JP2001208838A - Radar system - Google Patents

Abstract

PROBLEM TO BE SOLVED: To suppress a tracking error generated by a distance deviation superposed onto an observed value caused by an approaching speed to an aerial target, when transmission frequency modulation is used. SOLUTION: An approaching speed calculator 23 and an observed distance corrector 24 are provided in an input side of a tracking filter 7 to detect and track the areial target using transmission waves in two kinds of frequency bands, and the approaching speed of the target is calculated before processing by the tracking filter based on a difference between the observed distances in the respective frequency bands, transmission frequencies and modulation items, so as to correct the observed distance.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a radar device for detecting and tracking an anti-aircraft target such as an aircraft using transmission waves in a plurality of frequency bands, and more particularly to a target distance deviation generated by frequency-modulating a transmission wave. Based on the calculated approach speed component of the anti-aircraft target (hereinafter simply referred to as “approach speed”),
The present invention relates to a radar device in which detection and tracking ability is improved by effectively utilizing an approach speed.

[0002]

2. Description of the Related Art FIG. 13 is an explanatory diagram showing an operation state of a general radar apparatus using a beam irradiation technique. In FIG. 13, reference numeral 1 denotes an anti-aircraft target (hereinafter, also simply referred to as “target”).
Here, the case where the target 1 is an aircraft in flight is shown.

Reference numeral 2 denotes a radar constituting a main part of the radar apparatus, which periodically irradiates a target 1 with a beam 3. Generally, a radar device is configured as shown in FIG.
The detection and tracking of the target 1 is executed by receiving the reflected wave of the beam 3.

That is, the radar device includes a signal processing device and an arithmetic device, performs signal processing on the received reflected wave from the target 1, and detects an observation value of the target 1.

Further, based on the observation value of the target 1, the target smooth position and the velocity are calculated by using the tracking filter, the target prediction position is obtained, and the target smooth position and the velocity are calculated by using the observation value at the next sampling time. Update.
Hereinafter, the tracking of the target 1 is continued by repeating the above processing.

At this time, when the transmission wave of the beam 3 is subjected to linear frequency modulation, it is known that when the target 1 moves in the distance direction, the observation distance shifts due to the influence of the transmission modulation wave. I have.

Therefore, when the transmission wave of the beam 3 is greatly modulated or when the target 1 moves at a high speed in the distance direction, the deviation of the observation distance increases, and as a result,
This is detected as a tracking error.

FIG. 14 is a block diagram showing a schematic configuration of a conventional radar device. In FIG. 14, 4 is beam 3
An antenna for transmitting (see FIG. 13) and receiving the reflected wave from the target 1, a transmitter / receiver 5 for driving the antenna 4 and receiving the reflected wave, and a detector 6 for detecting a received signal from the transmitter / receiver 5. It is a signal detector.

Reference numeral 7 denotes a tracking filter for tracking the target 1 based on the output signal of the signal detector 6, which is generally called a Kalman filter.

Next, the operation of the conventional radar device shown in FIG. 14 will be described with reference to FIGS. 13, 15 and 16. FIG. 15 shows the frequency-modulated beam 3
FIG. 16 is an explanatory diagram showing an example of the transmission waveform of FIG. 16, and FIG. 16 is an explanatory diagram showing an observation state of a target distance in a single frequency band.

In FIG. 15, the horizontal axis represents time T, the vertical axis represents transmission frequency f, Tp is the time during which the beam 3 is transmitted, that is, the transmission pulse width, Tq is the time during which the reflected wave from the target 1 is received, f1 is the transmission start frequency of the modulated wave, f0 is the transmission center frequency, and f2 is the transmission end frequency of the modulated wave.

In FIG. 16, 13 is the true position of the target 1, 14 is a line indicating the distance direction of the target 1, 15 is the deviation of the observation distance due to the approach speed DMrt (k) of the target 1, R
o (k) is the observed distance. The observation distance Ro
K in (k) is a sampling time.

Referring to FIG. 14, first, a transmitter / receiver 5 in a radar apparatus transmits a frequency-modulated transmission waveform to an antenna 4.
Output to Thus, the beam 3 is emitted from the antenna 4 to the target 1 as shown in FIG.

At this time, the parameters of the transmission waveform of the modulated wave are set to a transmission pulse width Tp, a transmission center frequency f0, a transmission start frequency f1, and a transmission end frequency f2 as shown in FIG.

On the other hand, the reflected wave received from the antenna 4 is transferred to the transmitter / receiver 5, subjected to amplification and frequency modulation demodulation, and then input to the signal detector 6. The signal detector 6 executes a detection process of a target signal from the input signal, obtains a distance Ro (k), an elevation angle Eo (k), and an azimuth angle Azo (k) as an observation value Zk regarding the target 1, and tracks these. Input to the filter 7.

Here, the observation distance Ro of the target 1 to be observed is
(K) changes at the sampling time k after the frequency modulation signal is demodulated, according to the distance change rate, that is, the approach speed DMrt (k), which is the motion data of the target 1.
A shift 15 appears as in FIG.

In FIG. 16, the true position 13 of the target 1 is shown.
Of the observation distance due to the approach speed DMrt (k) 15
And the observation distance Ro (k) are represented by the following equation (1).

[0018]

(Equation 1)

In the equation (1), Rt (k) is a true distance of the target 1, and δT is a shift time component determined by a constant of a transmission wave. Here, the shift time component δT includes a transmission pulse width Tp, a transmission center frequency f0, a transmission start frequency f1,
It is affected by the transmission end frequency f2 and is represented by the following equation (2).

[0020]

(Equation 2)

Next, the tracking filter 7 calculates the target predicted position and the target speed at the next sampling time as shown in the following equation (3) based on the observation value Zk consisting of the distance and the angle.

[0022]

(Equation 3)

In equation (3), the observed value Zk is the distance R
o (k), elevation angle Eo (k) and azimuth angle Azo
It is composed of a vector of 3 rows and 1 column including each component of (k).

Xk (+) is a vector of smoothed values, X
k (−) is a vector of predicted values serving as output specifications of the tracking filter 7, each of which is a distance Ro (k) and an elevation angle Eo.
(K) and a vector of 6 rows and 1 column including the azimuth Azo (k) and the respective velocity components.

Kk is a 6-row, 6-column Kalman gain matrix which serves as a smoothing coefficient, and H is a 3-row, 6-row, which converts the observed value Zk.
A matrix of columns, Pk (+) is a matrix of 6 rows and 6 columns indicating a smoothing error covariance, Pk (-) is a matrix of 6 rows and 6 columns indicating a prediction error covariance, and Φ (k) is a transition of prediction time. 6 is a matrix of 6 rows and 3 columns.

Qk is a drive noise constant (preset) indicating the instability of the target motion.
₁ (k) is a matrix of 6 rows and 6 columns for converting driving noise.
Rk is a 6-by-6 matrix (set in advance) indicating the magnitude of random observation noise from the radar, and Γ ₂
(K) is a matrix for converting observation noise.

In the above equation (3), the observation value Zk, which is the input data of the tracking filter 7, is determined by the distance Ro.
(K), the direction Azo (k) and the elevation angle Eo (k) are assumed to be three-dimensional, but the present invention can be executed even with the two-dimensional distance Ro (k) and the direction Azo (k). .

The smoothing value calculation operation of the tracking filter 7 suppresses a random error in the observation distance. However, since the distance shift cannot be suppressed, the tracking filter 7 calculates the position and speed of the target 1 while leaving the error due to the distance shift.

As described above, the conventional radar apparatus performs observation and tracking of the target 1. The tracking continuation process is executed each time the observation value Zk is input, and the predicted position and the smoothing speed of the target 1 are calculated.

Conventionally, a radar device using two frequency bands has also been proposed. FIG. 17 is an explanatory diagram showing an observation state of a target distance in two frequency bands,
Reference numerals 13 and 14 are the same as those described above (see FIG. 16).

In FIG. 17, reference numeral 25 denotes a deviation of the observation distance in the first frequency band, 27 denotes a deviation of the observation distance in the second frequency band, and Ro1 (k) denotes an observation distance in the first frequency band. , Ro2 (k) are observation distances in the second frequency band.

However, in the conventional radar apparatus, even if two frequency bands are used as shown in FIG. 17, it is not considered to execute a correlation process or the like based on an observation value in each frequency band. It is not possible to calculate the approach speed of target 1 and use it effectively.

[0033]

As described above, the conventional radar apparatus leaves an error due to a distance shift when tracking a target 1 moving at high speed while using a frequency modulation signal for a transmission wave. Since the position and the speed of the target 1 are calculated as it is, there is a problem that a correct distance cannot be observed.

Further, in the conventional radar apparatus, when the frequency modulation signal is not used for the transmission wave, there is a problem that the detection performance is reduced and the distance resolution is reduced.

In the conventional radar apparatus, the normally observable data, that is, the observed value Zk is determined by the distance Ro.
(K), only the angles Eo (k) and Azo (k). In order to directly observe the approach speed DMrt (k) of the target 1, a special circuit device such as a pulse Doppler filter is required. There was a point.

Further, in the conventional radar device, FIG.
When the operation is performed using two frequency bands as in No. 7, since the correlation processing based on the observation values in each frequency band is not performed, the approach speed DMr (k) of the target 1 based on each observation value is calculated. Then, there was a problem that this could not be used effectively.

The present invention has been made to solve the above problems, and calculates the approach speed of a target based on observation values obtained in two frequency bands, and uses the approach speed to deviate the distance. It is an object of the present invention to obtain a radar device with improved detection and tracking performance by correcting the shift.

Further, the present invention calculates the approach speed of a target based on observation values obtained from two frequency bands, and estimates the detailed approach speed of the target based on Doppler information included in the observation values. An object of the present invention is to obtain a radar device with improved detection and tracking performance by calculating a detailed approach speed by combining an estimated approach speed and an approach speed, and correcting a deviation of an observation distance using the detail approach speed. .

Another object of the present invention is to provide a radar apparatus in which the speed specifications are stabilized and the tracking performance is improved by using the initial values of the speed specifications among the target tracking specifications.

Further, according to the present invention, the optimum combination determination at the time of detecting a plurality of targets is performed based on the target speed during tracking, and the deviation of the observation distance is corrected by using the determination result, whereby the detection and tracking performance is improved. It is an object of the present invention to obtain a radar device with improved characteristics.

Further, according to the present invention, the turning judgment is made based on the target speed calculated by the tracking filter and the observed approach speed, and the setting of the Kalman gain matrix, which is the smoothing coefficient of the tracking filter, is changed to change the tracking performance. Therefore, it is an object of the present invention to obtain a radar device having improved detection and tracking performance by securing the radar system.

It is another object of the present invention to obtain a radar apparatus which performs correlation processing between wakes and observation values in a multi-target tracking filter to improve tracking continuity in a clutter environment.

It is another object of the present invention to obtain a radar apparatus having improved tracking performance with respect to a turning target by performing a correlation process between an observed value and a motion model in the multiple motion model tracking filter 36. .

