the approach speed of each of the plurality of targets to the radar.

[0015] According to another example, when the active phased array radar is in close-range engagement mode for the plurality of targets, the highest priority target may be set as the display target, and targets among the plurality of tracking targets, excluding the highest priority target, may be converted to the tracking candidate targets having the second tracking mode.

[0016] The present invention is a technical means for solving the above-described conventional technical problem, and a method for tracking multiple targets using an active phased array radar according to one aspect of the present invention comprises the steps of: obtaining tracking information including a tracking mode for each of the multiple targets; assigning a target priority to each of the multiple targets based on the tracking information of each of the multiple targets and a preset priority rule; setting targets as many as a preset maximum number of display targets in order of the highest target priority among the multiple targets as multiple situational awareness targets; and performing tracking on the multiple situational awareness targets, and may further include the step of reallocating the target priority to each of the multiple targets and resetting the multiple situational awareness targets based on the target priority when the tracking information of at least one target among the multiple targets is changed.

[0017] As a technical means for achieving the above-described technical tasks, a computer program according to one aspect of the present invention is stored in a medium to execute the above-described multiple target tracking methods using a computing device.

[0018] The present invention is a technical means for solving the above-described conventional technical problem, and according to one aspect of the present invention, a multiple target tracking system includes an active phased array radar and a target management unit for managing a plurality of targets, wherein the target management unit includes a tracking information acquisition unit for acquiring tracking information including a tracking mode for each of the plurality of targets, a priority assignment unit for assigning a target priority to each of the plurality of targets based on the tracking information of each of the plurality of targets and a preset priority rule, a tracking target extraction unit for extracting a plurality of tracking targets having a first tracking mode from the plurality of targets based on the target priorities, a display target setting unit for setting a number of targets equal to a preset maximum number of display targets in the order of the target priorities among the plurality of tracking targets as the plurality of display targets, and a target tracking unit for tracking the display targets, wherein the tracking information acquisition unit is characterized in that, when the tracking information of at least one target among the plurality of targets is changed, the tracking mode for each of the plurality of targets is changed based on the target priority, the distance from the radar, and the preset maximum display distance of each of the plurality of targets.

[0019] According to one example, the target management unit may further include a tracking candidate target extraction unit that extracts a plurality of tracking candidate targets having a second tracking mode excluding the plurality of tracking targets from among the plurality of targets, a non-display target setting unit that sets each of the targets excluding the plurality of display targets from among the plurality of tracking targets as a non-display target, and a target output unit that outputs tracking results of the plurality of display targets from the target tracking unit.

[0020] According to another example, the target management unit may further include a target detection unit that detects at least one tracking candidate target among the plurality of tracking candidate targets when the number of the plurality of tracking targets is equal to the sum of the maximum number of display targets and the preset maximum number of non-display targets.

[0021] According to the method for tracking multiple targets using an active phased array radar of the present invention, the priorities of multiple targets are determined in real time based on priority application rules based on target tracking information in air-to-air mode, and the multiple targets are classified according to target priorities and levels of target tracking accuracy, thereby enabling tracking beams to be processed without delay for targets with high priorities. In addition, by limiting the number of tracking targets, the process of continuously detecting, initiating tracking, and deleting targets is repeated as long as the target is within radar detectable range or in the search area, thereby preventing waste of radar resources, efficiently managing tracking targets in a multi-target situation, promoting pilot convenience in missions, and ultimately improving radar performance to enhance the efficiency of fighter missions.

[0022] FIG. 1 schematically illustrates a block diagram of a multiple target tracking system using an active phased array radar according to the present invention.

[0023] FIG. 2 is a schematic block diagram of a computing device for executing a multiple target tracking method according to one embodiment of the present invention.

[0024] FIG. 3 is a flowchart illustrating a method for tracking multiple targets using an active phased array radar according to one embodiment of the present invention.

[0025] FIG. 4 is a flowchart illustrating a method for tracking multiple targets using an active phased array radar according to another embodiment of the present invention.

[0026] FIG. 5 is a flowchart illustrating a method for assigning target priorities to multiple targets according to one embodiment of the present invention.

[0027] FIG. 6 illustrates an example of a target output unit of a multiple target tracking system according to one embodiment of the present invention.

[0028] FIG. 7a schematically illustrates a concept of managing multiple targets when switching to air-to-air mode according to one embodiment of the present invention.

[0029] FIG. 7b schematically illustrates a concept of managing multiple targets when switching between air-to-air mode and simultaneous operation mode according to another embodiment of the present invention.

[0030] FIG. 8a illustrates the maximum number of targets according to target type when switching from air-to-air mode to air-to-air mode according to one embodiment of the present invention.

[0031] FIG. 8b illustrates the maximum number of targets according to target type in air-to-air mode in simultaneous operation mode according to another embodiment of the present invention.

[0032] FIG. 9A illustrates an example of the radiation time of the search beam and tracking beam of the radar and the tracking frequency of the visible target and the invisible target according to the distance between the target and the radar according to one embodiment of the present invention.

[0033] FIG. 9b illustrates an example of the maximum number of trackable targets depending on the distance between the target and the radar according to one embodiment of the present invention.

[0034] Below, a preferred embodiment of the present invention is described in detail with reference to the attached drawings.

[0035] Before describing the present invention in detail, it should be noted that the terms and words used in this specification should not be interpreted as being unconditionally limited to their conventional or dictionary meanings. The inventor of the present invention may appropriately define and use the concepts of various terms to best describe his or her invention. Furthermore, it should be noted that these terms and words should be interpreted with meanings and concepts consistent with the technical spirit of the present invention. In other words, the terms used in this specification are merely used to describe preferred embodiments of the present invention and are not intended to specifically limit the contents of the present invention. It should be noted that these terms have been defined in consideration of the various possibilities of the present invention.

[0036] In this specification, singular expressions may include plural expressions unless the context clearly indicates a different meaning. Similarly, it should be noted that even plural expressions may include singular meanings.

[0037] When an element is described herein as being "connected" to another element, this includes both a "direct connection" and an "indirect connection" with another element intervening between them. When an element is described as "comprising" another element, this does not exclude other elements in addition to the other elements, but rather implies that the other elements may be included, unless otherwise specifically stated.

[0038] In addition, the terms “first,” “second,” etc. described in the specification, claims, and drawings of the present invention are not intended to indicate a specific order or sequence of precedence, but rather to distinguish similar objects.

