JP3318832B2 - Guiding device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention separates and detects information on a plurality of fixed and low-speed targets from clutter, islands and jammers from target reflected waves such as tanks and ships buried in clutter and off-target reflected waves. In the case of an intermediate flight, a flying object equipped with a guidance device is guided to a single target or multiple targets, and for a terminal flight, a predetermined target and approach angle are calculated and guided to the hit point of the specified target The present invention relates to a guidance device.

[0002]

2. Description of the Related Art FIGS. 33, 34 and 2 show a configuration diagram, a processing flow and an operation diagram of a conventional guidance device. FIG.
In 3, 1 is a guidance device, and 2 is RF (Radi
o Frequency) a local oscillator that generates a band continuous signal and a local signal, 3 is a transmitter that generates a transmission pulse signal at a predetermined pulse modulation timing of the RF continuous signal, and 4 is a transmitter that generates the transmission pulse signal in advance. Prescribed P
RI (Pulse Repetition Inter)
A transmission / reception switch 5 that switches transmission / reception signals at the timing of val) radiates a transmission wave to a plurality of targets 6 including a background, receives a plurality of targets and clutter, receives a reception wave reflected from an island or the like, and receives a plurality of targets and clutters. Clutter on islands,
SUM reception signal including amplitude and position information of island etc. and DIF
(Difference) An antenna for generating a reception signal. Reference numeral 7 denotes a time-series SUM reception signal output from the antenna 4 and passing through the transmission / reception switch 4 and a DIF reception signal output from the antenna 4 to a local output from the local oscillator 2. Phase detection with signal, amplitude of multiple targets and clutter, island, etc.,
A receiver 8 converts the SUM video signal into a time-series SUM video signal including position information and a DIF video signal.
m) A frequency detector for processing and extracting a frequency conversion signal including amplitude and frequency information of a plurality of targets, clutters, islands, etc., 9 subtracts the frequency conversion signal with a frequency conversion signal obtained by delaying the frequency conversion signal by a predetermined time. Then, the MTI (MTI) that extracts two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter have been removed.
Owing Target Indicator (processor) 10 is a two-dimensional amplitude including the two-dimensional amplitude frequency information and a plurality of targets obtained by subjecting the time-series SUM video signal output from the receiver 7 to distance conversion, the amplitude of clutter, an island, and the like, and the distance information. The distance information and the information of the current antenna swing angle output from the antenna controller 16 are stored.
(Constant False Alarm Rat
e) A map data storage 11 for updating and storing map data after processing and clustering processing. The map data storage 11 stores the two-dimensional amplitude distance information and two-dimensional amplitude frequency information for each angle into amplitude information in a predetermined distance range and frequency range. Average and
A CFAR processor for extracting two-dimensional amplitude distance information including amplitude, distance information and two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets and islands and the like where false alarms due to clutter or the like are constant, and 12 is a map data storage. The two-dimensional amplitude distance information including the distance information and the amplitude and distance information of a plurality of targets in which the two-dimensional amplitude distance information after the CFAR processing output from 10 is determined to be outside the predetermined distance range or more and the spread in the distance direction is removed. A clustering processor 13 for extracting the time-series SUM video signal output from the receiver 7 into D
A monopulse operation is performed on a first angle error, which is an angle difference between the main axis of the antenna and the target reflection direction divided by the IF video signal, and the first angle error and the current antenna swing angle output from the antenna controller 16 are calculated. An angle detector that converts and calculates an angle signal, 14 is a tracking processor that calculates a guidance signal 15 by integrating the first angle error, and 16 is an angle signal output from the angle detector 13 and an external signal from the guidance device. An antenna controller that calculates an antenna swing angle from the output swing signal 17.

The operation will be described with reference to FIGS. 33, 34 and 2. FIG. 2 shows an operation diagram, in which 1 is a guidance device, M is a flying object equipped with the guidance device 1, R is a flight path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. When the flying object M on which the guidance device 1 is mounted is at the position P1, the local oscillator 2 generates an RF band continuous signal and a local signal, and the transmitter 3 converts the RF band continuous signal at a predetermined pulse modulation timing. Generate a transmission pulse signal,
It radiates from the antenna 5 via the transmission / reception switch 4 to a plurality of targets 6 such as a tank or a ship including the background as transmission waves, and receives the reflected reception waves and includes amplitude and position information of the plurality of targets, clutter, islands and the like. A SUM reception signal and a DIF reception signal are generated. The time-series SUM reception signal and D
Phase detection of the IF reception signal with the local signal output from the local oscillator 2, conversion to a time series SUM video signal and DIF video signal including amplitude and position information of a plurality of targets, clutter, islands, etc., and frequency conversion The SUM video signal is subjected to FFT processing by the detector 8, and the amplitudes of multiple targets, clutter, islands, and the like,
A frequency conversion signal including frequency information is extracted. The MTI processor 9 subtracts the frequency-converted signal from the frequency-converted signal by a predetermined time delay and removes the frequency components such as fixed clutter as shown in FIG. The two-dimensional amplitude frequency information including the two-dimensional amplitude frequency information and the time-series SUM video signal output from the receiver 7 in the map data storage 10 are distance-converted into a plurality of targets and the amplitudes of clutters, islands, etc.
Two-dimensional amplitude distance information including distance information and antenna controller 1
The information on the current antenna swing angle output from the device 6 is stored, and the map data after the CFAR process and the clustering process are updated and stored. As shown in FIG. 37, the CFAR processor 11 averages the two-dimensional amplitude distance information and the two-dimensional amplitude frequency information for each angle to the amplitude information of a predetermined distance range and frequency range, thereby preventing false alarms due to clutter or the like. Amplitudes of multiple targets T1 to T3 and islands C1 and C2,
The two-dimensional amplitude distance information including the distance information and the two-dimensional amplitude frequency information including the amplitude and frequency information are extracted, and the two-dimensional amplitude distance information after the CFAR processing output from the map data storage 10 by the clustering processor 12 is extracted in advance. It is determined that the target distance is outside the predetermined distance range, and the two-dimensional amplitude distance information including the amplitude and distance information of the multiple targets T1 to T3 from which the islands C1 and C2 are removed as shown in FIG. 38 is extracted. When the flying object M on which the guidance device 1 is mounted is at the position P2, the antenna main axis V1 indicated by a two-point dashed line obtained by dividing the time series SUM video signal output from the receiver 7 by the angle detector 13 by the DIF video signal. A monopulse operation is performed on a first angle error, which is an angle difference Δθ from the target reflection direction V2 indicated by a two-dot dashed line, and an angle signal is calculated from the first angle error and the current antenna swing angle output from the antenna controller 16. Is converted.
The tracking processor 14 calculates the guidance signal 15 by integrating the first angle error, and the antenna controller 16 calculates the angle signal output from the angle detector 13 and the sway signal 17 output from outside the guidance device. Calculate the antenna swing angle from. Using the guidance signal 15 output from the tracking processor 14, the guidance signal is output to the outside of the guidance device, and the flying object M equipped with the guidance device 1 is guided to the target. FIG. 34 shows a processing flow after the receiver 7.

[0004]

In the conventional guiding device as described above, the fixed target T4 is set at a long distance as shown in FIG.
If the resolutions ΔR1 and ΔCR1 are coarse in the case where there is a resolution of ７T7, there is a problem that it is impossible to discriminate a plurality of targets within the same angle at the same distance. Further, after the target tracking as shown in FIG. 36, the points at which the level of the reflected power from the target increases as the distance becomes shorter, and the position of the peak reflected power changes within the resolutions ΔR1 and ΔCR1. If the resolution is low, the range affected by the resolution is wide, so that there is a problem that the induced noise increases. The targets T1 to T3 and the island C as shown in FIG.
Since the CFAR processing is performed only on the time axis for the map data 1 and 2, there is a problem that the false alarm probability is low. In addition, since clustering processing is performed only on the time axis for the map data of the targets T1 to T3 and the islands C1 and C2 after the CFAR as shown in FIG. is there. In addition, since the MTI processing is performed on the map data of the targets T1 to T3 and C1 and C2 as shown in FIG. 39, the frequency range corresponding to the delay time becomes blind, and there is a problem that the speed cannot be detected. Also, there is a problem that the flying object M equipped with the guidance device 1 that launches the same as shown in FIG. 40 tracks the same target T7. There is also a problem that only a single target as shown in FIG. 41 can be tracked. Further, if the resolution ΔR1 as shown in FIG. 42 is coarse, there is a problem that the number of range profile points of the target reflection point is small and the accuracy of specifying the hit point is poor. In addition, there is a problem that an attack on an effective place cannot be made as shown in FIGS.

The present invention has been made to solve such a problem, and has a target detecting ability, a target sorting ability,
The target selection ability and the target tracking ability can be improved.
As a result, tanks buried in clutter and unintended reflected waves,
Detects information on multiple fixed and low-speed targets from reflected waves from a target such as a ship, guides a flying object equipped with a guidance device to a single target or multiple targets in the middle, and designates a predetermined approach angle at the end. It is used to guide a flying object equipped with a guidance device to a target hit point.

[0006]

The guidance apparatus according to the first invention has a configuration in which a pulse compressor and an angle compressor are newly added to the conventional guidance apparatus. A pulse compressor for generating a time-series SUM narrow pulse signal and a DIF narrow pulse signal including amplitude and position information of a plurality of targets, clutter, islands, and the like obtained by correlating the SUM video signal and the DIF video signal output from the receiver; , A time series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands, etc. obtained by subtracting a SIF narrow pulse signal output from a pulse compressor by a DIF narrow pulse signal multiplied by a predetermined coefficient Compressor and a time-series DIF narrow pulse output from the pulse compressor based on the time-series angle-compressed SUM narrow-pulse signal output from the angle compressor. A first pulse error, which is an angle difference between the antenna main axis and the target reflection direction divided by the signal, is subjected to a monopulse operation, and an angle signal is calculated from the first pulse error and the current antenna swing angle output from the antenna controller. Guidance device equipped with an angle detector that performs conversion operation, reduces clutter power by improving resolution, improves detection capability, separates multiple targets within the same angle at the same distance, clutter,
There is a means for improving the accuracy of sorting islands and targets and reducing induced noise.