[0044]

According to a first aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft. First and second antennas having first and second frequency bands, first and second transceivers that input and output frequency-modulated transmission / reception signals to the first and second antennas, And first and second signal detectors for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on reception signals from the second transceiver and the first and second frequency bands, respectively. An approach speed calculator that calculates the approach speed to the anti-aircraft target based on each observation distance affected by frequency modulation, and a corrected observation distance by correcting the observation distance based on the approach speed And observation distance corrector that is obtained by a tracking filter that performs tracking calculations anti-aircraft targets based on the observation angle and the correction observation distance.

A radar apparatus according to a second aspect of the present invention is a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radars transmit and receive a beam to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; Based on each observation distance received,
Based on an approach speed calculator for calculating an approach speed to the anti-aircraft target, and a detailed estimated approach speed to the anti-aircraft target based on Doppler information obtained from each observation value affected by frequency modulation in the first and second frequency bands. An approach speed estimator to calculate, a speed detail calculator to calculate a detail approach speed to the anti-aircraft target based on the detail estimated approach speed and the approach speed, and a corrected observation distance by correcting the observation distance based on the detail approach speed And a tracking filter that executes tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance.

According to a third aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target, such as an aircraft, in a first and second systems for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values that have received An approach speed calculator that calculates the approach speed to the anti-aircraft target based on the observation distance included in the combination information; and an observation value combination determiner that determines the observation value combination information based on the detection position of the antiaircraft target based on the approach speed. An observation distance corrector that corrects the observation distance based on the determination result of the approach speed and the observation value combination determiner to calculate a corrected observation distance, and performs a tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance. And a tracking filter.

According to a fourth aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target, such as an aircraft, in a first and second systems for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values that have received An approach speed calculator that calculates the approach speed to the anti-aircraft target based on the observation distance included in the combination information, and determines whether the observation value combination information is the information of the anti-aircraft target to be tracked based on the approach speed. An observation value combination determiner, a clutter determination remover that determines and removes an observation value from a fixed target that does not require tracking based on the approach speed, and a determination result of the approach speed and the clutter determination remover based on the approach speed. The apparatus includes an observation distance corrector that corrects an observation distance to calculate a corrected observation distance, and a tracking filter that performs tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance.

According to a fifth aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radars transmit and receive a beam to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values that have received An approach speed calculator that calculates an approach speed to an anti-aircraft target based on the distance information included in the combination information, and an approach speed estimator that calculates a detailed estimated approach speed to the anti-aircraft target based on Doppler information obtained from the observation value combination information And an observation value combination selector for selecting the corresponding observation value combination information from the observation value combination information based on the comparison between the detailed estimated approach speed and the approach speed, and a selection result of the approach speed and the observation value combination selector. An observation distance corrector that corrects the observation distance based on the observation distance to calculate a corrected observation distance, and a tracking filter that executes tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance.

A radar apparatus according to claim 6 of the present invention is a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radar apparatuses transmit and receive beams to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; Based on each observation distance received,
An approach speed calculator that calculates the approach speed to the anti-aircraft target, an observation distance corrector that corrects the observation distance based on the approach speed to calculate the corrected observation distance, and tracking of the anti-aircraft target based on the observation angle and the corrected observation distance A tracking filter for performing the calculation, wherein the tracking filter includes a speed initial value setting device that sets a speed initial value of the anti-aircraft target in the tracking filter calculation based on the approach speed.

A radar apparatus according to a seventh aspect of the present invention is a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radar apparatuses transmit and receive beams to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; Based on each observation distance received,
Based on an approach speed calculator for calculating an approach speed to the anti-aircraft target, and a detailed estimated approach speed to the anti-aircraft target based on Doppler information obtained from each observation value affected by frequency modulation in the first and second frequency bands. An approach speed estimator to calculate, a speed detail calculator to calculate a detail approach speed to the anti-aircraft target based on the detail estimated approach speed and the approach speed, and a corrected observation distance by correcting the observation distance based on the detail approach speed And a tracking filter for executing tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance, wherein the tracking filter is an initial value of the speed of the antiaircraft target in the tracking filter calculation based on the detailed approach speed. Is included.

According to another aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target, such as an aircraft, in a first and second systems for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values that have received An approach speed calculator that calculates an approach speed to an anti-aircraft target based on the observation distance included in the combination information; and, based on the approach speed, determines whether or not the observation value combination information is information on an anti-aircraft target being tracked. A velocity correlation determiner, an observation distance corrector that corrects the observation distance based on the determination results of the approach speed and the velocity correlation determiner to calculate a corrected observation distance, and tracks an anti-aircraft target based on the observation angle and the corrected observation distance. And a tracking filter for performing calculations.

A radar apparatus according to a ninth aspect of the present invention is a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radars transmit and receive beams to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values that have received An approach speed calculator that calculates an approach speed to an anti-aircraft target based on the observation distance included in the combination information; and an approach speed estimator that calculates a detailed estimated approach speed to the anti-aircraft target based on Doppler information obtained from the observation value combination information. An observation value combination selector for selecting the corresponding observation value combination information from the observation value combination information based on the comparison between the detail estimation approach speed and the approach speed, and the observation value combination information based on the detail estimation approach speed. A velocity correlation determiner that determines whether or not the information is on the anti-aircraft target being tracked, and an observation distance that corrects the observation distance based on the determination result of the detailed estimated approach speed and the velocity correlation determiner to calculate a corrected observation distance. It is provided with a corrector and a tracking filter for executing tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance.

A radar apparatus according to a tenth aspect of the present invention is a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radars transmit and receive beams to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An approach speed calculator that calculates the approach speed to the anti-aircraft target based on each observation distance received, and an observation that calculates the corrected observation distance by correcting the observation distance based on the approach speed And a release compensator, based on the change in approach speed, when the anti-aircraft targets in tracking and the determining turning decision unit whether turning, anti-aircraft target is determined to be turning,
A filter gain selector that changes the gain of the tracking filter, and a tracking filter that performs tracking calculation of the anti-aircraft target based on the observation angle, the corrected observation distance, and the gain set by the filter gain selector. It is.

A radar apparatus according to claim 11 of the present invention is a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein the first and second radar apparatuses transmit and receive beams to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values that have received An approach speed calculator that calculates an approach speed to an anti-aircraft target based on the observation distance included in the combination information; an observation distance corrector that corrects the observation distance based on the approach speed to calculate a corrected observation distance; A multi-target tracking filter that executes wake correlation processing and tracking calculation based on the observation angle and the corrected observation distance corresponding to the target.

According to a twelfth aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target, such as an aircraft, in a first and second systems for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas having a frequency band, first and second transceivers for inputting / outputting a transmission / reception signal frequency-modulated to the first and second antennas, first and second antennas, First and second signal detectors that calculate an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from a transceiver, respectively, and influence of frequency modulation in the first and second frequency bands, respectively; An approach speed calculator that calculates the approach speed to the anti-aircraft target based on each observation distance received, and an observation that calculates the corrected observation distance by correcting the observation distance based on the approach speed And a release compensator, based on the change in approach speed, when the anti-aircraft targets in tracking and the determining turning decision unit whether turning, anti-aircraft target is determined to be turning,
Based on the motion model setting selector that changes the setting of the multiple motion model of the multiple motion model tracking filter, and the multiple motion model set by the observation angle, the corrected observation distance, and the motion model setting selector, the tracking calculation of the anti-aircraft target is performed. A multi-motion model tracking filter executed using a multi-motion model prediction method.

[0056]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 Hereinafter, Embodiment 1 of the present invention using each observation value based on two frequency bands as shown in FIG. 17 will be described with reference to the drawings. FIG. 1 is a block diagram showing Embodiment 1 of the present invention. Reference numeral 7 denotes a tracking filter similar to that described above (see FIG. 14).

In FIG. 1, reference numeral 17 denotes frequency band 1 (first
(Hereinafter referred to as “first antenna”)
, 18 is the first antenna connected to the first antenna 17.
Is a first signal detector connected to the first transceiver 18.

Similarly, reference numeral 20 denotes an antenna of frequency band 2 (second frequency band) (hereinafter, referred to as “second antenna”), reference numeral 21 denotes a second transceiver connected to the second antenna 20, and reference numeral 22 denotes a second transceiver. Is a second signal detector connected to the second transceiver 21.

The first and second antennas 17, 20, the first,
Second transceivers 18, 21 and first and second signal detectors 2
Reference numerals 2 and 22 correspond to the antenna 4, the transceiver 5, and the signal detector 6 described above (see FIG. 14), respectively.

The first and second antennas 17, 20 are
Each transmits and receives a beam to and from target 1 (see FIG. 13). The first and second transceivers 18 and 21 input and output frequency-modulated transmission and reception signals to and from the first and second antennas 17 and 20, respectively.

The first and second signal detectors 22,
22 are first and second transceivers 18, 2 respectively.
The observation distances Ro1 (k) and Ro2 (k) with respect to the target 1 and the observation angle E based on the received signal from the target 1 respectively.
o1 (k), Eo2 (k), Azo1 (k), Azo2
(K) is calculated as an observation value.

Reference numeral 23 denotes the first and second signal detectors 22,
22 is an approach speed calculator, which is based on observation distances Ro1 (k) and Ro2 (k) affected by frequency modulation in the first and second frequency bands, respectively.
The approach speed DMr (k) for the target 1 is calculated.

Reference numeral 24 denotes an observation distance corrector connected to the approach speed calculator 23. The observation distance corrector 24 corrects the observation distance based on the approach speed DMr (k) calculated by the approach speed calculator 23. (K) is calculated.

The tracking filter 7 is connected to the observation distance corrector 24, and the observation angles Eo1 (k), Eo2 (k), Az
o1 (k), Azo2 (k), and corrected observation distance R (k)
Based on the above, the tracking calculation of the target 1 is executed.

Next, the operation principle of the radar apparatus according to the first embodiment of the present invention configured as shown in FIG. 1 will be described with reference to FIGS. Embodiment 1 of the present invention is an application of the principle shown in FIG.

First, the first transceiver 18 outputs a frequency-modulated transmission waveform to the first antenna 17. At this time, parameters indicating the transmission waveform of the modulated wave relating to the first antenna 17 include a transmission pulse width Tp, a transmission center frequency f01, a transmission start frequency f11, and a transmission end frequency f2.
Represented by 1.

The first antenna 17 receives the beam 3 (FIG. 13).
As a reference, a first transmission wave is emitted into space, and a reflected wave from the target 1 is received. The first transceiver 18 amplifies and demodulates the received signal and inputs the signal to the first signal detector 19.

The first signal detector 19 detects the target 1 and observes the distance Ro1 (k) (see FIG. 17), the elevation angle Eo1 (k), and the azimuth angle Azo1 (k) of the target 1. Is input to the approach speed calculator 23.

At this time, similarly to the above, the observation distance Ro1 (k) of the target 1 observed after demodulation of the frequency modulation signal.
Changes according to the approach speed DMrt (k) of the target 1, so that a shift appears as in the following equation (4), as in the above equation (1).

[0070]

(Equation 4)

In the equation (4), δT1 is a time component determined by the constant of the transmission wave, and the shift time component δT
1 is expressed by the following equation (5), similarly to the above equation (2).