[0039] Furthermore, in the specification of the present invention, terms such as "...part," "...device," "module," and "device," if used, refer to a unit capable of processing one or more functions or operations. It should be noted that this may be implemented in hardware, software, or a combination of hardware and software.

[0040] Hereinafter, in describing the present invention, a detailed description of a configuration that is judged to unnecessarily obscure the gist of the present invention, for example, a known technology including a prior art, may be omitted.

[0041]

[0042] FIG. 1 schematically illustrates a block diagram of a multiple target tracking system using an active phased array radar according to the present invention.

[0043] Referring to FIG. 1, a multiple target tracking system (1000) includes an active phased array radar (100) and a target management unit (200) that manages a plurality of targets (300). The multiple target tracking system (1000) may further include a plurality of targets (300) that are targets of tracking by the active phased array radar (100). The active phased array radar (100) may transmit target information to a missile in accordance with the missile's communication protocol for mid-air guidance of the missile, and may perform a missile data link MDL (Missile Data Link) function that receives missile status information via radar.

[0044] The target management unit (200) may include a tracking information acquisition unit (210), a priority assignment unit (220), a tracking target extraction unit (230), a display target setting unit (250), and a target tracking unit (280). The target management unit (200) may further include a tracking candidate target extraction unit (240), a target detection unit (260), a non-display target setting unit (270), and a target output unit (290).

[0045] The tracking information acquisition unit (210) acquires tracking information (DATA) including a tracking mode for each of a plurality of targets (300). F ) can be acquired. The tracking information acquisition unit (210) can change the tracking mode for each of the plurality of targets based on the target priority, distance from the radar, and preset maximum display distance of each of the plurality of targets (300) when the tracking information of at least one target among the plurality of targets (300) is changed. Tracking information (DATA) of at least one target among the plurality of targets (300) F ) may include angular information including azimuth and elevation according to the position of the target, the tracking mode of the target, the distance from the target to the radar, the engagement information of the target, and the target priority of the target. The tracking information acquisition unit (210) may acquire tracking information (DATA) for each of the plurality of targets (300). F ) can be transmitted to the priority allocation unit (220).

[0046] The priority allocation unit (220) tracks the tracking information (DATA) of each of the multiple targets (300). F ) and target priority (PR) for each of the multiple targets (300) based on preset priority rules. T ) can be assigned. Target priority (PR) according to preset priority rules T ) can be calculated based on the altitude according to the position of each of the plurality of targets, the angle formed by each of the plurality of targets from the center of the radar, the distance from the radar of each of the plurality of targets, and the approach speed to the radar of each of the plurality of targets. The target priority assignment method is described in more detail in FIG. 5. According to one embodiment, the plurality of targets (300) are assigned a target priority (PR T ) can be classified into tracked targets and non-tracked targets, and multiple tracked targets can be further classified into display targets and non-display targets. Multiple display targets can be classified into target priorities (PR T) and tracking information (DATA F ) can be set as the highest priority target, high priority target, and situational awareness target, respectively. The priority assignment unit (220) assigns target priorities (PR) to each of the multiple targets. T ) can be transmitted to the tracking target extraction unit (230).

[0047] The tracking target extraction unit (230) determines the target priority (PR) T ) can extract a plurality of tracking targets (TT) having a first tracking mode from a plurality of targets (300). The tracking target extraction unit (230) can transfer the extracted plurality of tracking targets (TT) to the tracking candidate target extraction unit (240). When the plurality of extracted tracking targets (TT) reach a preset maximum number of tracking targets and a preset maximum number of non-tracking targets, the tracking target extraction unit (230) can cause the target detection unit (260) to further detect at least one target among the plurality of tracking candidate targets (TCT).

[0048] The target detection unit (260) can detect at least one tracking candidate target among a plurality of tracking candidate targets (TCT) when the number of the plurality of tracking targets (TT) is equal to the sum of the maximum number of display targets and the preset maximum number of non-display targets. The target detection unit (260) is equipped with a detection sensor, and the detection sensor can detect the target.

[0049] The tracking candidate target extraction unit (240) can extract a plurality of tracking candidate targets (TCT) having a second tracking mode, excluding a plurality of tracking targets (TT) from among a plurality of targets (300). The plurality of tracking candidate targets (TCT) can become target candidates when the target detection unit (260) detects a new tracking target.

[0050] The display target setting unit (250) can set a plurality of display targets (DT) in the order of target priority among the plurality of tracking targets (TT) as the maximum number of preset display targets. The display target setting unit (250) can transmit the plurality of display targets (DT) to the target tracking unit (280). The non-display target setting unit (270) can set each target among the plurality of tracking targets (TT) except the plurality of display targets (DT) as a non-display target (NDT).

[0051] The target tracking unit (280) can track a display target (DT). The target output unit (290) can output the display target tracking results of the target tracking unit (280). For example, the target output unit (290) can be a multi-function display (MFD) as illustrated in FIG. 6.

[0052]

[0053] FIG. 2 is a schematic block diagram of a computing device for executing a multiple target tracking method according to one embodiment of the present invention.

[0054] Referring to FIG. 2, a computing device (10) includes a memory (20) and a processor (30).

[0055] Memory (20) is a recording medium that can be read by the computing device (10), and may include a non-perishable mass storage device such as a random access memory (RAM), a read only memory (ROM), and a disk drive.

[0056] The memory (20) may store program code for executing a method for tracking multiple targets according to one embodiment of the present invention, data required for executing the program code, and data generated during the process of executing the program code. The program code may include algorithm code for executing a priority rule for assigning target priorities to multiple targets.

[0057] The memory (20) can store data necessary for executing a multiple target tracking method according to the present invention. For example, the memory (20) can store data regarding a preset maximum number of visible targets, a maximum number of non-visible targets, and a maximum visible distance selected through multiple simulation runs. The memory (20) can store data regarding a search area including azimuth and elevation angles necessary for executing the target tracking method. The memory (20) can store tracking information for each of the multiple targets. For example, the memory (20) can store, for each of the multiple targets, angular information including azimuth and elevation angles according to the position of the target, the target's tracking mode, the distance from the target to the radar, the target's engagement information, and the target's target priority. The memory (20) can store, for each of the multiple targets, data regarding whether the target is a visible target or a non-visible target. The memory (20) can store, for each of the multiple visible targets, data regarding whether the target is at least one of a highest priority target, a high priority target, and a situational awareness target.