[0007] The guidance device according to the second aspect of the present invention includes the first device.
New two-dimensional CFAR
A processing unit is added, and the same processing as the conventional and the first inventions is performed, and the map data of the three-dimensional amplitude distance frequency information for each angle output from the map data storage is stored in a predetermined distance and frequency range. Averaging the amplitude information of
A guidance device equipped with a two-dimensional CFAR processor that extracts map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands, etc., in which false alarms due to clutter or the like are constant. Means for reducing and improving detection performance are provided.

[0008] Further, the guidance device according to the third aspect of the present invention provides the guidance device according to the second aspect.
A two-dimensional clustering processor is newly added to the guidance device according to the invention of
And the map data of the three-dimensional amplitude distance angle information and the three-dimensional amplitude distance frequency map data after the two-dimensional CFAR processing output from the map data storage are converted to a predetermined distance, angle range, The map data of the three-dimensional amplitude distance angle information and the three-dimensional amplitude distance frequency information map including the amplitude, distance, angle and frequency information of a plurality of targets from which the distance and the frequency range or more are determined to be out of the target and the island, the clutter, etc. are removed are included. A guiding apparatus having a two-dimensional clustering processor for extracting data, which has means for removing islands and the like spread in an angular direction and a frequency direction, and for improving a target sorting ability.

Further, the guidance device according to the fourth aspect of the present invention provides the guidance device according to the third aspect.
The MTI stagger processor is newly added to the guidance device according to the invention, and the same processing as the conventional and the first to third inventions is performed, and M frequency-converted signals output from the frequency converter are provided. Is subtracted by M frequency-converted signals delayed by M predetermined times, and two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed An MTI stagger processor for extracting the delay time, and a guidance device having means for generating predetermined M types of delay timings, the blind speed is eliminated, and the detection capability is improved.

The guiding device according to a fifth aspect of the present invention provides the guiding device according to the fourth aspect.
The present invention has a configuration in which a band-synthesis processor is newly added to the guidance device according to the invention, the same processing as the conventional and the first to fourth inventions, and the three-dimensional amplitude distance angle output from the map data storage Means for determining a target candidate that is equal to or greater than a predetermined amplitude threshold from information, and generating RF band continuous signals f0 to fN in a local oscillator for each of predetermined PRIs for all of the target candidates. , Radiate N transmission waves pulse-modulated by the transmitter, and receive the amplitude of the target and the clutter,
N SUM video signals including position information and N DIFs
After performing an FFT process on the video signal, an IF (Interm) phase-compensated with its own speed signal output from the outside of the guidance device
edit Frequency) frequency f0'-f
The synthesized band fT obtained by synthesizing the band of N ′ is IFFT (i
nvert Fast Fourier Transf
orm) A guidance device equipped with a band synthesis processor for extracting a processed synthesized band narrow SUM pulse signal and a synthesized band narrow DIF pulse signal, and detects a target singular point that separates clutter, jammers and targets with high distance resolution. Having means.

Further, the guidance device according to the sixth aspect of the present invention provides a guidance device according to the fifth aspect.
A radar echo matching processor is newly added to the guidance device according to the invention described above, and the same processing as the conventional and the first to fifth inventions and the band synthesis processing output from the map data storage are performed. Correlation processing between the map data of the two-dimensional distance angle information, the radar echo collation information output from the outside of the guidance device, and the specified target position information, and the specified target position information obtained when the specified target is estimated cannot be specified. A radar echo collator for calculating information, an antenna main axis and a target reflection direction obtained by dividing a time-series angle-compressed SUM narrow-pulse signal output from an angle compressor by a time-series DIF narrow-pulse signal output from a pulse compressor. A monopulse operation is performed on a first angle error that is an angle difference between the first angle error, the current antenna swing angle output from the antenna controller, and the designated angle error. Induction device including an angle detector for converting calculating an angle signal from the target position information, to detect the specified target, comprising means for enhancing the attack potential.

Further, the guiding device according to the seventh aspect of the present invention provides the guiding device according to the sixth aspect.
The invention has a configuration in which a group tracking processor is newly added to the guidance device described in
And a group tracking processor for calculating an optimum tracking point for position information of a plurality of targets when correlation processing of a specified target output from a radar echo collator cannot be performed. Therefore, there is a means for tracking a plurality of targets to improve the tracking accuracy in the first and middle term.

The guiding device according to an eighth aspect of the present invention is the guiding device according to the seventh aspect.
In contrast to the guidance apparatus described in the above invention, a guidance apparatus provided with means equivalent to the conventional processing and the first to seventh inventions and means for newly outputting the result of the band synthesis processor to the angle detector, There is a means for tracking the point designation and reducing induced noise.

Further, the guidance device according to the ninth aspect of the present invention provides
In the guidance apparatus according to the invention, a range profile extractor, a range profile data storage, and a relative angle approach angle calculator are newly added.
And a range profile extractor for extracting a range profile of a target image arranged on the time axis from a time-series synthesized narrow band SUM pulse signal output from the band synthesizing processor, A range profile storage unit for storing range profile data for each angle and relative angle, and a correlation process between the range profile data and the extracted range profile to estimate a relative angle corresponding to similar range profile data; And a relative angle approach angle calculator for calculating a third angle error obtained by subtracting a predetermined approach angle, and the first angle error or the second angle error output from the angle detector and the third angle error. A guidance device equipped with a tracking processor that calculates the guidance signal by adding the angle error and performing integration processing. Comparing detects the relative angle of the target by, with the means for directing to the specified entry angle.

The guidance device according to the tenth aspect of the present invention is different from the guidance device of the eighth aspect in that a DBS processor, a three-dimensional target image extractor, and a relative angle approach angle calculator are newly added. The same processing as the first to eighth aspects of the present invention and the synthesized bandwidth narrow SUM pulse signal for each of the L PRIs output from the band synthesis processor, the own speed signal output from the outside of the guidance device, and the fluctuation 3 which contains information on the target amplitude, distance, and frequency that have been phase-compensated and frequency-converted by the signal.
A DBS processor for extracting three-dimensional amplitude frequency distance information, and a three-dimensional target image extractor for extracting target image data of three-dimensional amplitude distance angle information obtained by dividing the beam width by FFT processing the three-dimensional amplitude distance frequency information And a guidance device having a relative angle approach angle calculator for estimating a relative angle from the three-dimensional amplitude distance angle information and calculating a third angle error obtained by subtracting the relative angle and a predetermined approach angle. And a means for detecting a relative angle with respect to the target by the guidance device itself, and guiding to a designated approach angle.

[0016]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 1 and 3 and 2
FIG. 1 is a configuration diagram, a process flow diagram, and an operation diagram showing Embodiment 1 of the present invention. In FIG. 1, a pulse compressor 18 and an angle compressor 19 are provided as new parts with respect to FIG. 33 which is a conventional configuration diagram. 18 is the SU output from the receiver 7
A pulse compressor for generating a time series SUM narrow pulse signal and a DIF narrow pulse signal including amplitude and position information of a plurality of targets, clutters, islands, etc. obtained by correlating the M video signal and the DIF video signal; DI obtained by multiplying the SUM narrow pulse signal output from
An angle compressor that generates a time-series angle-compressed SUM narrow-pulse signal including amplitude information of a plurality of targets, clutters, islands, and the like, which has been subtracted by the F-narrow pulse signal.
9 is divided by the time-series DIF narrow-pulse signal output from the pulse compressor to the time-series angularly-compressed SUM narrow-pulse signal output from the P.9, and the first angular error, which is the angle difference between the antenna main axis and the target reflection direction, is calculated. The monopulse operation is performed, and the first
Is an angle detector that converts and calculates an angle signal from the angle error of the antenna and the current antenna swing angle output from the antenna controller 16.