[0072]

(Equation 5)

In the equation (5), f01 is a transmission center frequency, f11 is a transmission start frequency, and f21 is a transmission end frequency.

On the other hand, the second antenna 20 and the transceiver 21
And the signal detector 22 transmits the modulated wave signal in the second frequency band and receives the reflected wave from the target 1 like the first antenna 17, the transceiver 18 and the signal detector 19, and Is amplified and demodulated to detect the target 1.

At this time, the parameter indicating the transmission waveform of the modulated wave related to the second antenna 20 is the transmission pulse width T
p, transmission center frequency f02, transmission start frequency f12, and transmission end frequency f22.

That is, the second signal detector 22 observes the distance Ro2 (k), the elevation angle Eo2 (k), and the azimuth angle Azo2 (k) of the target 1, and inputs them to the approach speed calculator 23.

Here, the observation distance Ro of the target 1 to be observed is
Since 2 (k) changes depending on the approach speed DMrt (k) of the target 1 after demodulation of the frequency modulation signal, a shift appears as in the following equation (6), as in the above equation (4).

[0078]

(Equation 6)

In equation (6), δT2 is a time component determined by the constant of the transmission wave, and the shift time component δT
2 is expressed by the following equation (7), similarly to the above equation (5).

[0080]

(Equation 7)

Hereinafter, the approach speed calculator 23 focuses on the fact that the shift amounts of the observation distances Ro1 (k) and Ro2 (k) are different in the two frequency bands, and calculates the observed values in the two transmission frequency bands. , The approach speed DMr (k) of the target 1 is calculated.

That is, the approach speed calculator 23 calculates the target 1 from the two observation distances Ro1 (k) and Ro2 (k).
Is calculated as in the following equation (8).

[0083]

(Equation 8)

Subsequently, the observation distance corrector 24 calculates the approach speed DMr (k) of the target 1 and the observation values (the distances Ro1 (k) and Ro2 of the target 1) in the two transmission frequency bands.
(K), the elevation angles Eo1 (k) and Eo2 (k), and the azimuth angles Azo1 (k) and Azo2 (k)), the observed value R (k) corrected as in the following equation (9): E
(K) and Az (k) are calculated.

[0085]

(Equation 9)

The observed value R corrected as shown in equation (9)
(K), E (k) and Az (k) correspond to the tracking filter 7
, And the tracking filter 7 executes tracking filter calculation for the target 1 in accordance with the above equation (3).

The tracking filter process is executed each time an observation value is input, and the tracking filter 7 calculates the predicted position and the smoothing speed of the target 1 and continues tracking.

As described above, the radar apparatus according to the first embodiment of the present invention shown in FIG. 1 transmits beam 3 (transmitted signal) frequency-modulated in two separated frequency bands from antennas 17 and 20. Transmit at the same time and illuminate target 1,
Observation distance R based on each reflected wave (received signal) from target 1
The approach speed D of the target 1 using o1 (k) and Ro2 (k)
Mr (k) is calculated, and the observation distance is corrected using the approach speed DMr (k).

At this time, in the corrected observation distance R (k), the shift of the observation distances Ro1 (k) and Ro2 (k) is corrected.

Therefore, when the transmission frequency is modulated, even if the deviation of the distance observation value is large with respect to the target 1 moving at high speed, the observation distance is corrected before being input to the tracking filter 7. Therefore, the tracking performance and tracking accuracy of the target 1 can be improved.

Embodiment 2 In the first embodiment, only the approach speed calculator 23 is inserted between each of the signal detectors 19 and 22 and the observation distance corrector 24. However, an approach speed estimator and a speed detail calculator are further added. May be inserted.

FIG. 2 is a block diagram showing a second embodiment of the present invention in which an approach speed estimator and a speed detail calculator are additionally provided in the first embodiment. ).

In FIG. 2, reference numeral 38 denotes each signal detector 19,
An approach speed estimator connected to 22 is a speed detail calculator connected to the approach speed calculator and the approach speed estimator. The approach speed estimator 38 and the speed detail calculator 39 include the signal detectors 19 and 22 and the observation distance corrector 2.
4 is inserted.

The approach speed estimator 38 estimates the detailed approach speed Vs (k, k) for the target 1 in the first and second frequency bands based on the Doppler information obtained from each observation value affected by frequency modulation. m, n) are calculated.

The speed detail calculator 39 is provided by the approach speed calculator 2
3 and the detailed estimated approach speed Vs (k, m, k) calculated by the approach speed estimator 38.
n), the detailed approach speed Vs for the target 1
(K) is calculated.

Therefore, the observation distance corrector 24 calculates the corrected observation distance by correcting the observation distance based on the detailed approach speed Vs (k), and the tracking filter 7 calculates the corrected observation distance based on the observation angle and the corrected observation distance. The tracking calculation of the target 1 is executed.

Next, the operation principle of the radar apparatus according to Embodiment 2 of the present invention configured as shown in FIG. 2 will be described. The first antenna 17 to the observation distance corrector 24
Is not described here in detail since it is the same as that described above.

In this case, the first signal detector 19 detects the target 1 and the distance Ro1 (k) of the target 1 and the elevation angle Eo1
(K) and the azimuth angle Azo1 (k) are observed and input to the approach speed calculator 23, and a value obtained by adding the observed frequency shift amount fd1 (k) to these observed values is used as the approach speed estimator. Input to 38. The observation frequency shift amount fd1 (k) corresponds to Doppler information corresponding to the moving speed v (k) of the target 1.

Similarly, the second signal detector 22 calculates the observation value based on the second frequency band, that is, the distance Ro2 of the target 1.
(K), elevation angle Eo2 (k) and azimuth angle Azo2
(K) is input to the approach speed calculator 23, and the Doppler information, that is, the observed frequency shift amount fd2
The value obtained by adding (k) is input to the approach speed estimator 38.

Also in this case, each of the observation distances Ro1 (k) and Ro2 (k) observed after demodulation of the frequency-modulated signal changes depending on the approach speed DMrt (k) of the target 1, respectively. A shift appears as in the equation (6).

The approach speed calculator 23 calculates the two observation distances R
The approach speed DMr (k) of the target 1 is calculated from o1 (k) and Ro2 (k) according to the above equation (8), and is input to the speed detail calculator 39.

Here, the frequency of the target 1 signal observed after demodulation of the frequency modulation signal is shifted in accordance with the moving speed v (k) of the target 1. Generally, the frequency shift amount fd (k) at this time is as follows, where λ is the wavelength of the transmission signal.
It is given by the following equation (10).

[0103]

(Equation 10)

However, in the equation (10), the frequency shift amount fd (k) is looped back at the pulse repetition frequency PRF.

Therefore, the frequency shift amounts fd1 (k) and fd2 (k) in the first and second frequency bands, and the apparent frequency shift amount fdo1 (k) observed in the first and second frequency bands. ) And fdo2 are represented by the following equation (11).

[0106]

[Equation 11]

For the transmission signal of the first frequency band (wavelength λ1), the detailed estimated approach speed Vs (k, m, n) calculated by the approach speed estimator 38 is an integer satisfying the above equation (11). It is obtained by the following equation (12) using m and n.

[0108]

(Equation 12)

For the transmission signal in the second frequency band (wavelength λ2), the detailed estimated approach speed Vs (k, m, n) calculated by the approach speed estimator 38 is an integer satisfying the above equation (11). It is obtained by the following equation (13) using m and n.

[0110]

(Equation 13)

The approach speed estimator 38 obtains the pair of the integers m and n, and calculates the detailed estimated approach speed Vs (k, m, n) as shown in equations (12) and (13). This is input to the speed detail calculator 39.

Further, the speed detail calculator 39 calculates a detail of the equations (12) and (13) based on a comparison between the detail estimated approach speed Vs (k, m, n) and the approach speed DMr (k). The integers m and n that determine the approach speed Vs (k, m, n) are obtained, and the detailed approach speed Vs (k) is calculated as in the following equation (14)
Ask for.

[0113]

[Equation 14]

Subsequently, the observation distance corrector 24 calculates the detailed approach speed Vs (k) of the target 1, the distances Ro1 (k) and Ro2 (k) of the target 1 in the two transmission frequency bands, and the elevation angle Eo1 (k). ), Eo2 (k) and azimuth angle Azo1
(K) and Azo2 (k), the following (1)
The observation values R (k), E (k) and Az (k) corrected as in the expression 5) are calculated.

[0115]

(Equation 15)

Observed value R corrected by equation (15)
(K), E (k) and Az (k) correspond to the tracking filter 7
, And the tracking filter 7 performs tracking filter calculation according to the above-described equation (3).

Thereafter, each time an observation value is input, the above-described tracking filter processing is executed, and the tracking filter 7 calculates the predicted position and the smoothing speed of the target 1 and continues tracking.

As described above, the radar apparatus according to the second embodiment of the present invention shown in FIG. 2 has the observation distances Ro1 (k) and Ro2 based on the reflected waves (received signals) for each frequency band.
The approach speed DMr (k) calculated from (k) and the detailed estimated approach speed Vs calculated from the Doppler information of the received signal.
The detailed approach speed Vs (k) is calculated using (k, m, n), and the corrected observation distance R (k) is calculated using the detailed approach speed Vs (k).

At this time, the corrected observation distance R (k)
Is corrected for the shift of the observation distances Ro1 (k) and Ro2 (k).

Therefore, when the transmission frequency is modulated, even if the deviation of the distance observation value is large with respect to the target 1 moving at a high speed, an accurate calculation of the observation distance based on the calculation of the accurate target speed is possible. Since the correction is performed before input to the tracking filter 7, the tracking performance and tracking accuracy of the target 1 can be improved.

Embodiment 3 FIG. In the first embodiment, the approach speed calculator 23 is directly connected to the output side of each of the signal detectors 19 and 22, but the approach speed calculator 23 is considered in consideration of the case where a plurality of observation values for each frequency band are generated. An observation value combination generator and an observation value combination determiner may be additionally inserted on the input side and the output side of the speed calculator 23.

FIG. 3 is a block diagram showing a third embodiment of the present invention in which an observed value combination generator and an observed value combination determiner are additionally provided in the first embodiment.
24 are the same as those described above (see FIG. 1).

Here, when a plurality of observation values each affected by frequency modulation occur in the first and second frequency bands, for example, when there are a plurality of targets 1, it is necessary to distinguish the individual targets 1. It is supposed to be dealt with when a problem occurs.

In FIG. 3, reference numeral 29 denotes each signal detector 19;
The observation value combination generator is connected to the observation value combination generator 29, and the approach speed calculator 23 is connected to the observation value combination generator 29. Reference numeral 30 denotes an observation value combination determiner connected to the approach speed calculator 23, and the observation distance corrector 24 is connected to the observation value combination determiner 30.

The observation value combination generator 29 generates a combination of observation values in the first and second frequency bands as observation value combination information.

Accordingly, the approach speed calculator 23 calculates the approach speed DMr (k) for the target 1 based on the observation distance included in the observation value combination information.

The observation value combination determiner 30 determines the observation value combination information from the relationship between the target detection positions based on the approach speed DMr (k).