[0058] The processor (30) typically controls the overall operation of the computing device (10). The processor (30) may be configured to process instructions of a computer program by performing basic arithmetic, logic, and input / output operations. The processor (30) may calculate and assign target priorities to each of the multiple targets according to the present invention using predefined priority rules. The processor (30) may receive data stored in the memory (20) and transmit the data to the memory (20).

[0059] According to one embodiment, the computing device (10) may further include, in addition to the memory (20) and the processor (30), a communication module, an input / output device, or a storage device. For example, the computing device (10) may receive, through the communication module, information such as angular information including azimuth and elevation angles according to the positions of multiple targets, a tracking mode of the target, a distance from the target to the radar, and engagement information of the target.

[0060] The operation of the processor (30) according to various embodiments is described in more detail below.

[0061]

[0062] FIG. 3 is a flowchart illustrating a method for tracking multiple targets using an active phased array radar according to one embodiment of the present invention.

[0063] Tracking information including a tracking mode can be acquired for each of a plurality of targets (S11). According to one embodiment, when the number of targets being tracked changes, or when the tracking information of a target is updated, i.e., when the tracking information of at least one target among the plurality of targets changes, the changed tracking information can be acquired. According to one embodiment, when the tracking information of at least one target among the plurality of targets changes, the tracking mode for each of the plurality of targets can be changed based on the target priority, the distance from the radar, and the preset maximum display range of each of the plurality of targets. For example, the tracking information of a target being tracked by the radar in the first tracking mode can be changed, and the target can be switched to the second tracking mode in which the radar stops tracking.

[0064] A target priority can be assigned to each of the plurality of targets based on tracking information of each of the plurality of targets and preset priority rules (S12). The tracking information of each of the plurality of targets can include angular information including azimuth and elevation according to the position of the target, a target tracking mode indicating whether the radar is tracking the target, a distance from the target to the radar, target engagement information indicating whether the radar is engaged, and a target priority of the target. For example, it can be determined whether the target is within a preset search area based on the angular information of the target. The target priority according to the preset priority rules can be calculated based on the altitude according to the position of each of the plurality of targets, the angle formed by each of the plurality of targets from the center of the radar, the distance of each of the plurality of targets from the radar, and the approach speed of each of the plurality of targets to the radar. For example, a target has a higher threat level as its distance from the radar decreases, its approach speed to the radar increases, its altitude increases, and its angle decreases as its angle decreases to the center of the radar, and the target can be assigned a higher target priority.

[0065] Based on target priorities, multiple tracking targets having a first tracking mode can be extracted from multiple targets (S13). The first tracking mode may be the tracking mode of a target being tracked by the radar. The multiple tracking targets having the first tracking mode may have a higher target priority than targets having the second tracking mode.

[0066] Among the multiple targets, excluding the multiple tracking targets, multiple tracking candidate targets having a second tracking mode can be extracted (S14). The second tracking mode may be a tracking mode for targets that are not being tracked by the radar. The multiple tracking candidate targets having the second tracking mode may have a lower target priority than the multiple tracking targets having the first tracking mode.

[0067] Among the plurality of tracking targets, a preset maximum number of display targets in order of target priority may be set as multiple display targets, and each target among the plurality of tracking targets, excluding the plurality of display targets, may be set as a non-display target (S15). The plurality of display targets may be sorted in order of target priority, and may be a preset maximum number of display targets with a high target priority. The plurality of display targets may be targets displayed on the target output unit (290 in FIG. 1) of FIG. 1 among the plurality of tracking targets. Each of the plurality of display targets may be at least one of a highest priority target, a high priority target, and a situational awareness target. Classifying each of the plurality of display targets is described in more detail in FIG. 5. A non-display target, like a display target, is a target that the radar is tracking, but is not displayed on the target output unit (290 in FIG. 1) of FIG. 1. The target priority of a non-display target may be compared in real time with that of a situational awareness target among the display targets, and the non-display target may be switched between a non-display target and a situational awareness target.

[0068] It can be determined whether the number of multiple tracked targets is equal to the sum of the maximum number of visible targets and the preset maximum number of non-visible targets (S16). Since the radar can only track a number of targets equal to the sum of the preset maximum number of visible targets and the preset maximum number of non-visible targets, it can be determined whether the number of tracked targets reaches the sum.

[0069] In step (S16), if the number of multiple tracking targets is equal to the sum of the preset maximum number of display targets and the preset maximum number of non-display targets, at least one tracking candidate target among the multiple tracking candidate targets can be detected (S17). If the number of tracking targets reaches the sum, at least one tracking candidate target among the multiple tracking candidate targets that were not being tracked can be further detected. If there is a detected tracking candidate target, the target priorities can be compared with the multiple tracking targets so that the number of tracking targets does not exceed the sum. If there is a detected tracking candidate target in step (S17), the process of comparing the target priorities with the multiple tracking targets follows steps (S18 to S21).

[0070] In the step (S17) of detecting a first tracking candidate target among multiple tracking candidate targets, tracking information of the first tracking candidate target can be acquired (S17). The tracking information of the first tracking candidate target can include, as in step (S11), angular information including azimuth and elevation angles according to the position of the first tracking candidate target, a tracking mode of the first tracking candidate target, a distance from the first tracking candidate target to the radar, engagement information of the first tracking candidate target, and a target priority of the first tracking candidate target.

[0071] It can be determined whether the distance from the radar of the first tracking candidate target is greater than the preset maximum display range, and whether the target priority of the first tracking candidate target is higher than the lowest target priority among the target priorities of the targets included in the multiple display targets (S18). The preset maximum display range is a display range value that can be displayed on the multi-function display device (290 of FIG. 6) of FIG. 6, and can be arbitrarily set by the pilot.

[0072] If the distance from the radar of the first tracking candidate target is greater than or equal to the preset maximum display range, and the target priority of the first tracking candidate target is higher than the lowest target priority among the target priorities of the targets included in the multiple display targets, the tracking mode of the first tracking candidate target can be changed to the first tracking mode, and the first tracking candidate target can be converted to a situation awareness target (S20). If a new target is detected and tracked beyond the preset maximum display range, the priority based on the tracking information of the target (see Fig. 5) is determined, and if it is a target with a target priority within the maximum number of display targets, the target is designated as a situation awareness target and the radar can maintain tracking even if it is not displayed right away because the distance from the current radar is greater than the maximum display range.