This operation will be described with reference to FIGS. 1, 2 and 3. FIG. 2 shows an operation diagram, where 1 is a guidance device, M is a flying object equipped with the guidance device 1, R is a flight route,
T1 is a low-speed moving target moving away, T2 is a low-speed moving target approaching, T3 is a fixed target, and C1 and C2 are clutters such as islands. The flying object M equipped with the guidance device 1 is located at the position P1.
In this case, the local oscillator 2 generates an RF band continuous signal and a local signal, and the transmitter 3 generates a transmission pulse signal at a predetermined pulse modulation timing for the RF band continuous signal. The antenna 5 radiates a transmission wave to a plurality of targets 6 such as a tank or a ship including a background, and receives a reflected reception wave to receive the plurality of targets and an amplitude of a clutter, an island, etc.
A SUM reception signal and a DIF reception signal including position information are generated. The receiver 6 performs phase detection of the time-series SUM reception signal and the DIF reception signal with the local signal output from the local oscillation unit 2, and obtains a time-series SUM video signal including amplitude and position information of a plurality of targets, clutters, islands, and the like. And a DIF video signal, and the pulse compressor 18 outputs S
A time series SUM narrow pulse signal and a DIF narrow pulse signal including amplitude and position information of a plurality of targets, clutters, islands and the like obtained by correlating the UM video signal and the DIF video signal are generated. DI obtained by multiplying the SUM narrow pulse signal output from
A time series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutters, islands, etc., which has been subtracted with the F narrow pulse signal, is generated. Angle converter SU with frequency converter 8
FFT processing of M pulse signal, multiple targets and clutter,
A frequency conversion signal including amplitude and frequency information of an island or the like is extracted. The MTI processor 9 subtracts the frequency-converted signal with a frequency-converted signal delayed by a predetermined time,
Two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter are removed as shown in FIG. 39 is extracted, and the two-dimensional amplitude frequency information and the receiver 7 are extracted from the map data storage 10. Time series S output
A plurality of targets and clutter obtained by subjecting a UM video signal to distance conversion,
The two-dimensional amplitude distance information including the amplitude and distance information of the island and the like and the information of the current antenna swing angle output from the antenna controller 16 are stored, and the map data after the CFAR processing and the clustering processing are updated and stored. As shown in FIG. 37, the CFAR processor 11 averages the two-dimensional amplitude distance information and the two-dimensional amplitude frequency information for each angle to the amplitude information of a predetermined distance range and frequency range, thereby preventing false alarms due to clutter or the like. Multiple targets T1 to T3 and island C1,
The two-dimensional amplitude distance information and the two-dimensional amplitude frequency information including the amplitude and distance information such as 2 are extracted, and the CFAR output from the map data storage 10 by the clustering processor 12 is extracted.
The two-dimensional amplitude distance information including the amplitude and distance information of a plurality of targets in which the processed two-dimensional amplitude distance information is determined to be outside of a predetermined distance range outside the target and the spread in the distance direction is removed as shown in FIG. Is extracted. When the flying object M on which the guidance device 1 is mounted is at the position P2, the angle detector 13 converts the time series angle-compressed SUM narrow pulse signal output from the angle compressor 19 to the DIF narrow pulse output from the pulse compressor 18. A first angle difference Δθ between the antenna main axis V1 indicated by the two-point dashed line and the target reflection direction V2 indicated by the two-point dashed line divided by the signal.
Is subjected to a monopulse calculation, and an angle signal is converted and calculated from the first angle error and the current antenna swing angle output from the antenna controller 16. The tracking processor 14 calculates the guidance signal 15 by integrating the first angle error, and the antenna controller 16 calculates the angle signal output from the angle detector 13 and the sway signal 17 output from outside the guidance device. Calculate the antenna swing angle from. Tracking processor 14
Is output to the outside of the guidance device by using the guidance signal 15 output from the vehicle, and the flying object M equipped with the guidance device 1 is guided to the target. FIG. 3 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. As a result, a plurality of targets T4 and T5, T6 and T7 existing at the same angle and the same distance as shown in FIG. Also, when tracking a single target as shown in FIG. 36 in the tracking processing diagram as shown in FIG. 41 using the target information of high resolution ΔR and ΔCR, the scattering range of the target reflection point generated at a short distance is reduced. . Through these processes, the flying object M equipped with the guidance device 1 is guided with high accuracy toward the target T2.

By adopting such a configuration, the problem that it is impossible to discriminate a plurality of targets located at different positions at the same distance as shown in FIG. 36, and the problem of large induction noise at short distances as shown in FIG. 36 is reduced, as shown in FIG. 36, and guidance accuracy is improved.

Embodiment 2 6, 7, and 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing a second embodiment of the present invention. 6, a two-dimensional CFAR processor 20 is provided as a new part with respect to FIG.
It is. Reference numeral 20 denotes a plurality of targets which average the map data of the three-dimensional amplitude distance frequency information for each angle output from the map data storage 10 and the amplitude information of a predetermined distance and frequency range, and which provide a constant false alarm due to clutter or the like. And a two-dimensional CFAR processor that extracts map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of islands and the like.

This operation will be described with reference to FIGS. 6, 7 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device, M is a flying object equipped with the guidance device 1, R is a flight route,
T1 is a low-speed moving target moving away, T2 is a low-speed moving target approaching, T3 is a fixed target, and C1 and C2 are clutters such as islands. The flying object M equipped with the guidance device 1 is located at the position P1.
6, the operations 2 to 19 in FIG. 6 are the same as those in the first embodiment in FIG. The two-dimensional amplitude frequency information in the map data storage 10 and the time-series SU output from the receiver 7
It stores two-dimensional amplitude distance information including the amplitude and distance information of a plurality of targets, clutters, islands, and the like obtained by subjecting the M-video signal to distance conversion, and stores information on the current antenna swing angle output from the antenna controller 16 and two-dimensionally. The map data after the CFAR processing and the clustering processing is updated and stored. 2D CF
The AR processor 11 converts the three-dimensional amplitude distance frequency information and the three-dimensional amplitude distance angle map data for each angle output from the map data storage 10 into amplitude information of a predetermined distance, frequency range and distance and angle range. The averaging process and the constant false alarms caused by clutter and the like, the amplitudes, distances, angles, and the like of the multiple targets T1 to T3 and the islands C1 and C2 as shown in FIG.
Three-dimensional amplitude distance frequency information including frequency information and map data of three-dimensional amplitude distance angle are extracted. FIG. 7 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. The two-dimensional CFAR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. As a result, FIG. 8 shows. By these processes, the flying object M equipped with the guidance device 1 is moved to the target T2.
Guiding with high precision toward. With such a configuration, the probability of false alarm is reduced, and the detection performance is improved.

Embodiment 3 9, 10 and 2 are a configuration diagram, a process flow diagram, and an operation diagram showing a third embodiment of the present invention. In FIG. 9, a two-dimensional clustering processor 21 is a new part compared to FIG. 6 which is a configuration diagram of the second embodiment. Reference numeral 21 denotes the map data of the three-dimensional amplitude distance angle information and the three-dimensional amplitude distance frequency map data output from the map data storage 10 after the two-dimensional CFAR processing, which are set to a predetermined distance, an angle range or more, and a distance and frequency range. The above is determined to be out of target, and map data of three-dimensional amplitude distance angle information and map data of three-dimensional amplitude distance frequency including amplitude, distance, angle / frequency information of a plurality of targets from which islands, clutter, etc. have been removed are extracted 2 It is a dimension clustering processor.

This operation will be described with reference to FIGS. 9, 10 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device, M
Is a flying object on which the guidance device 1 is mounted, R is a flight path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. When the flying object M equipped with the guidance device 1 is at the position P1, the operations of 2 to 19 and 20 in FIG.
This is equivalent to the first and second embodiments of FIGS. Two-dimensional amplitude frequency information including the two-dimensional amplitude frequency information and the amplitude and distance information of a plurality of targets, clutters, islands, and the like obtained by distance-converting the time-series SUM video signal output from the receiver 7 and the antenna. The information of the current antenna swing angle output from the controller 16 is stored.
The map data after the AR processing and the two-dimensional clustering processing is updated and stored. The two-dimensional clustering processor 21 converts the map data of the three-dimensional amplitude distance angle information and the three-dimensional amplitude distance frequency map data after the two-dimensional CFAR processing output from the map data storage 10 into a predetermined distance and angle range or more. The three-dimensional amplitude distance angle including the amplitude, distance, angle / frequency information of the plurality of targets T1 to T3 from which the islands, clutters C1, C2, etc. are removed as shown in FIG. Information map data and three-dimensional amplitude distance frequency map data are extracted.
FIG. 10 shows a processing flow after the receiver 7. Guiding device 1
The flying object M equipped with radiates a transmission wave from the guidance device 1 to the plurality of targets 6 while flying according to the flying route R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19 Obtain high-resolution target information. 2
The dimensional CFAR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. The two-dimensional clustering processor 21 extracts a plurality of pieces of target information from which islands and the like spread in the angular direction and the frequency direction have been removed. as a result,
As shown in FIG. Through these processes, the flying object M equipped with the guidance device 1 is guided with high accuracy toward the target T2. By adopting such a configuration, islands and clutters spread in the angular direction and the frequency direction are removed, and the target sorting ability is improved.

Embodiment 4 FIGS. 12, 13, and 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing a fourth embodiment of the present invention. In FIG. 12, an MTI stagger processor 22 is provided as a new part with respect to FIG. 9, which is a configuration diagram of the third embodiment. 22 subtracts the M frequency-converted signals output from the frequency converter with M predetermined time-delayed M frequency-converted signals, and removes frequency components such as fixed clutter and blind speed. An MTI stagger processor for extracting two-dimensional amplitude frequency information including the amplitude and frequency information of a plurality of targets, and means for generating M kinds of predetermined delay timings.

This operation will be described with reference to FIGS. 12, 13 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, the operations in 2 to 19, 20, and 21 in FIG. 12 are the same as those in the first to third embodiments in FIGS.
The MTI stagger processor 22 generates the predetermined M kinds of delay timings, and converts the M frequency-converted signals output from the frequency converter 8 into the predetermined M
The two-dimensional amplitudes including the amplitudes of the plurality of targets T1 to T3 and the frequency information, in which the subtraction processing is performed with the M kinds of time-delayed frequency-converted signals to remove the frequency of the fixed clutter and the blind speed as shown in FIG. Extract frequency information. FIG. 13 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. The two-dimensional CFAR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. The two-dimensional clustering processor 21 extracts a plurality of pieces of target information from which islands and the like spread in the angular direction and the frequency direction have been removed. MT
The I-stagger processor 22 extracts a plurality of pieces of target information from which the blind speed region has been removed. The result is shown in FIG. Through these processes, the flying object M equipped with the guidance device 1 is guided with high accuracy toward the target T2. By adopting such a configuration, a low-speed moving target is detected, the blind speed is removed, and the detection capability is improved.

Embodiment 5 FIG. 15, 16, and 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing a fifth embodiment of the present invention. In FIG. 15, a band combining processor 2 is added as a new part to FIG. 12 which is a configuration diagram of the fourth embodiment.
3. Reference numeral 23 denotes 3 output from the map data storage.
Means for determining as a target candidate a threshold value equal to or greater than a predetermined amplitude from the dimensional amplitude distance angle information, and an RF band continuous signal f0 at a local unit for each of the predetermined PRIs for all of the target candidates fN is generated and N is pulse-modulated by the transmitter.
N SUM video signals and N D signals that radiate outgoing transmission waves and contain the amplitude and position information of the received target and clutter
After the FFT processing of the IF video signal, the synthesized band fT obtained by synthesizing the band of the IF frequencies f0 ′ to fN ′, which is phase-compensated by the own speed signal 24 output from the outside of the guidance device, is expressed by I
This is a band synthesis processor that extracts a synthesized band narrow SUM pulse signal and a synthesized band narrow DIF pulse signal that have been subjected to FFT processing.