Therefore, the observation distance corrector 24 corrects the observation distance based on the approach speed DMr (k) and the determination result of the observation value combination determiner 30 to calculate a corrected observation distance. The tracking calculation of the target 1 is executed based on the observation angle and the corrected observation distance.

Next, the operation principle of the radar apparatus according to Embodiment 3 of the present invention configured as shown in FIG. 3 will be described. First, based on the received signal detected in the same manner as described above, the first signal detector 19 detects the target 1 and observes the target 1 (distance Ro1 (k), elevation angle Eo1 (k),
The azimuth angle Azo1 (k)) is converted to an observation value combination generator 29.
To enter.

Similarly, the second signal detector 22 outputs the target 1
Is detected, and the observation values (distance Ro2 (k), elevation angle Eo2
(K), the azimuth angle Azo2 (k)) is input to the observation value combination generator 29.

Here, deviations appear in the observation distances Ro1 (k) and Ro2 (k) observed after demodulation of the frequency-modulated signal, as in the above-described equations (4) and (6).

The observation value combination generator 29 generates a possible combination of observation values as observation value combination information when a plurality of observation values occur in each transmission frequency band.
For example, two observations are obtained in the first frequency band,
Further, when two observation values are obtained in the second frequency band, four observation value combination information is generated.

The observation value combination information is input to the approach speed calculator 23, and the approach speed calculator 23 uses the combined distance of the two observation values to calculate the approach speed DMr of the target 1.
(K) is calculated according to the above-mentioned equation (8).

The observation value combination judging unit 30 adopts the combination of the observation values of the two frequency bands with the one having the smallest angle difference as the observation value from the same target, and inputs this to the observation distance corrector 24.

The observation distance corrector 24 calculates the approach speed DMr (k) of the target 1 and the target 1 in two transmission frequency bands.
Using the distance, the elevation angle, and the observed value of the azimuth angle, the corrected observed value is calculated according to the above-described equation (9).

The corrected observation value is input to the tracking filter 7, and the tracking filter 7 executes the tracking filter calculation according to the above-mentioned equation (3). Hereinafter, the tracking filter 7
Continues the process each time an observed value is detected.

As described above, the radar apparatus according to the third embodiment of the present invention shown in FIG. 3 executes the combination determination at the time of detecting a plurality of targets based on the observation distance of target 1 detected by the received signal. Calculate the approach speed,
Correct the deviation of the distance.

As a result, even when a plurality of received signals are detected, correction is performed before the tracking processing, and a required observation value is selected from the plurality of observation values. And the tracking accuracy can be improved.

Embodiment 4 In the third embodiment, the observation distance corrector 24 is directly connected to the output side of the observation value combination determiner 30. However, in order to distinguish the target 1 from clutter (stationary objects such as clouds), clutter is used. A decision remover may be additionally inserted.

FIG. 4 is a block diagram showing a fourth embodiment of the present invention in which a clutter judgment remover is additionally provided in the third embodiment. Reference numerals 7, 17 to 24, 29 and 30 denote the above (see FIG. 3). Is similar to

Here, it is assumed that a case where a plurality of observation values each affected by frequency modulation occur in the first and second frequency bands, for example, a case where clutter exists in addition to target 1 is dealt with. are doing.

In FIG. 4, reference numeral 31 denotes a clutter judgment remover connected to the observation value combination determiner 30, and the observation distance corrector 24 is connected to the clutter judgment remover 31. The observation value combination determiner 30 calculates the approach speed DMr (k)
Based on the target 1 to be tracked by the observation value combination information
It is determined whether or not the information is.

The clutter determination remover 31 calculates the approach speed DM.
From the determination result of the observation value combination determination unit 30 based on r (k), an observation value from a fixed target that does not need to be tracked such as clutter is determined and removed.

The observation distance corrector 24 calculates the approach speed DMr
Based on (k) and the determination result of the clutter determination remover 31, the observation distance is corrected to calculate a corrected observation distance, and the tracking filter 7 executes tracking calculation of the target based on the observation angle and the corrected observation distance. I do.

Next, the operation principle of the radar apparatus according to Embodiment 4 of the present invention configured as shown in FIG. 4 will be described. First, as described above, the observation value combination generator 29
Inputs observation value combination information to the approach speed calculator 23,
The approach speed calculator 23 calculates the approach speed DMr (k) of the target 1
Is calculated according to equation (8).

The observation value combination judging unit 30 adopts the combination of the observation values in the two frequency bands with the smaller angle difference as the observation value from the same target 1, and inputs this to the clutter judgment and elimination unit 31. I do.

The clutter determination and elimination unit 31 determines the observation value combination information having a low approach speed value among the calculated approach speeds DMr (k) as a clutter signal due to a reflected wave from a fixed target, and determines the clutter. The obtained observation value combination information is removed and input to the observation distance corrector 24.

Hereinafter, the observation distance corrector 24 calculates the corrected observation value according to the equation (9), and
Performs tracking filter calculation according to equation (3).

Thus, the approach speed DMr of the target 1
By calculating the combination of observation values at the time of detecting a plurality of targets, removing unnecessary observation values from a fixed target such as clutter, and correcting the deviation of the distance, Select required observations from multiple observations to prevent false alarms from fixed targets,
The detection and tracking performance and tracking accuracy of the target 1 can be improved.

Embodiment 5 FIG. In the third embodiment, the approach speed calculator 23 and the observed value combination determiner 30 are connected to the output side of the observed value combination generator 29. However, an approach speed estimator and an observed value combination selector are additionally inserted. May be.

FIG. 5 is a block diagram showing a fifth embodiment of the present invention in which an approach speed estimator and an observation value combination selector are additionally inserted in place of the observation value combination determiner 30 of the third embodiment. , 17 to 24, 29 and 38 are the same as those described above (see FIGS. 2 and 3).

In FIG. 5, the approach speed estimator 38 is connected to the observation value combination generator 29 and the approach speed calculator 23
, And calculates a detailed estimated approach speed to the target 1 based on Doppler information obtained from the observation value combination information.

An observation value combination selector 40 is connected to the approach speed calculator 23 and the approach speed estimator 38, and selects observation value combination information and calculates the speed. The observation value combination selector 40 outputs the detailed estimated approach speed Vs (k, m,
Based on the comparison between n) and the approach speed DMr (k), the corresponding observation value combination information is selected from the observation value combination information.

The observation distance corrector 24 calculates the approach speed DMr.
Based on (k) and the selection result of the observation value combination selector 40, the observation distance is corrected to calculate the corrected observation distance, and the tracking filter 7 calculates the tracking of the target 1 based on the observation angle and the corrected observation distance. Execute

Next, the operation principle of the radar apparatus according to Embodiment 5 of the present invention configured as shown in FIG. 5 will be described. First, as described above, the first signal detector 19
The distance Ro1 (k), the elevation angle Eo1 (k), the azimuth angle Azo1 (k) of the target 1 and the frequency shift fd1 (k) due to the Doppler corresponding to the approach speed are observed, and these are sent to the observation value combination generator 29. input.

The second signal detector 22 calculates the distance Ro2 (k) of the target 1, the elevation angle Eo2 (k), and the azimuth angle Az.
Observe o1 (k) and frequency shift fd2 (k),
These are input to the observation value combination generator 29.

The observed value combination generator 29 inputs the observed value combination information to the approach speed calculator 23 and the approach speed estimator 38. The approach speed calculator 23 calculates the approach speed DMr of the target 1 using the combined distance of the two observation values.
(K) is calculated according to equation (8).

The approach speed estimator 38 calculates the integers m and n of the detailed estimated approach speed Vs (k, m, n) by using the frequency shift amount obtained by combining the two observed values, as shown in (12).
Calculate according to the formula.

The observation value combination selector 40 determines the combination of the observation values in each frequency band by using the correspondence between the approach speed DMr (k) and the detailed estimated approach speed Vs (k, m, n).
(12) is selected by selecting the integers m and n in the equation,
Further, the detailed approach speed Vs (k) is calculated and input to the observation distance corrector 24.

Hereinafter, the observation distance corrector 24 corrects the observation value corrected using the detailed approach speed Vs (k) of the target 1 and the observation value of the distance, elevation angle, and azimuth angle of the target 1 in each transmission frequency band. Is calculated according to equation (9). The tracking filter 7 uses the corrected observation value to perform tracking filter calculation according to the equation (3).

As described above, the approach speed DMr (k) is calculated based on the observation distance of the target 1 detected from each received signal, and the detailed estimated approach speed Vs is calculated based on the Doppler information detected from the received signal. (K, m, n) is estimated, and the approach speed DMr (k) and the detailed estimated approach speed Vs are calculated.
The detailed approach speed Vs (k) is calculated from (k, m, n),
The shift of the distance is corrected using the selection result of the observation value combination selector 40 at the time of detecting a plurality of targets.

As a result, before the tracking processing, the observation distance can be accurately corrected based on the accurate target speed, and a required observation value can be selected from a plurality of observation values.
And the tracking accuracy and tracking accuracy can be improved.

Embodiment 6 FIG. In the first embodiment, the initial value of the approach speed of the target 1 is not considered, but the tracking filter 7 is provided with an initial speed value setting device for setting the initial speed value as the initial value of the approach speed. Is also good.

FIG. 6 shows the tracking filter 7 according to the first embodiment.
FIG. 13 is a block diagram showing a sixth embodiment of the present invention in which a speed initial value setting device is provided in FIG.

In FIG. 6, the tracking filter 7 includes a speed initial value setting device.
Based on (k), an initial value (speed initial value) of the approach speed of the target 1 in the tracking filter calculation is set.

Next, the operating principle of the radar apparatus according to Embodiment 6 of the present invention configured as shown in FIG. 6 will be described. First, similarly to the above, each of the signal detectors 19, 22
Are the distances Ro1 (k) and Ro2 (k) of the target 1 and the elevation angle E
o1 (k), Eo2 (k), azimuth angle Azo1
(K), observing Azo2 (k) and approaching speed calculator 23
To enter.

The approach speed calculator 23 calculates each observation distance Ro1
From (k) and Ro2 (k), the approach speed DMr (k) of the target 1 is calculated according to the equation (8), and the observation distance corrector 2
4 and the tracking filter 7.

The observation distance corrector 24 uses the approach speed DMr (k) of the target 1 and the observation values of the distance, the elevation angle, and the azimuth angle of the target 1 in each transmission frequency band to convert the corrected observation value to (9 ) Is calculated according to the formula.

The corrected observation value and the approach speed DMr (k) calculated from the two observation values are input to the tracking filter 7, and the tracking filter 7 calculates the tracking filter according to the equation (3).

At this time, the speed initial value setting unit in the tracking filter 7 sets the speed initial value as an initial value of the approach speed of the target 1 in the distance direction according to the following equation (16).

[0171]

(Equation 16)

In the equation (16), dRk (+) is the initial speed of the target 1. Hereinafter, the tracking filter 7 executes the above processing every time an observation value is input, calculates the predicted position and the smoothing speed of the target 1, and continues tracking.