[0073] If the distance of the first tracking candidate target from the radar is greater than or equal to the preset maximum display range, and the target priority of the first tracking candidate target is lower than the lowest target priority among the target priorities of the targets included in the plurality of display targets, it may be determined whether the first tracking candidate target exists within a preset search area (S19). This may be a step of determining whether the azimuth and elevation of the first tracking candidate target exist within the azimuth and elevation ranges of the preset search area, respectively. The search area may include information regarding the azimuth and elevation. According to another embodiment, if the distance of a non-visual target among the plurality of non-visual targets, which is within the maximum display range from the radar, is changed to greater than or equal to the maximum display range, it may be determined whether the non-visual target exists within the search area.

[0074] Although not shown in Figure 3, if the distance of a display target among multiple display targets within the maximum display distance changes to a distance greater than the maximum display distance, the radar can maintain tracking of the display target.

[0075] If the first tracking candidate target is located within the preset search area, the tracking mode of the first tracking candidate target can be changed to the first tracking mode, and the first tracking candidate target can be converted to a non-displayed target (S21). If the newly detected first tracking candidate target is located within the search area, although it is not a display target displayed on the multi-function display, the tracking mode can be changed from the second tracking mode to the first tracking mode, so that the radar maintains internal tracking.

[0076] If the first tracking candidate target is not located within the preset search area, tracking can be performed on the display target based on the target information set in the previous steps (S11 to S20) (S22). Although not illustrated in FIG. 3, if the first tracking candidate target is not located within the preset search area, the tracking mode of the first tracking candidate target can be set to the second tracking mode. This means that the radar does not track the first tracking candidate target. If the newly detected first tracking candidate target is not located within the search area, the radar does not track the first tracking candidate target, but can track the display target based on the target information set up to date.

[0077] If the number of multiple tracking targets is less than the sum of the maximum number of display targets and the maximum number of preset non-display targets, tracking can be performed on display targets based on the target information set up to the present stage (S22). If the number of multiple tracking targets is less than the sum of the maximum number of display targets and the maximum number of preset non-display targets, the radar can track all of the multiple tracking targets, and thus, tracking can be performed on display targets based on the target information set up to the present stage. Tracking can be performed on display targets based on the target information set up to the present stage as a result of performing steps (S11 to S21) (S22).

[0078] Although not illustrated in FIG. 3, a step of comparing the target priorities of situational awareness targets with those of non-visual targets may be further included. If the target priority of a first non-visual target among the non-visual targets is higher than the target priority of the first situational awareness target among the situational awareness targets, the first non-visual target may be converted to a situational awareness target, and the first situational awareness target may be converted to a non-visual target.

[0079]

[0080] FIG. 4 is a flowchart illustrating a method for tracking multiple targets using an active phased array radar according to another embodiment of the present invention.

[0081] Referring to FIG. 4, a method for tracking multiple targets is illustrated when switching from an air-to-air single mode to a simultaneous operation mode in which at least two modes among air-to-air mode, air-to-ground mode, air-to-sea mode, and imaging mode are simultaneously operated, i.e., when an active phased array radar is operated simultaneously in the air-to-air mode and other modes. The concept of managing multiple targets according to the mode switching between the air-to-air single mode and the simultaneous operation mode is described in more detail in FIG. 7b.

[0082] Tracking information including a tracking mode can be obtained for each of the multiple targets (S31). Target priorities can be assigned to each of the multiple targets based on the tracking information and preset priority rules for each of the multiple targets (S32). The tracking information and preset priority rules for each of the multiple targets are based on the tracking information described in FIG. 3.

[0083] Among multiple targets, a preset maximum number of display targets can be set as multiple situational awareness targets, with the highest priority among them (S33). Only situational awareness targets equal to the maximum number of display targets can be set as display targets.

[0084] Tracking can be performed on multiple situational awareness targets (S34). That is, tracking can be performed on display targets.

[0085] Although not shown in FIG. 4, if the tracking information of at least one target among the plurality of targets is changed, the target priority may be reallocated for each of the plurality of targets, and the plurality of situational awareness targets may be reset based on the target priority.

[0086]

[0087] FIG. 5 is a flowchart illustrating a method for assigning target priorities to multiple targets according to one embodiment of the present invention.

[0088] When designing a radar, determining the priority of each target is crucial. When tracking multiple targets, multiple tracking beams must be processed according to their respective tracking cycles. This involves scheduling beams so that the tracking beams for targets with higher priority can be processed without delay. Targets with lower priorities may experience a relative delay in their tracking beam processing, resulting in lower tracking accuracy or even loss of tracking. Therefore, assigning target priorities to individual targets can impact the overall performance of the radar.

[0089] Referring to FIG. 5, tracking information including a tracking mode can be acquired for each of a plurality of targets (S41). Based on the target tracking information acquired by the radar, the priority of the target can be determined according to general target priority logic. For example, the target tracking information can include the distance between the target and the radar, the angle between the target and the center of the radar, the target's approach speed to the radar, and the target's altitude. The closer the target is to the radar, the faster the approach speed to the radar, the higher the altitude, and the closer the angle is to the center of the radar, the higher the threat level the target has, and the higher the target priority can be assigned. In the present invention, target priorities can be assigned to each of a plurality of targets according to a priority assignment method based on target tracking information, as illustrated in FIG. 5. In one example, if the number of targets being tracked changes or the target tracking information is updated for all targets being tracked, new target tracking information can be acquired.

[0090] Among multiple tracked targets, a target in engagement mode with the radar can be designated as the highest priority target (S42). Targets performing the missile data link (MDL) function, i.e., engaged targets, have a higher priority than non-engaged targets. For example, an MDL can be initiated when a pilot designates a high-priority target and launches a missile. If the pilot designates another target as the highest priority target before the target is shot down, the engaged target will be displayed as a separate symbol on the multifunction display and will have a higher priority than the high-priority target. In order to provide the highest tracking accuracy for the missile for targets performing MDL, engaged targets can be assigned a higher priority than non-engaged targets, thereby prioritizing the processing of the tracking beam.

[0091] For each highest priority target, target priorities can be assigned in order of the most recent engagement initiation time (S43). For example, among engaged targets, the more recent the MDL initiation time is, the higher the target priority can be assigned. During missile engagement, high accuracy is required for target information provided by the radar before the seeker operates. Therefore, when there are multiple engaged targets performing MDL, the more recent the engagement initiation time is, the higher the priority can be assigned, allowing tracking beams to be processed without delay. It is possible to determine whether there are any targets without assigned priorities, and if all targets have been assigned priorities, target priority assignment can be terminated.