This operation will be described with reference to FIGS. 15, 16 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, in FIG.
The operation of No. 2 is equivalent to the first to fourth embodiments of FIGS. Two-dimensional amplitude frequency information including the two-dimensional amplitude frequency information and the amplitude and distance information of a plurality of targets, clutters, islands, and the like obtained by distance-converting the time-series SUM video signal output from the receiver 7 and the antenna. The information of the current antenna swing angle output from the controller 16 is stored, and the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing are updated and stored. Means for determining, from the three-dimensional amplitude distance angle information output from the map data storage 10 by the band synthesis processor 23, a threshold value equal to or greater than a predetermined threshold value as a target candidate; The local oscillator generates RF band continuous signals f0 to fN for each of the determined PRIs, radiates N transmission waves pulse-modulated by the transmitter, and receives N signals including the amplitude and position information of the received target and clutter. After performing an FFT process on the SUM video signal and the N DIF video signals, a synthesized band fT obtained by synthesizing a band of IF frequencies f0 ′ to fN ′ phase-compensated with the own speed signal 24 output from the outside of the guidance device is obtained. The combined bandwidth narrow SUM pulse signal and the combined bandwidth narrow DIF pulse signal subjected to the IFFT processing are extracted. This is because the range in the distance direction is extracted by the range profile of the high distance resolution processing as shown in FIG.
3. Separate clutter and jammers. FIG. 16 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. The two-dimensional CFAR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. The two-dimensional clustering processor 21 extracts a plurality of pieces of target information from which islands and the like spread in the angular direction and the frequency direction have been removed. The MTI stagger processor 22 extracts a plurality of target information from which the blind speed region has been removed. The band synthesis processor 23 that performs the processing pattern example as shown in FIG.
Extract information that separates multiple goals. Through these processes, the flying object M equipped with the guidance device 1 is guided with high accuracy toward the target T2. By adopting such a configuration, clutter, jamming, and a target with high distance resolution can be separated, and a target singularity can be detected.

Embodiment 6 FIG. FIGS. 18, 19, and 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing the sixth embodiment of the present invention. In FIG. 18, a radar echo matching processor 25 is provided as a new part with respect to FIG. 15, which is a configuration diagram of the fifth embodiment. 25 correlates the map data of the two-dimensional distance angle information after the band synthesis processing output from the map data storage 10 and the radar echo collation information 26 output from the outside of the guidance apparatus with specified target position information, and A radar echo collator for calculating the specified target position information that has been estimated and the plurality of target position information when the target position information cannot be specified, 13
Is the time-series angle compression SU output from the angle compressor 19
A first angle error, which is an angle difference between the antenna main axis and the target reflection direction obtained by dividing the M pulse signal by the time series DIF narrow pulse signal output from the pulse compressor 18, is subjected to monopulse calculation. And an angle detector that converts and calculates an angle signal from the current antenna swing angle output from the antenna controller and the designated target position information.

This operation will be described with reference to FIGS. 18, 19 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, in FIG.
The operations 2 and 23 are the same as those in the first to fifth embodiments shown in FIGS. The map data S1 to S4 of the two-dimensional distance angle information after the band synthesis processing output from the map data storage 10 as shown in FIG. 20 by the radar echo matching unit 25 and the radar echo matching information 26 output from outside the guidance device M1 to M4 are correlated with the designated target position information, and a plurality of target position information when the designated target is not designated and the designated target position information cannot be designated is calculated. Guiding device 1
When the flying object M equipped with is at the position P2, the angle detector 1
3, the time-series angular compression S output from the angular compressor 19
The antenna main axis V1 indicated by a two-point dashed line and the target reflection direction V indicated by a two-point dashed line obtained by dividing the UM narrow pulse signal by the time-series DIF narrow pulse signal output from the pulse compressor 18.
A monopulse operation is performed on a first angle error that is an angle difference Δθ from the second, and an angle signal is converted from the first angle error, the current antenna swing angle output from the antenna controller 16 and the designated target position information. Calculate. FIG. 19 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. 2D CFAR processor 2
By using 0, a plurality of pieces of target information with a reduced false alarm probability are extracted. The two-dimensional clustering processor 21 extracts a plurality of pieces of target information from which islands and the like spread in the angular direction and the frequency direction have been removed. The MTI stagger processor 22 extracts a plurality of target information from which the blind speed region has been removed. Information obtained by classifying clutter, jammers, islands, and a plurality of targets is extracted by the band synthesis processor 23 that performs a processing pattern example as shown in FIG. The specified single target information is extracted by the radar echo matching processor 25 that performs the processing pattern example as shown in FIG. By these processes, the flying object M equipped with the guidance device 1 is moved to the target T2.
Guiding with high precision toward. By adopting such a configuration, the designated target is detected, and the attack capability is improved.

Embodiment 7 FIG. 22, FIG. 23, and FIG. 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing a seventh embodiment of the present invention. In FIG. 22, a group tracking processor 27 is a new part compared to FIG. 18, which is a configuration diagram of the sixth embodiment. 27 is a radar echo collator 25
This is a group tracking processor that calculates the optimal tracking point for the position information of a plurality of targets when the correlation processing of the specified target output from the device cannot be performed.

This operation will be described with reference to FIGS. 22, 23 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, in FIG.
The operations of 2, 23 and 25 are shown in FIGS.
This is equivalent to the eighteenth embodiments 1 to 6. When the flying object M equipped with the guidance device 1 is at the position P2, the group tracking processor 27 outputs position information of a plurality of targets when the correlation processing of the specified target output from the radar echo collator 25 cannot be performed. The optimum tracking point is calculated, and the guidance signal 15 is output to the outside of the guidance device. FIG. 23 shows a processing flow after the receiver 7. The flying object M equipped with the guidance device 1 flies along the flight route R indicated by the bold line,
A transmission wave is radiated from the guiding device 1 to the plurality of targets 6, and high-resolution target information is acquired by the pulse compressor 18 and the angle compressor 19. The two-dimensional CFAR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability.
By the two-dimensional clustering processor 21, the angle direction,
A plurality of pieces of target information from which islands spread in the frequency direction are removed are extracted. The MTI stagger processor 22 extracts a plurality of target information from which the blind speed region has been removed. Information obtained by classifying clutter, jammers, islands, and a plurality of targets is extracted by the band synthesis processor 23 that performs a processing pattern example as shown in FIG. The specified single target information is extracted by the radar echo matching processor 25 that performs the processing pattern example as shown in FIG. When the specified targets do not match, the group tracking processor 27 that performs the processing pattern example shown in FIG. Through these processes, the flying object M equipped with the guidance device 1 is guided with high precision toward the plurality of targets 6 or the designated target T2. With such a configuration, a plurality of targets can be tracked.

Embodiment 8 FIG. FIG. 25, FIG. 26, and FIG. 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing an eighth embodiment of the present invention. In FIG. 25, the band combining processor 2 is a new part compared to FIG.
7 is a means for outputting the result of 7 to the angle detector 13.

This operation will be described with reference to FIGS. 25, 26 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, in FIG.
The operations of 2, 23, 25, 27 are shown in FIGS.
15, 18, and 22 are equivalent to the first to seventh embodiments. When the flying object M on which the guidance device 1 is mounted is at the position P2, the angle detector 13 converts the time-series angle-compressed SUM narrow pulse signal output from the angle compressor 19 into the time-series DIF output from the pulse compressor. The first angular error, which is the angle difference Δθ between the antenna main axis V1 indicated by the two-point dashed line and the target reflection direction V2 indicated by the two-point dashed line divided by the narrow pulse signal, is subjected to monopulse calculation. A second angle error is calculated by dividing the output synthesized band narrow SUM pulse signal by the synthesized band narrow DIF pulse signal, and the angle error is selectively used by tracking processing. This angle error and the current angle error output from the antenna controller 16 are output. An angle signal is converted and calculated from the antenna swing angle and the designated target position information. FIG. 26 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. 2D CFA
The R processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. The two-dimensional clustering processor 21 extracts a plurality of pieces of target information from which islands and the like spread in the angular direction and the frequency direction have been removed. MTI stagger processor 2
2, a plurality of pieces of target information from which the blind speed region has been removed are extracted. The band synthesis processor 23 that performs a processing pattern example as shown in FIG.
Extract information that separates islands and multiple targets. Radar echo matching processor 2 that performs a processing pattern example as shown in FIG.
5, the specified single target information is extracted. FIG.
When the specified targets do not match, the group tracking processor 27 that performs the processing pattern example shown in FIG. An angle detection processor 13 using the result of the band synthesis processor 23 extracts a range profile result having a high distance resolution ΔR3 as shown in FIG. Through these processes, the flying object M equipped with the guidance device 1 is guided with high accuracy toward the hit points of the plurality of targets 6 or the designated target T2. By adopting such a configuration, it is possible to specify a hit point on a target, and it is possible to reduce induced noise.

Embodiment 9 FIG. 28, FIG. 29, and FIG. 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing a ninth embodiment of the present invention. In FIG. 28, a range profile extractor 28, a range profile data storage 29, a relative angle advancing angle calculator 30 and a tracking processor 14 are new as compared to FIG. 25 which is a configuration diagram of the eighth embodiment. 28
Is a range profile extractor for extracting a range profile of a target image arranged on the time axis from a time-series synthesized narrow band SUM pulse signal output from the band synthesizing processor 23; A range profile storage unit for calculating an induction signal by adding an angle error of storing the range profile data and integrating the range profile data; A relative angle approach angle calculator for estimating a relative angle corresponding to the above and calculating a third angle error obtained by subtracting the relative angle and a predetermined approach angle; A guide signal is calculated by adding the third or third angular error and the third or third angular error, and performing an integration process. That is a tracking processor.