As described above, the approach speed of the target 1 is calculated to correct the deviation of the distance, and the initial speed value of the target 1 is set by the initial speed value setting device in the tracking filter 7, whereby the target tracking is performed. It can be used as an initial value of the speed data among the data.

Therefore, even when the calculation of the target speed is likely to be unstable, the speed data calculated by the tracking filter 7 can be stabilized by correcting the observation distance before the tracking process. 1 can improve tracking performance and tracking accuracy.

Embodiment 7 FIG. Similarly, the second embodiment
So, we did not consider the initial speed value of Goal 1,
A speed initial value setting device for setting an initial speed value may be provided in the tracking filter 7.

FIG. 7 shows a tracking filter 7 according to the second embodiment.
And FIG. 17 is a block diagram showing a seventh embodiment of the present invention in which a speed initial value setting device is provided in FIG.
Reference numeral 9 is the same as described above (see FIG. 2).

In FIG. 7, the tracking filter 7 includes a speed initial value setting device. The speed initial value setting device in the tracking filter 7 calculates the approach of the target 1 in the tracking filter calculation based on the detailed approach speed Vs (k). Speed initial value (speed initial value)
Set.

Next, the operating principle of the radar apparatus according to Embodiment 7 of the present invention configured as shown in FIG. 7 will be described. First, similarly to the above, each of the signal detectors 19, 22
Are the distances Ro1 (k) and Ro2 (k) of the target 1 and the elevation angle E
o1 (k), Eo2 (k), azimuth angle Azo1
(K), observing Azo2 (k) and approaching speed calculator 23
To enter.

Each of the signal detectors 19 and 22 outputs the target 1
The observation frequency shift amounts fd1 (k) and fd2 (k) due to the Doppler effect corresponding to the moving speed are added to the approach speed estimator 38.

The approach speed calculator 23 calculates each observation distance Ro1
From (k) and Ro2 (k), the approach speed DMr (k) of the target 1 is calculated according to the equation (8), and this is input to the speed detail calculator 39, the observation distance corrector 24, and the tracking filter 7.

The approach speed estimator 38 obtains the integers m and n satisfying the equation (12) and obtains the detailed estimated approach speed Vs
(K, m, n) is calculated and input to the speed detail calculator 39.

The speed detail calculator 39 compares the detailed estimated approach speed Vs (k, m, n) with the approach speed DMr (k) to calculate the detailed estimated approach speed Vs (k, m,
Find the integers m and n that determine n) and obtain the detailed approach speed Vs
Find (k).

The observation distance corrector 24 uses the detailed approach speed Vs (k) of the target 1 and the observation values of the distance, the elevation angle, and the azimuth angle of the target 1 in each transmission frequency band.
The corrected observation value is calculated according to the equation (9).

The tracking filter 7 uses the corrected observation value and the approach speed calculated from the two observation values to calculate
The tracking filter calculation is performed according to the equation (3). At this time, the initial value of the approach speed in the distance direction is set as the speed initial value according to the equation (16).

This processing is performed every time an observation value is input.
The predicted position and the smoothing speed of the target 1 are calculated, and the tracking is continued.

As described above, the detailed approach speed Vs (k) is calculated to correct the deviation of the distance, and the initial value of the approach speed of the target 1 calculated by the tracking filter 7 is set. It can be used as an initial value of the speed data among the tracking data of 1.

Therefore, even if the calculation of the target speed is likely to be unstable, the speed data calculated by the tracking filter 7 is stabilized by executing the correction of the observation distance before the tracking process, and the tracking performance and Tracking accuracy can be improved.

Embodiment 8 FIG. In the third embodiment, the observation value combination determiner 30 is inserted between the approach speed calculator 23 and the observation distance corrector 24.
May be inserted.

FIG. 8 is a block diagram showing an eighth embodiment of the present invention in which a velocity correlation determiner is provided in place of the observed value combination determiner 30 of the third embodiment. This is similar to the above (see FIG. 3).

In FIG. 8, reference numeral 32 denotes a speed correlation determiner associated with the filter 7 and is inserted between the approach speed calculator 23 and the observation distance corrector 24. Based on the approach speed DMr (k) and the speed calculation result of the tracking filter 7, the speed correlation determiner 32 determines whether or not the observation value combination information is information on the target 1 being tracked.

Therefore, the observation distance corrector 24 corrects the observation distance based on the approach speed DMr (k) and the determination result of the velocity correlation determiner 32 to calculate a corrected observation distance.
This is input to the tracking filter 7.

Next, the operation principle of the radar apparatus according to Embodiment 8 of the present invention configured as shown in FIG. 8 will be described. First, similarly to the above, each of the signal detectors 19, 22
Are the distances Ro1 (k) and Ro2 (k) of the target 1 and the elevation angle E
o1 (k), Eo2 (k), azimuth angle Azo1
(K), Azo2 (k) is observed and input to the observed value combination generator 29.

When a plurality of observation values in each transmission frequency band are generated, the observation value combination generator 29 generates a possible combination of observation values as observation value combination information, and sends this to the approach speed calculator 23. input.

The approach speed calculator 23 calculates the approach speed DMr (k) of the target 1 from the combined distance of the two observation values.
Is calculated according to the equation (8), and this is input to the speed correlation determiner 32.

The speed correlation determiner 32 compares the combination of the observed values in each frequency band based on the approach speed of the target 1 calculated by the tracking filter 7 at the previous sampling time, and determines the combination of the observed values with a small speed difference. Is adopted as an observation value from the same target, and this is input to the observation distance corrector 24.

The observation distance corrector 24 uses the approach speed DMr (k) of the target 1 and the observation values of the distance, the elevation angle, and the azimuth angle in each transmission frequency band to correct the observation value in accordance with the equation (9). Is calculated.

Hereinafter, the tracking filter 7 executes the tracking filter calculation according to the equation (3) for each input of the observed value using the corrected observed value, and calculates the predicted position and the smoothing speed of the target 1. Continue tracking.

As described above, the optimum combination determination at the time of detection of a plurality of targets is executed based on the approach speed of the target 1 during tracking, and the deviation of the observation distance is corrected before the tracking processing, so that a plurality of observations can be performed. An observation value corresponding to the target speed during tracking can be selected from the values, and tracking performance and tracking accuracy can be improved.

Embodiment 9 FIG. In the fifth embodiment, the observation distance corrector 24 is directly connected to the observation value combination selector 40. However, the speed associated with the tracking filter 7 is provided between the observation value combination selector 40 and the observation distance corrector 24. A correlation determiner may be inserted.

FIG. 9 is a block diagram showing a ninth embodiment of the present invention in which a speed correlation determiner is additionally provided in the fifth embodiment.
0 is the same as described above (see FIGS. 5 and 8).

In FIG. 9, the velocity correlation determiner 32 associated with the filter 7 is inserted between the observation value combination selector 40 and the observation distance corrector 24. The observation value combination selector 40 selects corresponding observation value combination information from the observation value combination information based on a comparison between the detailed estimated approach speed and the approach speed DMr (k).

The speed correlation determiner 32 calculates the approach speed DMr
Based on (k) and the detailed estimated approach speed, it is determined whether or not the observation value combination information is information on an anti-aircraft target being tracked. The observation distance corrector 24 corrects the observation distance based on the detailed estimated approach speed and the determination result of the velocity correlation determiner to calculate a corrected observation distance.

Next, the operation principle of the radar apparatus according to the ninth embodiment of the present invention configured as shown in FIG. 9 will be described. First, as described above, the approach speed calculator 23 calculates the approach speed DMr (k) of the target 1 according to the equation (8), and the approach speed estimator 38 calculates the detailed estimated approach speed Vs according to the equation (12). Find integers m and n of (k, m, n).

The observation value combination selector 40 selects the combination of the observation values in the two frequency bands according to the correspondence between the approach speed DMr (k) and the detailed estimated approach speed Vs (k, m, n). Equations (m) and (n) are calculated to obtain the detailed approach speed V
s (k) is calculated and input to the speed correlation determiner 32.

The speed correlation determiner 32 compares the combination of the observed values of the two frequency bands based on the approach speed of the target 1 calculated by the tracking filter 7 at the previous sampling time, and determines the value of the observed value with a small speed difference. The combination is adopted as an observation value from the same target, and this is used as the observation distance corrector 2
Enter 4

The observation distance corrector 24 obtains (9) the observation value of the detailed approach speed Vs (k) of the target 1 and the distance, elevation angle, and azimuth angle of the target 1 in two transmission frequency bands.
The corrected observation value is calculated according to the equation.

Subsequently, as described above, the tracking filter 7
Using the corrected observed value, a tracking filter calculation according to the equation (3) is executed each time an observed value is input, and the predicted position and the smoothing speed of the target 1 are calculated to continue the tracking.

As described above, the optimum combination determination at the time of detecting a plurality of targets is executed based on the approach speed of the target 1 being tracked, and the deviation of the observation distance is corrected before the tracking processing, so that a plurality of targets can be detected. Even when 1 is detected, it is possible to select an observation value corresponding to the target speed during tracking from among a plurality of observation values, thereby improving tracking performance and tracking accuracy.

Embodiment 10 FIG. In the first embodiment,
In the above, the turning determination of the target 1 was not considered, but a turning determiner and a filter gain selector related to the tracking filter 7 may be additionally inserted between the approach speed calculator 23 and the tracking filter 7.

FIG. 10 is a block diagram showing a tenth embodiment of the present invention in which a turning determiner and a filter gain selector are additionally inserted in the first embodiment.
Reference numeral 24 is the same as described above (see FIG. 1).

In FIG. 10, reference numeral 33 denotes a turning determiner related to the tracking filter 7, which is connected to the approach speed calculator 23. Reference numeral 34 denotes a filter gain selector, which is inserted between the turning determiner 33 and the tracking filter 7.

The turning determiner 33 calculates the approach speed DMr (k).
It is determined whether or not the tracked target 1 has turned based on the change of the target. When it is determined that the target 1 is turning, the filter gain selector 34 changes the gain of the tracking filter 7.

Accordingly, the tracking filter 7 performs tracking calculation of the target 1 based on the observation angle and the corrected observation distance, and the gain set by the filter gain selector 34.

Next, the operating principle of the radar apparatus according to Embodiment 10 of the present invention configured as shown in FIG. 10 will be described. First, as described above, the approach speed calculator 23
Calculates the approach speed DMr (k) of the target 1 according to the equation (8).

The turning determiner 33 compares the approach speed DMr (k) calculated by the approach speed calculator 23 with the approach speed calculated by the tracking filter 7 at the previous sampling time, and based on the difference therebetween. It is determined whether or not the target 1 is turning, and the result of the determination is input to the filter gain selector 34.

The filter gain selector 34 appropriately changes the set value (filter gain) of the drive noise parameter of the tracking filter 7 according to whether the target 1 is turning or traveling straight.

The observation distance corrector 24 uses the approach speed DMr (k) of the target 1 and the observation values of the distance and the angle in the two transmission frequency bands to calculate the observation value corrected according to the equation (9). calculate.

Hereinafter, the tracking filter 7 calculates the approach speed DMr (k) calculated from the corrected observation value and the two observation values.
After setting the velocity initial value by using, the tracking filter calculation is executed according to (3).