[0092] Among multiple tracking targets, excluding the highest priority target, targets in engagement standby mode with the radar can be designated as high-priority targets (S44). Target priorities can be assigned to each high-priority target based on priority rules (S45). In another example, if no targets are engaged, target priorities can be assigned to targets in engagement standby mode based on priority rules. It can be determined whether any targets have not been assigned priorities, and if all targets have been assigned priorities, target priority assignment can be terminated.

[0093] Among the display targets, targets other than the highest priority targets and high priority targets can be designated as situational awareness targets for those in radar and non-combat mode (S46). Target priorities can be assigned to each situational awareness target based on priority rules (S47). For example, the number of situational awareness targets can be the smaller of the number of tracked targets and the maximum number of display targets, minus the number of highest priority targets and high priority targets. It can be determined whether there are any targets without assigned priorities, and if all targets have been assigned priorities, target priority assignment can be terminated.

[0094] Among multiple tracked targets, target priorities can be assigned to each non-visual target based on priority rules (S48). For example, the number of non-visual targets may be the smaller of the number of tracked targets minus the maximum number of visible targets and the maximum number of non-visual targets. It is possible to determine whether any targets have not been assigned priorities, and if all targets have been assigned priorities, target priority assignment can be terminated.

[0095] Although not shown in Figure 5, targets designated by the pilot's discretion may be assigned a higher priority than other targets. This priority will be maintained unless the pilot changes it. In other words, the highest priority and high priority targets designated by the pilot's request will not automatically be converted to situational awareness targets based on target priorities determined by the radar's tracking information. The highest priority and high priority targets may be deactivated upon the pilot's request or if the target is lost. When multiple situational awareness targets are designated, the priority among them may be determined based on the existing tracking information-based priorities determined by the radar.

[0096]

[0097] FIG. 6 illustrates an example of a target output unit of a multiple target tracking system according to one embodiment of the present invention.

[0098] Referring to FIG. 6, an example of multiple target management according to the distance scale and search range settings of the target output unit (290) is schematically illustrated. The target output unit (290) may be a multi-function display (MFD). The MFD may include maximum display distance information and search range information. Hereinafter, the target output unit (290) is referred to as a multi-function display (MFD, 290).

[0099] Even if the radar can track multiple targets, it is not desirable to display all the targets being tracked on the multi-function display device (MFD, 290) screen displayed to the pilot because it is difficult to individually check the altitude, angle, distance, and speed information of each target and it is difficult to identify the target to be engaged. Therefore, as shown in Fig. 6, the distance scale and search range of the multi-function display device (MFD, 290) can be set to manage multiple targets.

[0100] The pilot can set the radar search range (azimuth and elevation) and display range scale on the multifunction display device (MFD, 290) to perform the radar mission. Fig. 6 is an example of the display screen of the multifunction display device (MFD, 290), where the horizontal axis of the multifunction display device (MFD, 290) represents the azimuth detection and tracking range, and the vertical axis of the multifunction display device (MFD, 290) represents the maximum display range. For example, among the search ranges, the azimuth can be selected from ±10 degrees, ±30 degrees, and ±60 degrees, the elevation can be selected from 1 bar, 2 bar, and 4 bar, and the maximum display range can be selected from 10 NM, 20 NM, 40 NM, 80 NM, and 160 NM. Fig. 6 is an example in which the azimuth search range is set to ±10 degrees, the elevation is set to 4 bar, and the maximum display range is set to 80 NM. Once an active phased array radar detects a new target within its search area, it can typically track the target up to ±60 degrees in azimuth and elevation, even if the target leaves the search area. Since the target is displayed on the multifunction display (MFD) 290 screen up to ±60 degrees in azimuth, there is no need to consider target management methods for the azimuth range. On the other hand, the pilot can check target information by setting a range scale up to the distance of interest on the multifunction display (MFD) 290. Therefore, multiple target management methods related to range scales are described below.

[0101] When a new target is detected and tracked beyond the set maximum display distance, the tracking information-based priority of the target (see Figure 5) is determined and N DISP_MAXIf a target has priority within the rank, it is designated as a situational awareness target and the radar maintains tracking even if it is not immediately displayed because it is outside the current range scale. This is to aim for quick situational awareness in case the pilot changes the range scale, and at the same time, to prevent the case where radar resources are wasted because the process of continuously detecting, initiating tracking, and deleting the target is repeated as long as the target is within radar detection range if tracking of the target is not initiated. If a target is detected beyond the set maximum display range, the tracking information-based priority of the target (see Figure 5) is determined and N DISP_MAX If a target is determined to be outside the search area, it can be determined whether the target being tracked is within the search area. Tracking is maintained while the target is within the search area, and the tracking is canceled when it leaves the search area.

[0102] If a visible target being tracked within the MFD display range (maximum display range) moves away and exceeds the maximum display range, the radar maintains tracking of the visible target. If a non-visible target being tracked within the MFD display range (maximum display range) moves away and exceeds the display range, as described above, the radar maintains tracking of the non-visible target if it remains within the search area, and cancels tracking if it leaves the search area. Targets being engaged, highest priority targets, and high priority targets are tracked by the radar regardless of the range scale, and target priority is also maintained.

[0103]

[0104] Figure 7 illustrates a concept of managing multiple targets when switching to air-to-air mode. Air-to-air operation modes and functions using active phased array radar can be divided into the SWT (Search While Track) series mode (111) for situational awareness and target detection and tracking, and the ACM (Air Combat Maneuvering) series mode (112) for close-range engagement. The SWT series mode (111) can be divided into the NAST (Nose Aspect Search and Track) mode, which is optimized for detecting long-range targets approaching head-on at high speed, and the AAST (All Aspect Search and Track) mode, which can detect targets in all directions. The ACM series mode (112) can be divided into four sub-operation modes (HUD scan, Boresight, Vertical Scan, Slewable) depending on the search area.

[0105] FIG. 7a schematically illustrates a concept of managing multiple targets when switching to air-to-air mode according to one embodiment of the present invention.