This operation will be described with reference to FIGS. 28, 29 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, in FIG.
The operations of 2, 23, 25, 27 are shown in FIGS.
15, 18, 22, and 25 are equivalent to the first to eighth embodiments. When the flying object M on which the guidance device 1 is mounted is at the position P2, the range profile extractor 28 uses the band synthesis processor 2
The range profile of the target image arranged on the time axis is extracted from the time-series synthesized narrow band SUM pulse signal output from 3 and the relative angle to the target and the range profile data for each relative angle are stored in the range profile storage 29. The stored range profile data and the extracted range profile are correlated by the relative angle advancing angle calculator 30, and a relative angle corresponding to similar range profile data is estimated. A third angle error obtained by subtracting the approach angle is calculated. The tracking processor 14 adds the first angle error or the second angle error output from the angle detector 13 and the third angle error, and calculates an induction signal 15 by performing an integration process. At 16, the antenna swing angle is calculated from the angle signal output from the angle detector 13 and the motion signal 17 output from the outside of the guidance device. Guidance signal 1 output from tracking processor 14 or group tracking processor 27
5 is used to output to the outside of the guidance device, and guide the flying object M equipped with the guidance device 1 to the target. FIG. 29 shows a processing flow after the receiver 7. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19, high-resolution target information is obtained. The two-dimensional CFAR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. The two-dimensional clustering processor 21 extracts a plurality of pieces of target information from which islands and the like spread in the angular direction and the frequency direction have been removed. The MTI stagger processor 22 extracts a plurality of target information from which the blind speed region has been removed. The band synthesis processor 23 that performs the processing pattern example as shown in FIG.
Extract information that separates multiple goals. The specified single target information is extracted by the radar echo matching processor 25 that performs the processing pattern example as shown in FIG. When the specified targets do not match, the group tracking processor 27 that performs the processing pattern example shown in FIG. The angle detection processor 13 using the result of the band synthesis processor 23 extracts a high-resolution range profile result as shown in FIG. The range profile extractor 28, the range profile data storage 29, and the relative angle approach angle calculator 30 calculate the relative angle to the target and a predetermined approach angle as shown in FIG. Through these processes, the flying object M equipped with the guidance device 1 is guided with high precision toward the hit point of the designated target T2 at a plurality of targets 6 or a predetermined approach angle. By adopting such a configuration, it is possible to detect the relative angle to the target by comparing with the database and to guide the user to the designated approach angle.

Embodiment 10 FIG. FIGS. 31, 32, and 2 are a configuration diagram, a processing flow diagram, and an operation diagram showing a tenth embodiment of the present invention. In FIG. 31, a DBS processor 31, a three-dimensional target image extractor 32, and a relative angle approach angle calculator 30 are provided as new parts with respect to FIG. 25 which is a configuration diagram of the eighth embodiment. Reference numeral 31 denotes a target amplitude obtained by phase-compensating the synthesized band-narrow SUM pulse signal for each of the L PRIs output from the band synthesis processor by the own-device speed signal 24 and the sway signal 17 output from the outside of the guidance device. A DBS processor 32 for extracting three-dimensional amplitude frequency distance information including distance, frequency information, and a target of three-dimensional amplitude distance angle information obtained by dividing the three-dimensional amplitude distance frequency information within the beam width by FFT processing. A three-dimensional target image extractor 30 for extracting image data estimates a relative angle from the three-dimensional amplitude distance angle information, and calculates a third angle error obtained by subtracting the relative angle from a predetermined approach angle. This is a relative angle approach angle calculator.

This operation will be described with reference to FIGS. 31, 32 and 2. FIG. 2 shows an operation diagram, where 1 is a guidance device,
M is a flying object on which the guidance device 1 is mounted, R is a flying path, T1 is a low-speed moving target that moves away, T2 is a low-speed moving target that approaches, T3 is a fixed target, and C1 and C2 are clutters such as islands. . When the flying object M on which the guidance device 1 is mounted is at the position P1, in FIG.
The operations of 2, 23, 25, 27 are shown in FIGS.
15, 18, 22, and 25 are equivalent to the first to eighth embodiments. When the flying object M on which the guidance device 1 is mounted is at the position P2, the DBS processor 31 outputs a synthesized band narrow SUM pulse signal for each of L PRIs output from the band synthesis processor 23 from outside the guidance device. The target amplitude, which is phase-compensated and frequency-converted by the own-vehicle speed signal 24 and the shaking signal 17,
Three-dimensional amplitude distance information including distance and frequency information is extracted, and three-dimensional amplitude distance angle information obtained by dividing the three-dimensional amplitude distance frequency information within the beam width by FFT processing in a three-dimensional target image extractor 32. , And a relative angle approach angle calculator 30 estimates a relative angle from the three-dimensional amplitude distance angle information, and subtracts the relative angle from a predetermined approach angle to obtain a third angle error. Calculate. The tracking processor 14 adds the first angle error or the second angle error output from the angle detector 13 and the third angle error, and calculates an induction signal 15 by performing an integration process. At 16 the angle signal output from the angle detector 13 and the shaking signal 17 output from outside the guidance device
Calculate the antenna swing angle from. Using the guidance signal 15 output from the tracking processor 14 or the group tracking processor 27, the guidance signal is output to the outside of the guidance device, and the flying object M equipped with the guidance device 1 is guided to the target. Receiver 7
FIG. 32 shows the subsequent processing flow. The flying object M on which the guidance device 1 is mounted radiates transmission waves from the guidance device 1 to the plurality of targets 6 while flying along the flight path R indicated by the bold line, and the pulse compressor 18 and the angle compressor 19
Thus, high-resolution target information is obtained. 2D CF
The AR processor 20 extracts a plurality of pieces of target information with a reduced false alarm probability. Two-dimensional clustering processor 21
Thus, a plurality of pieces of target information from which islands spread in the angle direction and the frequency direction are removed are extracted. The MTI stagger processor 22 extracts a plurality of target information from which the blind speed region has been removed. Information obtained by classifying clutter, jammers, islands, and a plurality of targets is extracted by the band synthesis processor 23 that performs a processing pattern example as shown in FIG. The specified single target information is extracted by the radar echo matching processor 25 that performs the processing pattern example as shown in FIG. When the specified targets do not match, the group tracking processor 27 that performs the processing pattern example shown in FIG. The angle detection processor 13 using the result of the band synthesis processor 23 extracts a high-resolution range profile result as shown in FIG. 30 by the DBS processor 31 and the three-dimensional target image extractor 32.
Is calculated based on the relative angle to the target and the approach angle determined in advance. Through these processes, the flying object M equipped with the guidance device 1 is guided with high precision toward the hit point of the designated target T2 at a plurality of targets 6 or a predetermined approach angle.
By adopting such a configuration, the amount of memory can be reduced as compared with the ninth embodiment, and the same effect can be expected.

[0037]

According to the first aspect of the present invention, the resolution is improved for both the distance and the angle as compared with the prior art, whereby the clutter power is reduced and the detection capability is improved. In addition, the separation accuracy of a plurality of targets within the same angle at the same distance and the accuracy of separation of clutter and islands are improved. In addition, since the scattering range of the target reflection point is reduced, the guidance accuracy at a short distance is improved.

Further, according to the second aspect, the false alarm is made constant by the two-dimensional information as compared with the related art, so that the false alarm probability is reduced. As a result, the detection ability is improved.

Further, according to the third aspect, compared to the related art, islands and the like spread in the angular direction and the frequency direction are removed by two-dimensional information, so that the target sorting ability is improved.

Further, according to the fourth aspect, since the blind speed is removed as compared with the related art, the detection ability is improved.

According to the fifth invention, the conventional and the first
As compared with the invention of the first aspect, the distance resolution becomes higher, and the accuracy of separating clutter, jammers and targets is improved. Further, the detection of the target singular point becomes possible.

Further, according to the sixth aspect, it is possible to detect and track a predetermined designated target as compared with the related art. As a result, the ability to attack a target by multiple flying object attacks is improved.

Further, according to the seventh aspect, it is possible to track a plurality of targets as compared with the related art. As a result, the tracking accuracy in the first and middle term is improved.

According to the eighth aspect of the present invention, the distance resolution is higher than in the prior art, and tracking to the target hit point designation becomes possible. In addition, since the scattering range of the target reflection point is reduced as compared with the first aspect, the accuracy of guidance at a short distance is improved.

Further, according to the ninth aspect, it is possible to detect the relative angle with the target by comparing the acquired range profile with the calculated range profile value in the database as compared with the related art. . In addition, it is possible to guide to the specified approach angle. As a result, the ability to attack the target is improved.

Further, according to the tenth aspect, the memory capacity of the database becomes unnecessary with the same effect as in the ninth aspect.

[Brief description of the drawings]

FIG. 1 is a diagram showing a configuration of a first embodiment of a guidance device according to the present invention.

FIG. 2 is a first to a first embodiment of the guidance device according to the present invention;
It is a figure showing operation of 0 and the conventional guidance device.

FIG. 3 is a diagram showing a processing flow of the first embodiment of the guidance device according to the present invention;

FIG. 4 is a diagram showing a map data processing result of the guidance device according to the first embodiment of the present invention;

FIG. 5 is a first and an eighth embodiment of the guidance device according to the present invention;
FIG. 9 is a diagram showing a result of the induced noise processing.

FIG. 6 is a diagram showing a configuration of a second embodiment of the guidance device according to the present invention.

FIG. 7 is a diagram showing a processing flow of a second embodiment of the guidance device according to the present invention;

FIG. 8-2 is a second embodiment of the guidance device according to the present invention;
It is a figure showing a dimension CFAR processing result.

FIG. 9 is a diagram showing a configuration of a third embodiment of the guidance device according to the present invention.

FIG. 10 is a diagram showing a processing flow of a third embodiment of the guidance device according to the present invention.

FIG. 11 is a diagram illustrating a result of a two-dimensional clustering process according to a third embodiment of the guidance device according to the present invention;

FIG. 12 is a diagram showing a configuration of a guidance device according to a fourth embodiment of the present invention.