[0219] When the target 1 is turning,
By changing the setting of the drive noise, the filter gain of the tracking filter 7 is increased, so that the tracking performance is automatically improved.

As described above, the turning judgment is performed based on the target speed calculated by the tracking filter 7 and the observed approach speed, and the setting of the Kalman gain matrix, which is the smoothing coefficient of the tracking filter 7, is increased or decreased to follow up. And the deviation of the observation distance is corrected before the tracking processing.

Therefore, even when the target 1 makes a turning motion, the tracking filter gain can be selected from the determination result of the turning motion of the target 1 to apply an accurate target speed, and the tracking performance and the tracking of the target 1 can be applied. Accuracy can be improved.

Embodiment 11 FIG. The third embodiment
In the above, the observation value combination determiner 30 is inserted between the approach speed calculator 23 and the observation distance corrector 24. However, the observation value combination determiner 30 is removed, and the multi-target tracking filter is used instead of the tracking filter 7. It may be provided.

FIG. 11 is a block diagram showing an eleventh embodiment of the present invention in which a multi-target tracking filter is provided in place of the observation value combination determiner 30 of the third embodiment.
4 and 29 are the same as those described above (see FIG. 3).

In FIG. 11, reference numeral 35 denotes a multi-target tracking filter comprising a gate correlation tracking filter, which is connected to the observation distance corrector 24. Multi-target tracking filter 35
Executes wake correlation processing and tracking calculation based on observation angles and corrected observation distances corresponding to a plurality of targets 1.

Next, the operating principle of the radar apparatus according to Embodiment 11 of the present invention configured as shown in FIG. 11 will be described. First, as described above, the observation value combination generator 2
9 generates a combination of possible observation values as observation value combination information when a plurality of observation values in each transmission frequency band are generated, and inputs this to the approach speed calculator 23.

The approach speed calculator 23 calculates the approach speed DMr (k) of the target 1 from the combined distance of the two observation values.
Is calculated according to equation (8).

The observation distance corrector 24 uses the approach speed DMr (k) of the target 1 and the observation values of the distance, the elevation angle, and the azimuth angle in each transmission frequency band to obtain (9)
The corrected observation value is calculated according to the equation, and this is input to the multi-target tracking filter 35.

In this case, there are as many corrected observation values as the combined number, and all the correction observation values are input to the multi-target tracking filter 35. Hereinafter, the multi-target tracking filter 35
Using the combination of corrected observations,
The tracking filter is calculated according to the equation (7).

[0229]

[Equation 17]

In equation (17), as in equation (3) above, Zk is an observed value as input data, and distance Ro
(K), a vector of 3 rows and 1 column including components of the elevation angle Eo (k) and the azimuth angle Az (k).

Further, Sk is a matrix of 3 rows and 3 columns indicating the range of the correlation gate, Pd is the set value of the detection probability, βk, i is the reliability of the observation value calculated by the correlation processing, and mk is the input observation value. The number of values, DMr (k), i are the approach speed components for each combination of observed values, DMrp is the predicted approach speed, σDMr
Is the approach speed observation accuracy.

Further, g (A; B, C) indicates a probability density function based on a normal distribution, and calculates the probability density of the observed value A with the predicted value B as the center and the existence range of the observed value as the standard deviation C. Means that.

The term of the correlation between the observed position and the predicted position indicates a probability density function based on a normal distribution of a distance, an elevation angle, and an azimuth angle in a three-dimensional space, and the term of approach speed is based on a one-dimensional normal distribution. 9 shows a probability density function.

Therefore, the multi-target tracking filter 35
The correlation gate weights a plurality of input observation values according to the probability density, integrates them, and executes tracking filter calculation.

In equation (17), Xk (+) is a vector of smoothed values, and Xk (-) is a multi-target tracking filter 3.
5 is a vector of predicted values, which are output specifications of 5, each of which is a vector of 6 rows and 1 column including a distance, an elevation angle, and an azimuth angle, and respective velocity components.

Kk is a 6-row, 3-column Kalman gain matrix serving as a smoothing coefficient, H is a 3-row, 6-column matrix for converting observed values, and Pk (+) is a 6-row, 6-column indicating a smoothed error covariance. , Pk (-) is a 6-by-6 matrix showing the prediction error covariance, and Φ (k) is a 6-by-3 matrix showing the transition of the prediction time.

Further, Qk is a driving noise constant indicating the instability of the target motion, and is a value set in advance. Γ ₁
(K) is a matrix of 6 rows and 6 columns for converting the driving noise.

Rk is a matrix of 6 rows and 6 columns indicating the magnitude of random observation noise from the radar, and is composed of a preset constant. Further, Γ ₂ (k) is a matrix for converting the observation noise.

Based on the above equation (17), the multi-target tracking filter 35 performs a correlation process on the positions and approach speeds of the plurality of input observation values based on the predicted tracking position and the smoothing speed, and sets the target to be tracked. Calculate the observed value that seems to be 1. That is, the representative value of the observed value is calculated by weighting integration based on the reliability of the observed value.

This process is performed each time an observation value is input, the predicted position of the target 1 and the smoothing speed are calculated, and tracking is continued. In this way, the approach speed of the target 1 is calculated to correct the deviation of the observation distance, and the multi-target tracking filter 35 is used to perform correlation processing between the wake and the observed value using the position information and the approach speed information. Execute.

As a result, even in a clutter environment in which a plurality of targets 1 are detected, by correcting the observation distance before the tracking processing, an observation corresponding to the predicted target position and the velocity during tracking out of the plurality of observation values is obtained. The value can be selected, and the tracking continuation performance and the tracking accuracy of the target 1 can be improved.

Embodiment 12 FIG. In the first embodiment,
In the case of 0, the filter gain selector 34 related to the tracking filter 7 is provided. However, instead of the tracking filter 7 and the filter gain selector 34, a multiple motion model tracking filter and a motion model setting selector may be provided.

FIG. 12 is a block diagram showing a twelfth embodiment of the present invention in which a multiple motion model tracking filter and a motion model setting selector are provided in place of the tracking filter 7 and the filter gain selector 34 of the tenth embodiment. Yes,
17 to 24 and 33 are the same as those described above (see FIG. 10).

In FIG. 12, reference numeral 36 denotes a multiple motion model tracking filter, which is connected to the observation distance corrector 24 instead of the tracking filter 7 described above. Reference numeral 37 denotes a motion model setting selector associated with the multiple motion model tracking filter 36, which is connected to the turning determiner 33 instead of the above-described filter gain selector 34.

The motion model setting selector 37 changes the setting of the multiple motion model of the multiple motion model tracking filter 36 when the turning determiner 33 determines that the target 1 is turning.

The multi-motion model tracking filter 36 includes an observation angle and a corrected observation distance, and a motion model setting selector 37.
The tracking calculation of the target 1 is executed by using the multi-motion model prediction method based on the multi-motion model set by the above.

Next, the operation principle of the radar apparatus according to Embodiment 12 of the present invention configured as shown in FIG. 12 will be described. First, as described above, the approach speed calculator 23
Is the approach speed DMr of target 1 from the two observed distances
(K) is calculated according to equation (8),
Determines whether the target 1 is turning based on the difference between the approach speed DMr (k) and the approach speed calculated by the tracking filter at the previous sampling time.

The judgment result of the turning judgment unit 33 is input to the exercise model setting selector 37, and the exercise model setting selector 37
Changes the set values of the multiple motion model parameters of the multiple motion model tracking filter 36 according to the situation of the target turning or traveling straight.

The observation distance corrector 24 uses the approach speed DMr (k) of the target 1 and the observation values of the distance, the elevation angle, and the azimuth angle in the two transmission frequency bands to correct the observation value in accordance with the equation (9). Is calculated.

The approach speed calculated from the corrected observation value and the two observation values is calculated based on the multiple motion model tracking filter 3
The multi-motion model tracking filter 36 calculates the multi-motion model tracking filter according to the following equation (18).

[0251]

(Equation 18)

In equation (18), Zk is an observation value which is an input parameter, and is a 3-row × 1-column vector including components of distance Ro (k), elevation angle Eo (k), and azimuth angle Az (k). is there.

The multiple motion model tracking filter 36 improves the prediction accuracy by assuming a plurality of motion models such as “the target 1 is going straight” or “turning 1G” and taking into account the calculation of the predicted position. Let me.

In equation (18), Sk is a 3-by-3 matrix indicating the range of the motion model correlation gate.
A constant acceleration vector in each of the k and n motion models, and Γ (k) is a conversion matrix of the constant acceleration vector of the motion model.

Also, DMr, n (k) is the predicted approach speed for each motion model, DMr (k) is the approach speed observed value, σDM
r is the observation accuracy of the approach speed, Δkp is the reliability of the motion model calculated by correlation processing of the motion model, and n is the number of the motion model.

Further, g (A; B, C) represents a probability density function based on a normal distribution, with the predicted value B of each motion model as the center, and the existence range of the predicted value as the standard deviation C, and the observed value A Means that the probability density of the motion model is obtained. As a result, the reliability of the motion model is obtained.

The multiple motion model tracking filter 36 performs weighting according to the probability density on the predicted values calculated by the plurality of motion models by the correlation gate, integrates them, and executes the tracking filter calculation.

In equation (18), Xk (+) is a vector of a smoothed value, and Xk (-) is a vector of a predicted value which is an output parameter of the tracking filter. And a vector of 6 rows and 1 column including the respective velocity components.

Kk is a 6-row, 3-column Kalman gain matrix serving as a smoothing coefficient, H is a 3-row, 6-column matrix for converting observed values, and Pk (+) is a 6-row, 6-column indicating a smoothed error covariance. , Pk (-) is a 6-by-6 matrix showing the prediction error covariance, and Φ (k) is a 6-by-3 matrix showing the transition of the prediction time.

Qk is a driving noise constant indicating the instability of the target motion, and is a preset value. Also, Γ
₁ (k) is a matrix of 6 rows and 6 columns for converting the driving noise.

Further, Rk is a matrix of 6 rows and 6 columns indicating the magnitude of random observation noise by the radar, and is a preset constant. Γ ₂ (k) is a matrix for converting the observation noise.

During the turning of the target 1, since the position predicted by the multiple motion model method is set to be suitable for the target motion, the prediction accuracy is automatically improved. The multiple motion model tracking filter 36 executes the above-described processing each time an observation value is input, calculates the predicted position and the smoothing speed of the target 1, and continues tracking.

As described above, the approach speed of the target 1 is calculated to correct the deviation of the observation distance, and the multiple motion model tracking filter 36 based on the multiple motion model prediction method is used.
, A correlation process is performed between the observed value and the motion model using the position information and the approach speed information.

Thus, even when the target 1 performs a turning motion, the correction of the observation distance is performed before the tracking processing, and a tracking filter prediction method suitable for the target motion is selected from the result of the determination of the turning motion of the target 1. As a result, the predicted position can be accurately calculated, and the tracking performance and the tracking accuracy for the target 1 during turning can be improved.