[0106] Referring to Fig. 7a, when the active phased array radar is in close combat mode (ACM series mode, 112) for multiple targets in air-to-air single mode (110), the highest priority target can be set as a display target, and targets other than the highest priority target among the multiple tracking targets can be converted into tracking candidate targets. If there is no highest priority target, detection can be performed among the multiple targets, and the first target detected can be set as the highest priority target.

[0107] In the SWT series mode (111) for tracking, all tracked targets are maintained and the target priorities of the targets can also be maintained when switching between the NAST mode and the AAST mode. That is, the highest priority target and the high priority target can be maintained without pilot intervention even when switching between the NAST mode and the AAST mode. When switching from the SWT series mode (111) including the NAST mode and the AAST mode to the ACM series mode (112), which is a close combat mode, the tracking targets except for the highest priority target stop tracking and are also deleted from the multi-function display device (MFD, 290 in FIG. 6), and only the highest priority target can be displayed and tracked on the multi-function display device (MFD). In one embodiment, when switching from the SWT series mode (111) to the ACM series mode (112) in the absence of a top priority target, target detection may be initiated in the ACM series mode (112), and the first detected target may be tracked, designated as the top priority target, and displayed on the multifunction display (MFD). When changing between lower operation modes (HUD scan, boresight, vertical scan, slewable) in the ACM series mode (112), the top priority target may be deleted and the target may be redetected to reflect the pilot's intention to find a new target in a new search area. The target may be redetected to find a new target, designated as the top priority target, and displayed on the multifunction display (MFD). When switching from the ACM series mode (112) to the SWT series mode (NAST mode or AAST mode, 111), the top priority target may be maintained in tracking.

[0108] FIG. 7b schematically illustrates a concept of managing multiple targets when switching between air-to-air mode and simultaneous operation mode according to another embodiment of the present invention.

[0109] Referring to FIG. 7b, when switching from an air-to-air single mode (110) to a simultaneous operation mode (120) in which at least two modes are simultaneously operated among an air-to-air mode, an air-to-ground mode, an air-to-sea mode, and an image mode, target priorities are assigned to each of the multiple targets based on tracking information of each of the multiple targets and a preset priority rule, and targets as many as the preset maximum number of display targets are set as multiple situational awareness targets in order of target priority among the multiple targets, and tracking can be performed on the multiple situational awareness targets.

[0110] The simultaneous operation mode (120) utilizes the fast beam steering capability of the active phased array radar, and a portion of the radar time resource can be cross-allocated to the air-to-air mode, and a portion can be cross-allocated to the air-to-ground, air-to-sea, and imaging modes to operate the beam. The multiple target tracking methods illustrated in FIG. 3 can be applied when performing the air-to-air single mode (110). When operating the air-to-air mode simultaneously with other modes such as air-to-ground and air-to-sea in the simultaneous operation mode (120), the multiple target tracking methods illustrated in FIG. 4 can be applied.

[0111] According to FIG. 7b, in one embodiment, when switching from the air-to-air single mode (110) to the simultaneous operation mode (120), all display targets, including the highest priority target and the high priority target, are converted to situational awareness targets, and non-display targets may be deleted. For example, when the highest priority target and the high priority target exist in the simultaneous operation mode (120), the radar processing priority for these targets may be increased, which may cause a delay in the air-to-ground mission. Therefore, when switching from the air-to-air single mode (110) to the simultaneous operation mode (120), the highest priority target and the high priority target are converted to situational awareness targets. In another embodiment, when a threat target is identified in the air-to-air mode during the simultaneous operation mode (120) and engagement is required, when the highest priority target or the high priority target is designated, the air-to-air single mode (110) may be switched to the SWT series mode (111). When switching from the simultaneous operation mode (120) to the SWT series mode (111), all situational awareness targets being tracked can be maintained. As another example, even when switching to the SWT series mode (111) without designating a highest priority target or a high priority target, all situational awareness targets can be maintained for tracking. When switching from the simultaneous operation mode (120) to the ACM series mode (112) among the air-to-air single mode (110), all situational awareness targets being tracked in the air-to-air mode can be deleted. In this case, a new target can be detected in the ACM series mode (112), and the detected single target can be automatically designated as a highest priority target and displayed on the multi-function display (MFD).

[0112]

[0113] Figure 8 shows the maximum number of targets according to target type for multiple targets managed in air-to-air single mode and simultaneous operation mode.

[0114] Referring to Fig. 8, the maximum number of targets (N) that can be displayed on the multi-function display device (MFD, 290 in Fig. 6) DISP_MAX) can be preset. The active phased array radar determines the priority of targets among the trackable targets in real time, and sets the maximum N of targets with high priority. DISP_MAX Dogs can be displayed on the multifunction display (MFD). Targets other than the display targets are not displayed on the MFD, but internally, the radar maintains tracking by allocating individual tracking beams to each target just like the display targets, and can acquire distance, speed, and angle information for each target to determine the priority of the target. The processor of Fig. 2 (30 of Fig. 2) can compare target priorities between targets in real time when the target priority changes due to changes in the distance, speed information, etc. of the non-displayed target. By comparing the target priorities, the priority of the non-displayed target is determined to be N. DISP_MAX If it falls within the ranking, the target will be converted to a display target, and targets with a lower priority than the non-display target among the display targets may be converted to non-display targets.

[0115] FIG. 8a illustrates the maximum number of targets according to target type when switching from air-to-air mode to air-to-air mode according to one embodiment of the present invention.

[0116] According to FIG. 8a, the multiple target tracking method according to the present invention has a maximum number of non-visual targets (N NODISP_MAX ) can be preset and limited. For example, a maximum number of non-visual targets can be preset to allow the radar to operate while leaving some of the total radar time resources. The total number of targets being tracked by the radar is the sum of the maximum number of visible targets and the maximum number of non-visual targets (N DISP_MAX + N NODISP_MAX ) can be reached, a new target can be detected. The priority of the newly detected target can be compared with that of the targets being tracked, and the tracking of the target with the lowest priority among the targets being tracked can be stopped and the newly detected target can be tracked.