FIG. 13 is a diagram showing a processing flow of a guidance device according to a fourth embodiment of the present invention.

FIG. 14 is a diagram showing an MTI stagger processing result of the guidance device according to the fourth embodiment of the present invention.

FIG. 15 is a diagram showing a configuration of a guidance device according to a fifth embodiment of the present invention.

FIG. 16 is a diagram showing a processing flow of the guidance apparatus according to the fifth embodiment of the present invention.

FIG. 17 is a diagram showing a processing result of the guidance device according to the fifth embodiment of the present invention.

FIG. 18 is a diagram showing a configuration of a guide device according to a sixth embodiment of the present invention.

FIG. 19 is a diagram showing a processing flow of the guidance apparatus according to the sixth embodiment of the present invention.

FIG. 20 is a diagram showing a processing result of the guidance device according to the sixth embodiment of the present invention.

FIG. 21 is a diagram showing operational effects of the guidance device according to the sixth embodiment of the present invention.

FIG. 22 is a diagram showing a configuration of a guide device according to a seventh embodiment of the present invention.

FIG. 23 is a diagram showing a processing flow of the guidance apparatus according to the seventh embodiment of the present invention.

FIG. 24 is a diagram showing a group tracking processing result of the guidance apparatus according to the seventh embodiment of the present invention.

FIG. 25 is a diagram showing a configuration of an eighth embodiment of the guidance device according to the present invention.

FIG. 26 is a diagram showing a processing flow of the guidance apparatus according to the eighth embodiment of the present invention;

FIG. 27 is a diagram showing a range profile processing result of the guidance apparatus according to the eighth embodiment of the present invention.

FIG. 28 is a diagram showing a configuration of a ninth embodiment of a guidance device according to the present invention.

FIG. 29 is a diagram showing a processing flow of the ninth embodiment of the guidance device according to the present invention;

FIG. 30 is a diagram illustrating a guidance device according to an eighth embodiment of the present invention;
9 is a diagram showing the operational effects of Example 9; FIG.

FIG. 31 is a tenth embodiment of the guidance device according to the present invention;
FIG. 3 is a diagram showing the configuration of FIG.

FIG. 32 is a tenth embodiment of the guidance device according to the present invention;
It is a figure which shows the processing flow of.

FIG. 33 is a diagram showing a configuration of a conventional guidance device.

FIG. 34 is a diagram showing a processing flow of a conventional guidance device.

FIG. 35 is a diagram showing a map data processing result of a conventional guidance device.

FIG. 36 is a diagram illustrating a result of guidance noise processing performed by a conventional guidance device.

FIG. 37 is a diagram showing a CFAR processing result of a conventional guidance device.

FIG. 38 is a diagram illustrating a result of a clustering process performed by a conventional guidance device.

FIG. 39 is a diagram showing an MTI processing result of a conventional guidance device.

FIG. 40 is a diagram showing an operation problem of a conventional guidance device.

FIG. 41 is a diagram illustrating a result of a single tracking process performed by a conventional guidance device.

FIG. 42 is a diagram showing a range profile processing result of the conventional guidance device.

FIG. 43 is a diagram showing an operation problem of a conventional guidance device.

[Explanation of symbols]

1 Guidance device, 2 local oscillator, 3 transmitter, 4 duplexer, 5 antenna, 6 target, 7 receiver, 8 frequency detector, 9 MTI processor, 10 map data storage,
11 CFAR processor, 12 clustering processor angular velocity, 13 angle detector, 14 tracking processor, 15 guidance signal, 16 antenna controller, 17 own motion signal, 18
Pulse compressor, 19 angle compressor, 20 two-dimensional CF
AR processor, 21 two-dimensional clustering processor, 22
MTI stagger processor, 23 band synthesis processor, 24
Own speed signal, 25 radar echo collator, 26 radar echo information, 27 group tracking processor, 28
Range profile processor, 29 Range profile data storage, 30 Relative angle approach angle calculator, 31D
BS processor, 32 3D target image extractor.

──────────────────────────────────────────────────続 き Continued on the front page (58) Field surveyed (Int.Cl. ⁷ , DB name) G01S ⁷ /00-7/42 G01S 13/00-13/95 F42B 15/01

Claims (10)