In each of Embodiments 1 to 12, 2
Although the radar apparatus using one transmission frequency band has been described, it is needless to say that the present invention can be applied to a radar apparatus using two or more transmission frequency bands.

[0266]

As described above, according to the first aspect of the present invention, in the radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and the second transmitting and receiving beams for the anti-aircraft target are performed. First and second antennas having a second frequency band, first and second transceivers for inputting and outputting frequency-modulated transmission and reception signals to the first and second antennas, A first and a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on a reception signal from the second transceiver, respectively, and a frequency in a first and a second frequency band, respectively. Based on each observation distance affected by the modulation,
An approach speed calculator that calculates the approach speed to the anti-aircraft target, an observation distance corrector that corrects the observation distance based on the approach speed to calculate the corrected observation distance, and tracking of the anti-aircraft target based on the observation angle and the corrected observation distance A tracking filter that performs the calculation is provided, and the observation distance correction is executed before inputting to the tracking filter, so the deviation of the distance observation value with respect to the anti-aircraft target that moves at high speed when the transmission frequency modulation is applied Is large, an accurate observation distance correction based on an accurate target speed can be realized, and there is an effect that a radar device with improved target detection and tracking performance and tracking accuracy can be obtained.

According to a second aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, in the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An approach speed calculator that calculates an approach speed to an anti-aircraft target based on each observed distance, and an approach speed calculator that calculates the approach speed from the observed values affected by frequency modulation in the first and second frequency bands. And based on the Doppler information, the closing velocity estimator for calculating a detailed estimate approach speed for the anti-aircraft target, the speed detail calculator for calculating a detailed approach speed for the anti-aircraft targets based on detailed estimation approach speed and approach speed that,
An observation distance corrector that corrects the observation distance based on the detailed approach speed to calculate a corrected observation distance, and a tracking filter that performs tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance, and provides an accurate target Since the accurate observation distance correction based on the velocity is performed before the tracking filter processing, even if the deviation of the distance observation value occurs greatly with respect to the anti-aircraft target that moves fast when the transmission frequency modulation is applied, There is an effect that a radar device with improved target detection and tracking performance and tracking accuracy can be obtained.

According to a third aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values are generated. Based on the observation distance included in,
An approach speed calculator that calculates the approach speed to the anti-aircraft target, an observation value combination determiner that determines observation value combination information based on the relationship between the detection position of the anti-aircraft target based on the approach speed, and an approach speed and observation value combination determiner. An observation distance corrector that corrects the observation distance based on the determination result to calculate a corrected observation distance, and a tracking filter that performs tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance, and provides an accurate target speed. Since the accurate observation distance correction based on is performed before the tracking filter processing, the deviation of the distance observation value greatly occurs with respect to the anti-aircraft target that moves at high speed when the transmission frequency modulation is applied, and multiple targets are detected. Even if detected, a required observation value is selected from a plurality of observation values, and there is an effect that a radar device with improved target detection and tracking performance and tracking accuracy can be obtained.

According to a fourth aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values are generated. Based on the observation distance included in,
An approach speed calculator that calculates an approach speed to an anti-aircraft target; an observation value combination determiner that determines whether the observation value combination information is information of an anti-aircraft target to be tracked based on the approach speed; A clutter judgment remover that judges and removes the observation value from a fixed target that does not need to be tracked based on the clutter, and corrects the observation distance based on the approach speed and the judgment result of the clutter judgment remover to correct the observation distance An observation distance corrector for calculating, and a tracking filter for executing tracking calculation of an airborne target based on the observation angle and the corrected observation distance are provided, and an accurate observation distance correction based on an accurate target speed is executed before the tracking filter processing. Therefore, when the transmission frequency modulation is applied, a large deviation of the distance observation value occurs with respect to the anti-aircraft target moving at high speed, and a plurality of targets including clutter are detected. Also, by selecting the required observations from a plurality of observation values, target detection tracking performance and the radar device with improved tracking accuracy is the effect obtained.

According to a fifth aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, in the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values are generated. Based on the distance information contained in,
An approach speed calculator that calculates an approach speed to an anti-aircraft target, an approach speed estimator that calculates a detailed estimated approach speed to an anti-aircraft target based on Doppler information obtained from observation value combination information, and an approach speed estimator that calculates a detail estimated approach speed and an approach speed. An observation value combination selector that selects the corresponding observation value combination information from the observation value combination information based on the comparison, and a correction observation distance that corrects the observation distance based on the approach speed and the selection result of the observation value combination selector And a tracking filter that performs tracking calculation of the anti-aircraft target based on the observation angle and corrected observation distance, and performs accurate observation distance correction based on the accurate target speed before tracking filter processing Therefore, when transmission frequency modulation is applied, the deviation of the distance observation value greatly occurs with respect to the anti-aircraft target moving at high speed, and clutter is generated. Be no more targets are detected, select the required observations from a plurality of observation values, target detection tracking performance and the radar device with improved tracking accuracy is the effect obtained.

According to a sixth aspect of the present invention, there is provided a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, in the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An approach speed calculator that calculates an approach speed to an anti-aircraft target based on each of the observed distances, and an observation distance corrector that corrects the observed distance based on the approach speed to calculate a corrected observation distance. A tracking filter that performs tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance, wherein the tracking filter is a speed initial value setting device that sets an initial speed of the anti-aircraft target in the tracking filter calculation based on the approach speed. Since the accurate observation distance correction based on the accurate target speed is performed before the tracking filter processing, the deviation of the distance observation value with respect to the anti-aircraft target that moves fast when the transmission frequency modulation is applied Even if the situation is large and the target speed calculation becomes unstable, the effect of obtaining a radar device with improved target detection and tracking performance and tracking accuracy by stabilizing the speed parameters calculated by the tracking filter can be obtained. is there.

According to the seventh aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An approach speed calculator that calculates an approach speed to an anti-aircraft target based on each observed distance, and an approach speed calculator that calculates the approach speed from the observed values affected by frequency modulation in the first and second frequency bands. And based on the Doppler information, the closing velocity estimator for calculating a detailed estimate approach speed for the anti-aircraft target, the speed detail calculator for calculating a detailed approach speed for the anti-aircraft targets based on detailed estimation approach speed and approach speed that,
An observation distance corrector that corrects the observation distance based on the detailed approach speed to calculate a corrected observation distance, and a tracking filter that performs tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance, includes a tracking filter. Includes a velocity initial value setting unit that sets the velocity initial value of the anti-aircraft target in the tracking filter calculation based on the detailed approach velocity, and performs accurate observation distance correction based on the accurate target velocity before the tracking filter processing. Therefore, even if the deviation of the distance observation value is large with respect to the anti-aircraft target that moves at high speed when the transmission frequency modulation is applied, and the target speed calculation becomes unstable, the speed calculated by the tracking filter is not changed. There is an effect that a radar device in which the source is stabilized and the target detection and tracking performance and the tracking accuracy are improved can be obtained.

Further, according to the eighth aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values are generated. A closing velocity calculator for calculating the approach speed for anti-aircraft targets based on the observation distance included in,
Based on the approach speed, a speed correlation determiner that determines whether the observation value combination information is information on an anti-aircraft target being tracked,
An observation distance corrector that corrects the observation distance based on the determination result of the approach speed and velocity correlation determiner to calculate a correction observation distance, and a tracking filter that performs tracking calculation of an anti-aircraft target based on the observation angle and the correction observation distance And the accurate observation distance correction based on the accurate target speed is executed before the tracking filter processing, so the deviation of the distance observation value with respect to the anti-aircraft target that moves fast when the transmission frequency modulation is applied Is large, and even if a plurality of targets are detected, an observation value corresponding to the target speed being tracked is selected from a plurality of observation values, and a radar device with improved target detection and tracking performance and tracking accuracy is obtained. Has the effect.

According to a ninth aspect of the present invention, in a radar apparatus for detecting and tracking an air-to-air target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the air-to-air target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values are generated. A closing velocity calculator for calculating the approach speed for anti-aircraft targets based on the observation distance included in,
An approach speed estimator that calculates the detailed estimated approach speed to the anti-aircraft target based on the Doppler information obtained from the observed value combination information, and the corresponding observation from the observed value combination information based on a comparison between the detailed estimated approach speed and the approach speed An observation value combination selector for selecting value combination information; a velocity correlation determiner for determining whether or not the observation value combination information is information of an anti-aircraft target being tracked based on the detailed estimation approach speed; An observation distance corrector that corrects the observation distance based on the determination result of the velocity and velocity correlation determiner to calculate a corrected observation distance, and a tracking filter that performs tracking calculation of an anti-aircraft target based on the observation angle and the corrected observation distance. And performs accurate observation distance correction based on the accurate target speed before the tracking filter processing, so that when the transmission frequency modulation is applied, it moves at high speed. Even if the deviation of the distance observation value with respect to the sky target is large and multiple targets are detected, the observation value matching the target speed being tracked is selected from the multiple observation values, and the target detection and tracking performance In addition, there is an effect that a radar device with improved tracking accuracy can be obtained.

According to the tenth aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An approach speed calculator that calculates an approach speed to an anti-aircraft target based on each of the observed distances, and an observation distance corrector that corrects the observed distance based on the approach speed and calculates a corrected observed distance. A turn determiner that determines whether or not the tracked air target is turning based on a change in approach speed, and a filter gain that changes the gain of the tracking filter when the air target is determined to be turning. A selector and a tracking filter that executes tracking calculation of an air-to-air target based on the observation angle and the correction observation distance and the gain set by the filter gain selector, and corrects the observation distance accurately based on an accurate target speed. Is executed before the tracking filter processing, so that when the transmission frequency modulation is applied, a large deviation of the distance observation value occurs with respect to the anti-aircraft target moving at high speed, and even if the target makes a turning motion, the turning motion Radar device that can select a tracking filter gain from the determination result of (1) and apply an accurate target speed, and secures tracking performance to improve target detection and tracking performance and tracking accuracy There is an effect obtained.

According to the eleventh aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. If multiple observations occur,
An observation value combination generator that generates a combination of observation values in the first and second frequency bands as observation value combination information, and an approach speed that calculates an approach speed to an anti-aircraft target based on the observation distance included in the observation value combination information A calculator,
An observation distance corrector that corrects the observation distance based on the approaching speed to calculate a corrected observation distance, and a multi-target that executes wake correlation processing and tracking calculation based on the observation angles and corrected observation distances corresponding to a plurality of anti-aircraft targets With a tracking filter,
Since the accurate observation distance correction based on the accurate target speed is executed before the tracking filter processing, the deviation of the distance observation value greatly occurs with respect to the fast moving anti-aircraft target when the transmission frequency modulation is applied. And even if multiple targets are detected,
There is an effect that a radar device that improves target detection and tracking performance and tracking accuracy by selecting an observation value corresponding to the target speed during tracking from a plurality of observation values is obtained.