[0117] As described above in Fig. 7, NAST mode and AAST mode, which are sub-modes of the SWT series mode among the air-to-air single modes, are modes that detect and track multiple targets in all ranges within the maximum detection range. In the SWT series mode, the highest priority target (TOI, Target of Interest) among the display targets is a maximum of N TOI_MAX The number of targets can be limited to N. For example, the highest priority target is referred to as an engagement target and can be 1. Among the wartime targets, the High Priority Target (HPT), which has the next highest priority after the highest priority target (TOI), can be up to N. HPT_MAX They can be designated as high priority targets (HPTs). For example, there can be typically 4 to 6 High Priority Targets (HPTs). These are targets that are tracked with high tracking accuracy among the targets being tracked, and can be designated as targets for engagement, up to the maximum number of weapons that can be carried on a typical fighter jet. High priority targets (HPTs) can be designated by the pilot, or the radar can automatically determine them using target priority logic based on target tracking information. HPT_MAX Dogs can also be automatically designated in bulk. The remaining display targets not designated as Top Priority Targets (TOIs) or High Priority Targets (HPTs) can be designated as Situational Awareness Targets (SATs). SATs can be automatically converted to non-visual targets by comparing their priorities in real time. The maximum number of situational awareness targets is N. DISP_MAX -(N TOI +N HPT ) as a dog, here N TOI is the number of currently designated top priority targets (TOIs), N HPT is the number of currently designated high priority targets (HPTs).

[0118] Among the air-to-air single modes, the ACM series mode, unlike the SWT series mode, is a mode for close-quarters engagement of a single target, rather than detecting and tracking multiple targets. In the ACM series mode, the aircraft can begin searching within a given search area and initiate tracking of the first target detected. The tracked target is automatically designated as a Top Priority Target (TOI) without pilot intervention for rapid engagement and can be displayed on the Multi-Function Display (MFD). However, in case the TOI automatically designated in the ACM series mode is not of interest to the pilot and a new target needs to be detected and tracked, the ACM series mode can internally track up to one non-visible target. If the pilot releases the current TOI, the non-visible target being internally tracked can be converted to a Top Priority Target (TOI) and displayed on the Multi-Function Display (MFD) without wasting time detecting and tracking a new target. The radar then continues searching until it detects a new non-visual target, at which point it can stop searching.

[0119] Figure 8b illustrates the maximum number of targets according to the target type in the air-to-air mode in the simultaneous operation mode according to another embodiment of the present invention. According to Figure 8b, in the air-to-air mode in the simultaneous operation mode, the maximum number of display targets N DISP_MAXOnly as many situational awareness targets as dogs can be displayed. The simultaneous operation mode is intended to promote air-to-air situational awareness during air-to-ground missions, and air-to-ground engagement is the pilot's primary concern. However, if there are targets with high priorities for air-to-air engagement in air-to-air mode (e.g., Top Priority Targets (TOIs) and High Priority Targets (HPTs)), the priority of radar beam processing for the Top Priority Targets (TOIs) and High Priority Targets (HPTs) may be increased, which may cause delays in the air-to-ground mission. In the simultaneous operation mode, tracking resources may not be allocated to Top Priority Targets (TOIs), High Priority Targets (HPTs), and non-displayed targets for engagement in air-to-ground mode to increase the priority of the air-to-ground mission.

[0120]

[0121] FIG. 9A illustrates an example of the radiation time of the search beam and tracking beam of the radar and the tracking frequency of the visible target and the invisible target according to the distance between the target and the radar according to one embodiment of the present invention.

[0122] In active phased array radar, tracking beams can be adaptively allocated to track individual targets based on target priority and tracking information of the target (e.g., distance between the target and the radar, speed at which the target approaches the radar, angle between the radar center and the target, etc.). In order to adaptively operate the tracking beam in an active phased array radar, the radiation time (dwell time) and tracking period of the tracking beam can be differentially allocated according to distance, taking into account the signal to noise ratio (SNR) and tracking accuracy required according to distance. Figure 9a shows an example of the radiation time (dwell time) and tracking frequency of the tracking beam according to the distance between the target and the radar and the type of target. Referring to Figure 9a, it can be seen that as the distance between the target and the radar gets closer, the radiation time (dwell time) of the tracking beam gets shorter, and as the tracking frequency gets longer, the tracking period also gets shorter.

[0123] FIG. 9b illustrates an example of the maximum number of trackable targets depending on the distance between the target and the radar according to one embodiment of the present invention.

[0124] Figure 9b illustrates an example of calculating the maximum number of trackable targets by distance using Figure 9a, under the assumption that tracking beams should be allocated to each tracking target according to the desired tracking cycle without delay when allocating tracking beams to all tracking targets. Figure 9b illustrates the maximum number of display tracking targets (N DISP_MAX ) is 20, the maximum number of non-visual tracking targets (N) NODISP_MAX ) is an example showing the number of visible and invisible tracking targets when the target exists within the corresponding distance section by distance scale when the number is set to 200. According to Fig. 9b, when all targets exist at a distance of 25 NM or more from the radar, the maximum number of targets that can be tracked under radar load is 18, which is the maximum number of visible tracking targets (N DISP_MAX ) does not exceed 20, all tracked targets can be displayed on the multifunction display (MFD). On the other hand, if all targets exist at a close range of less than 25 NM from the radar, the maximum number of displayed tracked targets (N DISP_MAX ) can be displayed on the multi-function display device (MFD), and the remaining targets can be managed as non-display targets. The non-display targets can be switched between display targets and non-display targets by comparing their priorities with the display targets in real time.

[0125]

[0126] Above, although some examples have been given and various preferred embodiments of the present invention have been described, the description of the various embodiments described in the “Specific Details for Carrying Out the Invention” section is merely exemplary, and those skilled in the art to which the present invention pertains will readily understand that they can carry out various modifications of the present invention or carry out equivalent implementations of the present invention based on the above description.

[0127] In addition, since the present invention can be implemented in various other forms, the present invention is not limited by the above description, and the above description is provided only to make the disclosure of the present invention complete and to fully inform a person having ordinary skill in the art to which the present invention belongs of the scope of the present invention, and it should be understood that the present invention is defined only by each claim of the claims.

Claims

1. A method for tracking multiple targets using an active phased array radar, performed by at least one computing device, A step of obtaining tracking information including a tracking mode for each of the plurality of targets; A step of assigning a target priority to each of the plurality of targets based on tracking information of each of the plurality of targets and preset priority rules; A step of extracting a plurality of tracking targets having a first tracking mode from the plurality of targets based on the target priority; A step of extracting a plurality of tracking candidate targets having the tracking mode as the second tracking mode from among the targets excluding the plurality of tracking targets among the plurality of targets; A step of setting a number of targets equal to the preset maximum number of display targets in order of priority among the plurality of tracking targets as multiple display targets, and setting each target excluding the plurality of display targets among the plurality of tracking targets as a non-display target; and Including a step of performing tracking on the above exhibition target, In the step of acquiring tracking information for each of the above multiple targets, A target tracking method, characterized in that it further comprises a step of changing the tracking mode for each of the plurality of targets based on the target priority, distance from the radar, and preset maximum display distance of each of the plurality of targets when the tracking information of at least one target among the plurality of targets is changed.