(57) [Claims] 1. A local oscillator for generating an RF (Radio Frequency) band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal, and timing of pulse modulation of the RF band continuous signal A means for controlling the transmission pulse signal at a predetermined pulse modulation timing; and a means for controlling the transmission pulse signal at a predetermined PRI (Pulse Repetation Int).
erval), radiates as a transmission wave to a target including the background via a transmission / reception switch that switches a transmission / reception signal at a timing, and receives a reception wave reflected from a plurality of targets and clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF (difference) reception signal including amplitude and position information, a means for controlling switching between transmission and reception at predetermined timings for each PRI, and a transmission / reception switch output from the antenna. Phase detection of the time-series SUM reception signal passed through and the DIF reception signal output from the antenna by the local signal output from the local oscillation unit, and the time-series SUM including the amplitude and position information of a plurality of targets and clutters and islands.
A receiver for converting a UM video signal and a DIF video signal; a time-series SUM narrow pulse signal and a DIF narrow signal including amplitude and position information of a plurality of targets, clutters, and islands obtained by correlating the SUM video signal and the DIF video signal; A pulse compressor for generating a pulse signal, and the SUM narrow pulse signal
DI obtained by multiplying (SUM) by a predetermined coefficient (k)
Subtraction processing (SUM-k × ) with F narrow pulse signal (DIF)
DIF) , an angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands, etc .;
A frequency detector that performs T (Fast Fourier Transform) and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets, clutter, islands, and the like, and a frequency conversion signal obtained by delaying the frequency conversion signal by a predetermined time. An MTI (Moving Target Indicator) processor for subtracting and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter have been removed, and a predetermined delay timing are generated. Means,
2 including amplitude and distance information of a plurality of targets, clutters, islands, and the like obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor.
A map data storage for storing information on the dimensional amplitude distance and the current antenna swing angle output from the antenna controller, and for updating and storing map data after CFAR processing and clustering processing; The amplitude distance information and the two-dimensional amplitude frequency information are averaged for the amplitude information of a predetermined distance range and frequency range, and the amplitude of a plurality of targets and islands, etc., in which false alarms such as clutter are fixed,
CFAR (Constant False Alarm) that extracts two-dimensional amplitude distance information and two-dimensional amplitude frequency information including distance information
Rate) processor and C output from the map data storage
A clustering processor that determines that the two-dimensional amplitude distance information after the FAR processing is out of a predetermined distance range or more, and extracts two-dimensional amplitude distance information including amplitude and distance information of a plurality of targets from which islands or the like have been removed; A first angle difference between a main axis of the antenna and a target reflection direction obtained by dividing the time-series angle-compressed SUM narrow pulse signal output from the angle compressor by the time-series DIF narrow pulse signal output from the pulse compressor. An angle detector that performs a monopulse calculation of the angle error, converts an angle signal from the first angle error and the current antenna swing angle output from the antenna controller, and integrates the first angle error; A tracking processor that calculates a guidance signal with the antenna, and an antenna control that calculates the antenna swing angle from the angle signal output from the angle detector and the sway signal output from outside the guidance device Inductive device characterized by comprising a. 2. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets, clutter, islands, and the like, and a predetermined time delay of the frequency conversion signal An MTI processor for subtracting a frequency conversion signal and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter have been removed, and means for generating a predetermined delay timing And the two-dimensional amplitude frequency information and the time series angle compression S output from the angle compressor.
It stores two-dimensional amplitude distance information including amplitude and distance information of a plurality of targets, clutters, islands, etc. obtained by distance-converting the UM narrow pulse signal, and information on the current antenna swing angle output from the antenna controller. A map data storage for updating and storing the map data after the CFAR processing and the clustering processing, and averaging the map data of the three-dimensional amplitude distance frequency information for each angle with amplitude information of a predetermined distance and frequency range, Extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands, etc., for which false alarms due to, for example, are constant 2
A two-dimensional CFAR processor and two-dimensional amplitude distance information after two-dimensional CFAR processing output from the map data storage determine that a distance beyond a predetermined distance range is out of target, and remove amplitudes of a plurality of targets from which islands and the like are removed. A clustering processor that extracts two-dimensional amplitude distance information including distance information, and divides a time-series angle-compressed SUM narrow pulse signal output from an angle compressor by a time-series DIF narrow pulse signal output from a pulse compressor. A mono-pulse operation is performed on a first angle error, which is an angle difference between the antenna main axis and the target reflection direction, and an angle signal is converted from the first angle error and the current antenna swing angle output from the antenna controller. An angle detector, a tracking processor that calculates a guidance signal by integrating the first angle error, and an angle signal output from the angle detector and whether the signal is external to the guidance device. Inductive device characterized by comprising an antenna controller for calculating the antenna neck vibration angle from the outputted upset signal. 3. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets, clutter, islands, and the like, and a predetermined time delay of the frequency conversion signal An MTI processor for subtracting a frequency conversion signal and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter have been removed, and means for generating a predetermined delay timing And the two-dimensional amplitude frequency information and the time series angle compression S output from the angle compressor.
It stores two-dimensional amplitude distance information including amplitude and distance information of a plurality of targets, clutters, islands, etc. obtained by distance-converting the UM narrow pulse signal, and information on the current antenna swing angle output from the antenna controller. A map data storage for updating and storing map data after the CFAR processing and the two-dimensional clustering processing, and averaging the map data of the three-dimensional amplitude distance frequency information for each angle with amplitude information of a predetermined distance and frequency range. A two-dimensional CFAR processor for extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like where false alarms due to clutter and the like are constant, and output from a map data storage. The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing are predetermined. Distance, angle range above and the distance,
It is determined that the frequency range or more is out of target, and map data of three-dimensional amplitude distance angle information and map data of three-dimensional amplitude distance frequency including amplitude, distance, angle and frequency information of multiple targets from which islands and clutter have been removed are extracted. A two-dimensional clustering processor, and a time-series angle-compressed SUM narrow-pulse signal output from the angle compressor divided by a time-series DIF narrow-pulse signal output from the pulse compressor, and an antenna main axis and a target reflection direction. An angle detector that performs a monopulse calculation of a first angle error that is an angle difference, and converts and calculates an angle signal from the first angle error and a current antenna swing angle output from an antenna controller; A tracking processor that calculates the guidance signal by integrating the angle error, and from the angle signal output from the angle detector and the sway signal output from outside the guidance device A guidance device comprising an antenna controller for calculating an antenna swing angle. 4. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing map data after two-dimensional CFAR processing and two-dimensional clustering processing, and map data of three-dimensional amplitude distance frequency information for each angle are stored in predetermined distance and frequency range amplitude information. A two-dimensional CFAR processor for averaging and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map data storage The output map data of the three-dimensional amplitude distance angle information after the two-dimensional CFAR processing and the map data of the three-dimensional amplitude distance frequency are converted into a predetermined distance, an angle range or more and a distance,
It is determined that the frequency range or more is out of target, and map data of three-dimensional amplitude distance angle information and map data of three-dimensional amplitude distance frequency including amplitude, distance, angle and frequency information of multiple targets from which islands and clutter have been removed are extracted. A two-dimensional clustering processor, and a time-series angle-compressed SUM narrow-pulse signal output from the angle compressor divided by a time-series DIF narrow-pulse signal output from the pulse compressor, and an antenna main axis and a target reflection direction. An angle detector that performs a monopulse calculation of a first angle error that is an angle difference, and converts and calculates an angle signal from the first angle error and a current antenna swing angle output from an antenna controller; A tracking processor that calculates the guidance signal by integrating the angle error, and from the angle signal output from the angle detector and the sway signal output from outside the guidance device A guidance device comprising an antenna controller for calculating an antenna swing angle. 5. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing, and the map data of the three-dimensional amplitude distance frequency information for each angle are stored in a predetermined distance and frequency range. Two-dimensional CFAR processor for averaging amplitude information of a plurality of objects and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing output from the data storage unit are set outside the predetermined distance, angle range and beyond, and distance and frequency range outside the target. And the island,
The amplitude, distance, and angle of multiple targets without clutter
A two-dimensional clustering processor for extracting map data of three-dimensional amplitude distance angle information including frequency information and map data of three-dimensional amplitude distance frequency, and a threshold value of amplitude predetermined from the three-dimensional amplitude distance angle information Means for determining that the target candidates are the target candidates, and RF localization signals f0 to fN
, And radiates N transmission waves pulse-modulated by the transmitter, and converts the received N and SIF video signals including target and clutter amplitude and position information into F
IF (Intermediate Frequency) phase-compensated with own speed signal output from outside of the guidance device after FT processing
Synthesizes the frequencies f0 'to fN' and sets the synthesized band fT to IFF
A band synthesis processor that extracts a synthesized band narrow SUM pulse signal and a synthesized band narrow DIF pulse signal that have been subjected to T (invert Fast Fourier Transform) processing, and pulse compression of a time-series angle-compressed SUM narrow pulse signal output from an angle compressor. Is the angle difference between the antenna main axis and the target reflection direction divided by the time-series DIF narrow pulse signal output from the detector.
And an angle detector for converting an angle signal from the first angle error and the current antenna swing angle output from the antenna controller, and integrating the first angle error. A tracking processor that calculates a guidance signal by using the same, and an antenna controller that calculates an antenna swing angle from an angle signal output from an angle detector and a sway signal output from outside the guidance device. Guidance device. 6. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing, and the map data of the three-dimensional amplitude distance frequency information for each angle are stored in a predetermined distance and frequency range. Two-dimensional CFAR processor for averaging amplitude information of a plurality of objects and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing output from the data storage unit are set outside the predetermined distance, angle range and beyond, and distance and frequency range outside the target. And the island,
The amplitude, distance, and angle of multiple targets without clutter
A two-dimensional clustering processor for extracting map data of three-dimensional amplitude distance angle information including frequency information and map data of three-dimensional amplitude distance frequency, and a threshold value of amplitude predetermined from the three-dimensional amplitude distance angle information Means for determining that the target candidates are the target candidates, and RF localization signals f0 to fN
, And radiates N transmission waves pulse-modulated by the transmitter, and converts the received N and SIF video signals including target and clutter amplitude and position information into F
After performing the FT processing, the synthesized band fT obtained by performing the IFFT processing on the synthesized band fT obtained by synthesizing the band of the IF frequencies f0 ′ to fN ′ phase-compensated by the own speed signal output from the outside of the guidance apparatus is S.
A band synthesis processor that extracts a UM pulse signal and a synthesized band narrow DIF pulse signal, a map data of two-dimensional distance angle information after band synthesis processing output from a map data storage, and a radar echo output from outside the guidance device A radar echo collator that correlates collation information and specified target position information to calculate specified target position information that estimates the specified target and multiple target position information when the target cannot be specified, and a time series output from the angle compressor A monopulse operation is performed on the first angle error, which is the angle difference between the antenna main axis and the target reflection direction, obtained by dividing the angle-compressed SUM narrow-pulse signal by the time-series DIF narrow-pulse signal output from the pulse compressor. An angle detector that converts and calculates an angle signal from the angle error and the current antenna swing angle and the specified target position information output from the antenna controller. A tracking processor that calculates a guidance signal by integrating the first angle error; and an antenna that calculates an antenna swing angle from an angle signal output from an angle detector and a sway signal output from outside the guidance device. A guidance device comprising a controller. 7. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing, and the map data of the three-dimensional amplitude distance frequency information for each angle are stored in a predetermined distance and frequency range. Two-dimensional CFAR processor for averaging amplitude information of a plurality of objects and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing output from the data storage unit are set outside the predetermined distance, angle range and beyond, and distance and frequency range outside the target. And the island,
The amplitude, distance, and angle of multiple targets without clutter
A two-dimensional clustering processor for extracting map data of three-dimensional amplitude distance angle information including frequency information and map data of three-dimensional amplitude distance frequency, and a threshold value of amplitude predetermined from the three-dimensional amplitude distance angle information Means for determining that the target candidates are the target candidates, and RF localization signals f0 to fN
, And radiates N transmission waves pulse-modulated by the transmitter, and converts the received N and SIF video signals including target and clutter amplitude and position information into F
After performing the FT processing, the synthesized band fT obtained by performing the IFFT processing on the synthesized band fT obtained by synthesizing the band of the IF frequencies f0 ′ to fN ′ phase-compensated by the own speed signal output from the outside of the guidance apparatus is S.