According to a twelfth aspect of the present invention, in a radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, the first and second frequency bands for transmitting and receiving a beam to and from the anti-aircraft target. First and second antennas, first and second transceivers for inputting and outputting transmission and reception signals that are frequency-modulated to the first and second antennas, and first and second transceivers And a second signal detector for calculating an observation distance and an observation angle with respect to an anti-aircraft target as observation values based on the received signals from the first and second antennas, respectively, and are affected by frequency modulation in the first and second frequency bands, respectively. An approach speed calculator that calculates an approach speed to an anti-aircraft target based on each of the observed distances, and an observation distance corrector that corrects the observed distance based on the approach speed and calculates a corrected observed distance. Based on a change in approach speed, a turn determiner that determines whether the tracked anti-aircraft target has turned, and a multi-motion model of the multi-motion model tracking filter when the anti-aircraft target is determined to be turning. Based on the motion model setting selector that changes the setting, the observation angle and the corrected observation distance, and the multiple motion model set by the motion model setting selector, execute the tracking calculation of the anti-aircraft target using the prediction method of the multiple motion model And a multi-motion model tracking filter that performs accurate observation distance correction based on the accurate target velocity before the tracking filter processing. Even if the deviation of the distance observation value is large and the target makes a turning motion, it is possible to select a tracking filter prediction method suitable for the target motion from the result of the turning motion determination. Position is calculated accurately the effect of target detection tracking performance and the radar device with improved tracking accuracy.

[Brief description of the drawings]

FIG. 1 is a block diagram showing a first embodiment of the present invention.

FIG. 2 is a block diagram showing a second embodiment of the present invention.

FIG. 3 is a block diagram showing a third embodiment of the present invention.

FIG. 4 is a block diagram showing a fourth embodiment of the present invention.

FIG. 5 is a block diagram showing a fifth embodiment of the present invention.

FIG. 6 is a block diagram showing a sixth embodiment of the present invention.

FIG. 7 is a block diagram showing a seventh embodiment of the present invention.

FIG. 8 is a block diagram showing an eighth embodiment of the present invention.

FIG. 9 is a block diagram showing Embodiment 9 of the present invention.

FIG. 10 is a block diagram showing a tenth embodiment of the present invention.

FIG. 11 is a block diagram showing an eleventh embodiment of the present invention.

FIG. 12 is a block diagram showing a twelfth embodiment of the present invention.

FIG. 13 is an explanatory diagram showing an operation state of a general radar device using a beam irradiation technique.

FIG. 14 is a block diagram schematically showing a conventional radar device.

FIG. 15 is an explanatory diagram showing an example of a frequency-modulated beam transmission waveform.

FIG. 16 is an explanatory diagram showing an observation state of a target distance in a single frequency band.

FIG. 17 is an explanatory diagram showing an observation state of a target distance in two frequency bands.

[Explanation of symbols]

1 target (anti-aircraft target), 2 radars, 3 beams, 7
Tracking filter, 13 true target positions, 17 first antenna, 18 first transceiver, 19 first signal detector,
20 second antenna, 21 second transceiver, 22
Second signal detector, 23 Approach speed calculator, 24 Observation distance corrector, 25 Distance shift in first frequency band, 27 Distance shift in second frequency band, 29
Observation value combination generator, 30 Observation value combination determiner, 31
Clutter judgment remover, 32 Speed correlation judge, 33
Turning judgment unit, 34 filter gain selector, 35 multi-target tracking filter, 36 multiple motion model tracking filter,
37 motion model setting selector, 38 approach speed estimator,
39 speed detail calculator, 40 observation value combination selector, f
0 Modulation wave transmission center frequency, f1 transmission start frequency,
f2 Transmission end frequency, Ro1 (k) Observation distance in the first frequency band, Ro2 (k) Observation distance in the second frequency band, Tp beam transmission time (transmission pulse width), reception time of Tq reflected wave.

Claims (12)

[Claims] 1. A radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, comprising: a first apparatus for transmitting and receiving a beam to and from the anti-aircraft target.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on each observation distance affected by frequency modulation in a frequency band, and corrects the observation distance based on the approach speed to obtain a corrected observation distance. An observation distance corrector for calculating, and a tracking filter for performing tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance. Apparatus. 2. A radar device for detecting and tracking an anti-aircraft target such as an aircraft, comprising: a first device for transmitting and receiving a beam to and from the anti-aircraft target.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on each observation distance affected by the frequency modulation in the frequency band; and an approach speed calculator affected by the frequency modulation in the first and second frequency bands. An approach speed estimator for calculating a detailed estimated approach speed to the anti-aircraft target based on the Doppler information obtained from each observation value obtained from the observation values; A speed detail calculator that calculates a detailed approach speed to the anti-aircraft target based on a speed; an observation distance corrector that corrects the observation distance based on the detailed approach speed to calculate a corrected observation distance; A radar filter for performing tracking calculation of the anti-aircraft target based on the corrected observation distance. 3. A radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An observation value combination generator configured to generate a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values affected by frequency modulation are generated in the frequency band; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on an observation distance included in the observation value combination information; and the observation value combination based on the approach speed. An observation value combination determiner that determines a report from the relationship between the detection positions of the anti-aircraft targets, and an observation that calculates the correction observation distance by correcting the observation distance based on the determination result of the approach speed and the observation value combination determiner. A radar apparatus comprising: a distance corrector; and a tracking filter that performs tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance. 4. A radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An observation value combination generator configured to generate a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values affected by frequency modulation are generated in the frequency band; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on the observation distance included in the observation value combination information; and the observation value combination based on the approach speed. An observation value combination determiner that determines whether or not the information is information on the anti-aircraft target to be tracked; and determines and removes an observation value from a fixed target that does not need to be tracked such as clutter based on the approach speed. A clutter determination remover, an observation distance corrector that corrects the observation distance based on the approach speed and the determination result of the clutter determination remover to calculate a corrected observation distance, and based on the observation angle and the corrected observation distance. And a tracking filter for executing tracking calculation of the anti-aircraft target. 5. A radar device for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An observation value combination generator configured to generate a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values affected by frequency modulation are generated in the frequency band; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on the distance information included in the observation value combination information; and a Doppler determined from the observation value combination information. An approach speed estimator that calculates a detailed estimated approach speed to the anti-aircraft target based on the information, and a corresponding observation value combination from the observation value combination information based on a comparison between the detail estimated approach speed and the approach speed. An observation value combination selector for selecting information; an observation distance corrector for correcting the observation distance to calculate a corrected observation distance based on the approach speed and the selection result of the observation value combination selector; and the observation angle. And a tracking filter for performing tracking calculation of the anti-aircraft target based on the corrected observation distance. 6. A radar device for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on each observation distance affected by frequency modulation in a frequency band, and corrects the observation distance based on the approach speed to obtain a corrected observation distance. An observation distance corrector that calculates, and a tracking filter that performs tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance, wherein the tracking filter includes: Serial on the basis of the approaching speed, the radar apparatus characterized by comprising a speed initial value setter for setting a speed initial value of the anti-aircraft target in tracking filter calculation. 7. A radar device for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on each observation distance affected by the frequency modulation in the frequency band; and an approach speed calculator affected by the frequency modulation in the first and second frequency bands. An approach speed estimator for calculating a detailed estimated approach speed to the anti-aircraft target based on the Doppler information obtained from each observation value obtained from the observation values; A speed detail calculator that calculates a detailed approach speed to the anti-aircraft target based on a speed; an observation distance corrector that corrects the observation distance based on the detailed approach speed to calculate a corrected observation distance; A tracking filter that performs tracking calculation of the anti-aircraft target based on the corrected observation distance, wherein the tracking filter sets a speed initial value of the anti-aircraft target in the tracking filter calculation based on the detailed approach speed. A radar device comprising a value setting device. 8. A radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An observation value combination generator configured to generate a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values affected by frequency modulation are generated in the frequency band; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on the observation distance included in the observation value combination information; and the observation value combination based on the approach speed. A speed correlation determiner that determines whether or not the information is the information of the anti-aircraft target being tracked, and corrects the observation distance based on the determination result of the approach speed and the speed correlation determiner to obtain a corrected observation distance. A radar apparatus comprising: an observation distance corrector for calculating; and a tracking filter for executing tracking calculation of the anti-aircraft target based on the observation angle and the corrected observation distance. 9. A radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An observation value combination generator configured to generate a combination of observation values in the first and second frequency bands as observation value combination information when a plurality of observation values affected by frequency modulation are generated in the frequency band; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on an observation distance included in the observation value combination information; and a Doppler determined from the observation value combination information. An approach speed estimator that calculates a detailed estimated approach speed to the anti-aircraft target based on the information, and a corresponding observation value combination from the observation value combination information based on a comparison between the detail estimated approach speed and the approach speed. An observation value combination selector for selecting information; a velocity correlation determiner for determining whether the observation value combination information is information of the anti-aircraft target being tracked, based on the detailed estimated approach speed; An observation distance corrector that corrects the observation distance based on the estimated approach speed and the determination result of the speed correlation determiner to calculate a corrected observation distance; and tracks the anti-aircraft target based on the observation angle and the corrected observation distance. A radar apparatus comprising: a tracking filter that performs a calculation. 10. A radar device for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on each observation distance affected by frequency modulation in a frequency band, and corrects the observation distance based on the approach speed to obtain a corrected observation distance. An observation distance corrector to be calculated; a turn determiner that determines whether the anti-aircraft target being tracked has turned based on a change in the approach speed; and a determination that the anti-aircraft target is turning. In this case, a filter gain selector for setting and changing the gain of the tracking filter described below, based on the observation angle and the corrected observation distance and the gain set by the filter gain selector, calculates the tracking target of the anti-aircraft target. A radar apparatus comprising a tracking filter to be executed. 11. A radar apparatus for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An observation value combination generator configured to generate a combination of the observation values in the first and second frequency bands as observation value combination information when a plurality of observation values each affected by frequency modulation are generated in a frequency band; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on an observation distance included in the observation value combination information; and An observation distance corrector that corrects and calculates a corrected observation distance; and a multi-target tracking filter that executes wake correlation processing and tracking calculation based on the observation angle and the corrected observation distance corresponding to a plurality of anti-aircraft targets. A radar device characterized by the above-mentioned. 12. A radar device for detecting and tracking an anti-aircraft target such as an aircraft, wherein a first device for transmitting and receiving a beam to and from the anti-aircraft target is provided.
And first and second antennas having a second and a second frequency band; first and second transceivers for inputting and outputting transmission and reception signals that have been frequency-modulated with respect to the first and second antennas; First and second signal detectors for calculating an observation distance and an observation angle with respect to the air target as observation values based on reception signals from the first and second transceivers, respectively, the first and second signal detectors; An approach speed calculator that calculates an approach speed to the anti-aircraft target based on each observation distance affected by frequency modulation in a frequency band, and corrects the observation distance based on the approach speed to obtain a corrected observation distance. An observation distance corrector to be calculated; a turn determiner that determines whether the anti-aircraft target being tracked has turned based on a change in the approach speed; and a determination that the anti-aircraft target is turning. In this case, a motion model setting selector that changes the setting of the multiple motion model of the multiple motion model tracking filter described below, based on the observation angle and the corrected observation distance and the multiple motion model set by the motion model setting selector. A multi-motion model tracking filter for executing the tracking calculation of the anti-aircraft target using a multi-motion model prediction method.