2. In claim 1, Tracking information of at least one target among the above multiple targets, A target tracking method comprising angle information including azimuth and elevation according to the position of the target, a tracking mode of the target, a distance from the target to the radar, engagement information of the target, and a target priority of the target.

3. In claim 2, The step of assigning target priorities to each of the above multiple targets is: A step of setting a target in engagement mode with the radar among the plurality of tracking targets as a highest priority target, and assigning target priorities to each of the highest priority targets in the order of the most recent engagement start time of the highest priority target; A step of setting a target in engagement standby mode with the radar among the plurality of tracking targets, excluding the highest priority target, as a high priority target, and assigning the target priority to each of the high priority targets based on the priority rule; A step of setting targets in the above-mentioned display targets, excluding the highest priority target and the high priority target, as situational awareness targets for targets in a non-combat mode with the radar, and assigning the target priority based on the priority rule to each of the situational awareness targets; and A target tracking method characterized by including a step of assigning the target priority to each of the non-visual targets among the plurality of tracking targets based on the priority rule.

4. In claim 3, Further comprising a step of comparing the target priority of the above situational awareness target with the target priority of the above non-visual target, A target tracking method characterized in that, when the target priority of a first non-visual target among the non-visual targets is higher than the target priority of a first situational awareness target among the situational awareness targets, the first non-visual target is converted to the situational awareness target, and the first situational awareness target is converted to the non-visual target.

5. In claim 1, When the number of the above plurality of tracking targets is equal to the sum of the maximum number of display targets and the preset maximum number of non-display targets, A target detection method, characterized in that it further comprises a step of detecting at least one tracking candidate target among the plurality of tracking candidate targets.

6. In claim 5, The step of detecting a first tracking candidate target among the plurality of tracking candidate targets is as follows: A step of obtaining tracking information of the first tracking candidate target; and A target tracking method, characterized in that it further comprises a step of changing the tracking mode of the first tracking candidate target to the first tracking mode and converting the first tracking candidate target to a situational awareness target when the distance of the first tracking candidate target from the radar is greater than the preset maximum display distance and the target priority of the first tracking candidate target is higher than the smallest target priority among the target priorities of the targets included in the plurality of display targets.

7. In claim 6, In the step of acquiring tracking information of the first tracking candidate target, If the distance of the first tracking candidate target from the radar is greater than the preset maximum display distance, and the target priority of the first tracking candidate target is lower than the smallest target priority among the target priorities of the targets included in the plurality of display targets, A target tracking method further comprising a step of determining whether the first tracking candidate target exists within a preset search area.

8. In claim 7, The step of determining whether the first tracking candidate target exists within the preset search area is: A step of determining whether the azimuth and elevation of the first tracking candidate target are within the azimuth and elevation ranges of the preset search area, respectively. A step of changing the tracking mode of the first tracking candidate target to the first tracking mode and converting the first tracking candidate target to the non-visual target when the first tracking candidate target is located within the preset search area; and A target tracking method, characterized in that it comprises a step of setting the tracking mode of the first tracking candidate target to the second tracking mode when the first tracking candidate target is not located within the preset search area.

9. In claim 1, The target priority according to the above preset priority rules is: A target tracking method characterized in that it is calculated based on the altitude according to the position of each of the plurality of targets, the angle formed by each of the plurality of targets from the center of the radar, the distance of each of the plurality of targets from the radar, and the approach speed of each of the plurality of targets to the radar.

10. In claim 3, When the active phased array radar is in close combat mode for the above multiple targets, Set the above-mentioned highest priority target as the above-mentioned exhibition target, A target tracking method characterized in that the targets excluding the highest priority target among the plurality of tracking targets are converted into the tracking candidate targets having the second tracking mode.

11. A method for tracking multiple targets using an active phased array radar, performed by at least one computing device, A step of obtaining tracking information including a tracking mode for each of the plurality of targets; A step of assigning a target priority to each of the plurality of targets based on tracking information of each of the plurality of targets and preset priority rules; A step of setting a number of targets equal to the preset maximum number of display targets in order of priority among the plurality of targets as multiple situational awareness targets; and Including a step of performing tracking on the above multiple situational awareness targets, A target tracking method further comprising the step of reassigning the target priority to each of the plurality of targets and resetting the plurality of situational awareness targets based on the target priority when the tracking information of at least one target among the plurality of targets has changed.

12. A computer program stored on a medium for executing the method of any one of claims 1 to 11 using a computing device.

13. Includes an active phased array radar and a target management unit that manages multiple targets. The above target management department, A tracking information acquisition unit that acquires tracking information including a tracking mode for each of the plurality of targets; A priority assignment unit that assigns a target priority to each of the plurality of targets based on tracking information of each of the plurality of targets and a preset priority rule; A tracking target extraction unit that extracts a plurality of tracking targets having a first tracking mode from the plurality of targets based on the target priority; A display target setting unit that sets a plurality of display targets as a maximum number of preset display targets in order of priority among the plurality of tracking targets; and Includes a target tracking unit that performs tracking on the above-mentioned display target, The above tracking information acquisition unit, A target tracking system characterized in that, when the tracking information of at least one target among the plurality of targets is changed, the tracking mode for each of the plurality of targets is changed based on the target priority, distance from the radar, and preset maximum display distance of each of the plurality of targets.

14. In claim 13, The above target management department, A tracking candidate target extraction unit that extracts a plurality of tracking candidate targets having a second tracking mode excluding the plurality of tracking targets from among the plurality of targets; A non-visual target setting unit that sets each target, excluding the plurality of display targets, among the plurality of tracking targets as a non-visual target; and A target tracking system further comprising a target output unit that outputs tracking results of the plurality of display targets of the target tracking unit.

15. In claim 13, The above target management department, A target tracking system further comprising a target detection unit that detects at least one tracking candidate target among the plurality of tracking candidate targets when the number of the plurality of tracking targets is equal to the sum of the maximum number of display targets and the preset maximum number of non-display targets.

Images