A band synthesis processor that extracts a UM pulse signal and a synthesized band narrow DIF pulse signal, a map data of two-dimensional distance angle information after band synthesis processing output from a map data storage, and a radar echo output from outside the guidance device A radar echo collator that correlates collation information and specified target position information to calculate specified target position information that estimates the specified target and multiple target position information when the target cannot be specified, and a time series output from the angle compressor A monopulse operation is performed on the first angle error, which is the angle difference between the antenna main axis and the target reflection direction, obtained by dividing the angle-compressed SUM narrow-pulse signal by the time-series DIF narrow-pulse signal output from the pulse compressor. An angle detector that converts and calculates an angle signal from the angle error and the current antenna swing angle and the specified target position information output from the antenna controller. A group tracking processor that calculates an optimum tracking point for position information of a plurality of targets output from the radar echo collator when correlation processing of the specified target cannot be performed, and integrating the first angle error; A tracking processor for calculating a guidance signal by using the antenna controller; and an antenna controller for calculating an antenna swing angle from the angle signal output from the angle detector and the sway signal output from outside the guidance device. apparatus. 8. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing, and the map data of the three-dimensional amplitude distance frequency information for each angle are stored in a predetermined distance and frequency range. Two-dimensional CFAR processor for averaging amplitude information of a plurality of objects and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing output from the data storage unit are set outside the predetermined distance, angle range and beyond, and distance and frequency range outside the target. And the island,
The amplitude, distance, and angle of multiple targets without clutter
A two-dimensional clustering processor for extracting map data of three-dimensional amplitude distance angle information including frequency information and map data of three-dimensional amplitude distance frequency, and a threshold value of amplitude predetermined from the three-dimensional amplitude distance angle information Means for determining that the target candidates are the target candidates, and RF localization signals f0 to fN
, And radiates N transmission waves pulse-modulated by the transmitter, and converts the received N and SIF video signals including target and clutter amplitude and position information into F
After performing the FT processing, the synthesized band fT obtained by performing the IFFT processing on the synthesized band fT obtained by synthesizing the band of the IF frequencies f0 ′ to fN ′ phase-compensated by the own speed signal output from the outside of the guidance apparatus is S.
A band synthesis processor for extracting a UM pulse signal and a synthesized band narrow DIF pulse signal, a map data of two-dimensional distance and angle information after band synthesis output from a map data storage, and a radar echo output from outside the guidance device A radar echo collator that correlates collation information and designated target position information to calculate designated target position information that estimates the designated target and multiple target position information when the target could not be designated, and a time series output from the angle compressor Mono-pulse calculation of the first angle error, which is the angle difference between the antenna main axis and the target reflection direction, obtained by dividing the angle-compressed SUM narrow-pulse signal by the time-series DIF narrow-pulse signal output from the pulse compressor. A second angle error obtained by dividing the synthesized band narrow SUM pulse signal output from the processor by the synthesized band narrow DIF pulse signal is calculated, and tracking processing is performed. Therefore, the angle error is selectively used, an angle detector that converts and calculates an angle signal from the angle error, the current antenna swing angle output from the antenna controller, and the specified target position information, and a specification output from the radar echo collator. A group tracking processor that calculates an optimum tracking point for position information of a plurality of targets when the correlation processing of the targets could not be performed, and a tracking processor that calculates a guidance signal by integrating the first angle error. And an antenna controller for calculating an antenna swing angle from an angle signal output from the angle detector and a sway signal output from outside the guidance device. 9. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal,
A transmitter for generating a transmission pulse signal at a predetermined pulse modulation timing of the RF band continuous signal; a unit for controlling the transmission pulse signal at a predetermined pulse modulation timing; A transmission / reception switch that switches transmission / reception signals at a predetermined timing of each PRI radiates a transmission wave to a target including a background, and receives a plurality of targets and a reception wave reflected from a clutter, an island, etc. An antenna for generating a SUM reception signal and a DIF reception signal including amplitude and position information of a clutter, an island, etc .; a means for controlling switching between transmission and reception at predetermined PRI timing; and a transmission / reception switch output from the antenna. Phase of the time series SUM reception signal passed through and the DIF reception signal output from the antenna with the local signal output from the local oscillator A receiver for converting a time series SUM video signal and a DIF video signal including amplitude and position information of multiple targets and clutter, islands, etc., and a plurality of targets and clutter obtained by correlating the SUM video signal and the DIF video signal Time series S including amplitude, position information of islands, etc.
A pulse compressor for generating a UM narrow pulse signal and a DIF narrow pulse signal, and a DIF narrow pulse signal obtained by multiplying the SUM narrow pulse signal (SUM) by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing, and the map data of the three-dimensional amplitude distance frequency information for each angle are stored in a predetermined distance and frequency range. Two-dimensional CFAR processor for averaging amplitude information of a plurality of objects and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing output from the data storage unit are set outside the predetermined distance, angle range and beyond, and distance and frequency range outside the target. And the island,
The amplitude, distance, and angle of multiple targets without clutter
A two-dimensional clustering processor for extracting map data of three-dimensional amplitude distance angle information including frequency information and map data of three-dimensional amplitude distance frequency, and a threshold value of amplitude predetermined from the three-dimensional amplitude distance angle information Means for determining that the target candidates are the target candidates, and RF localization signals f0 to fN
, And radiates N transmission waves pulse-modulated by the transmitter, and converts the received N and SIF video signals including target and clutter amplitude and position information into F
After performing the FT processing, the synthesized band fT obtained by performing the IFFT processing on the synthesized band fT obtained by synthesizing the band of the IF frequencies f0 ′ to fN ′ phase-compensated by the own speed signal output from the outside of the guidance apparatus is S.
A band synthesis processor for extracting a UM pulse signal and a synthesized band narrow DIF pulse signal, a map data of two-dimensional distance and angle information after band synthesis output from a map data storage, and a radar echo output from outside the guidance device A radar echo collator that correlates collation information and designated target position information to calculate designated target position information that estimates the designated target and multiple target position information when the target could not be designated, and a time series output from the angle compressor Mono-pulse calculation of the first angle error, which is the angle difference between the antenna main axis and the target reflection direction, obtained by dividing the angle-compressed SUM narrow-pulse signal by the time-series DIF narrow-pulse signal output from the pulse compressor. A second angle error obtained by dividing the synthesized band narrow SUM pulse signal output from the processor by the synthesized band narrow DIF pulse signal is calculated, and tracking processing is performed. Therefore, the angle error is selectively used, an angle detector that converts and calculates an angle signal from the angle error, the current antenna swing angle output from the antenna controller, and the specified target position information, and a specification output from the radar echo collator. A group tracking processor that calculates an optimum tracking point for position information of a plurality of targets when the correlation processing of the targets cannot be performed, and a time axis based on a time-series synthesized narrow band SUM pulse signal output from the band synthesizer. A range profile extractor for extracting a range profile of the target image arranged above, a range profile storage for storing a relative angle with respect to the target and range profile data for each relative angle, and the range profile data and the extracted range profile. Is correlated and the relative angle corresponding to similar range profile data is estimated. A relative angle approach angle calculator for calculating a third angle error obtained by subtracting the relative angle and a predetermined approach angle, and a first angle error or a second angle error output from the angle detector. A tracking processor for calculating a guidance signal by adding the third angle error and performing an integration process; and an antenna swing angle based on the angle signal output from the angle detector and the sway signal output from outside the guidance device. A guidance device comprising an antenna controller for calculating. 10. A local oscillator for generating an RF band continuous signal and a local signal, means for arbitrarily setting an RF band continuous signal, and a transmission pulse signal for the RF band continuous signal at a predetermined pulse modulation timing. , A means for controlling the transmission pulse signal at a predetermined pulse modulation timing, and a transmission / reception switch for switching the transmission / reception signal at a predetermined PRI timing for the transmission pulse signal. A SUM reception signal and a DIF reception signal including amplitude and position information of a plurality of targets and clutters, islands, etc., receiving the waves reflected from the plurality of targets and clutters, islands, etc. And means for controlling the switching between transmission and reception at predetermined timings for each PRI, and output from the antenna and passed through the transmission / reception switch. The time-series SUM reception signal and the DIF reception signal output from the antenna are phase-detected by the local signal output from the local oscillation unit, and multiple targets and clutters are detected.
A receiver for converting a time-series SUM video signal and a DIF video signal including amplitude and position information of an island and the like;
A pulse compressor for generating a time-series SUM narrow pulse signal and a DIF narrow pulse signal including amplitude and position information of a plurality of targets, clutters, islands, and the like obtained by correlating a video signal and a DIF video signal; and the SUM narrow pulse signal ( SUM) multiplied by a predetermined coefficient (k)
An angle compressor for generating a time-series angle-compressed SUM narrow pulse signal including amplitude information of a plurality of targets, clutter, islands and the like subjected to subtraction processing (SUM-k × DIF) by (DIF) ;
A frequency detector that performs FFT processing on the angle-compressed SUM narrow pulse signal and extracts a frequency conversion signal including amplitude and frequency information of a plurality of targets and clutters and islands; MTI stagger processing for performing subtraction processing with M kinds of time-delayed frequency converted signals and extracting two-dimensional amplitude frequency information including amplitude and frequency information of a plurality of targets from which frequency components such as fixed clutter and blind speed have been removed. Means for generating M kinds of predetermined delay timings; a plurality of targets and a clutter obtained by distance-converting the two-dimensional amplitude frequency information and the time-series angle-compressed SUM narrow pulse signal output from the angle compressor; Stores the two-dimensional amplitude distance information including the amplitude and distance information of the island and the current antenna swing angle information output from the antenna controller. Further, a map data storage for updating and storing the map data after the two-dimensional CFAR processing, the two-dimensional clustering processing, and the band synthesis processing, and the map data of the three-dimensional amplitude distance frequency information for each angle are stored in a predetermined distance and frequency range. Two-dimensional CFAR processor for averaging amplitude information of a plurality of objects and extracting map data of three-dimensional amplitude distance frequency information including amplitude, distance, and frequency information of a plurality of targets and islands and the like in which false alarms due to clutter or the like are constant, and a map The map data of the three-dimensional amplitude distance angle information and the map data of the three-dimensional amplitude distance frequency after the two-dimensional CFAR processing output from the data storage unit are set outside the predetermined distance, angle range and beyond, and distance and frequency range outside the target. And the island,
The amplitude, distance, and angle of multiple targets without clutter
A two-dimensional clustering processor for extracting map data of three-dimensional amplitude distance angle information including frequency information and map data of three-dimensional amplitude distance frequency, and a threshold value of amplitude predetermined from the three-dimensional amplitude distance angle information Means for determining that the target candidates are the target candidates, and RF localization signals f0 to fN
, And radiates N transmission waves pulse-modulated by the transmitter, and converts the received N and SIF video signals including target and clutter amplitude and position information into F
After performing the FT processing, the synthesized band fT obtained by performing the IFFT processing on the synthesized band fT obtained by synthesizing the band of the IF frequencies f0 ′ to fN ′ phase-compensated by the own speed signal output from the outside of the guidance apparatus is S.
A band synthesis processor for extracting a UM pulse signal and a synthesized band narrow DIF pulse signal, a map data of two-dimensional distance and angle information after band synthesis output from a map data storage, and a radar echo output from outside the guidance device A radar echo collator that correlates collation information and designated target position information to calculate designated target position information that estimates the designated target and multiple target position information when the target could not be designated, and a time series output from the angle compressor Mono-pulse calculation of the first angle error, which is the angle difference between the antenna main axis and the target reflection direction, obtained by dividing the angle-compressed SUM narrow-pulse signal by the time-series DIF narrow-pulse signal output from the pulse compressor. A second angle error obtained by dividing the synthesized band narrow SUM pulse signal output from the processor by the synthesized band narrow DIF pulse signal is calculated, and tracking processing is performed. Therefore, the angle error is selectively used, an angle detector that converts and calculates an angle signal from the angle error, the current antenna swing angle output from the antenna controller, and the specified target position information, and a specification output from the radar echo collator. A group tracking processor that calculates an optimal tracking point for position information of a plurality of targets when the correlation processing of the targets cannot be performed, and a synthesized band narrow SUM pulse signal for each of L PRIs output from the band synthesizer And a DBS processor for phase-compensating with the own speed signal and the sway signal output from the outside of the guidance device, and extracting three-dimensional amplitude frequency distance information including information of the frequency-converted target amplitude, distance, and frequency; A third dimension extracting target image data of three-dimensional amplitude distance angle information obtained by dividing the inside of the beam width by performing FFT processing on the three-dimensional amplitude distance frequency information An image extractor,
A relative angle approach angle calculator for estimating a relative angle from the three-dimensional amplitude distance angle information, calculating a third angle error obtained by subtracting the relative angle and a predetermined approach angle, and an output from the angle detector. A tracking processor for calculating a guidance signal by adding the first angle error or the second angle error and the third angle error and performing an integration process, an angle signal output from an angle detector and a guidance device A guidance device, comprising: an antenna controller that calculates an antenna swing angle from a swing signal output from the outside.