CN102680966A - Navigation radar for FMCW (frequency-modulated continuous wave) ship - Google Patents
Navigation radar for FMCW (frequency-modulated continuous wave) ship Download PDFInfo
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Abstract
The invention discloses a navigation radar for an FMCW (frequency-modulated continuous wave) ship. The navigation radar comprises a display and control terminal subsystem, an antenna feeder subsystem, an exciter and timer subsystem, a receiver subsystem and a signal processing subsystem, wherein the receiver subsystem is connected with the antenna feeder subsystem, the signal processing subsystem and the display and control terminal subsystem, the signal processing subsystem is connected with the display and control terminal subsystem, the display and control terminal subsystem is connected with the exciter and timer subsystem, and the antenna feeder subsystem is connected with the exciter and timer subsystem. A microstrip antenna which is independently researched and developed is used in the navigation radar, so that the isolation degree of the antenna is improved, the leakage problem of a transmitter is basically solved, and a good foundation is laid for late-stage echo receiving and signal processing; SFC (synthesizable frequency calibration) filtration is used at second intermediate frequency for performing attenuation on echoes of a short-range target, so that the dynamic range of a receiver can achieve 100dB; and through a signal modulation way, distance-Doppler coupling is avoided within the using range of the navigation radar, and the navigation radar further has very high reliability and is particularly suitable for small and medium-sized ships.
Description
Technical field
The present invention relates to a kind of radar, relate in particular to a kind of FMCW marine navigation radar, belong to the radar navigation technical field.
Background technology
Linear frequency modulation continuous wave (FMCW) radar is to have high range resolution, low emissive power, high receiving sensitivity, advantages of simple structure and simple; Do not exist apart from the blind area; Have characteristics than better anti-stealthy, anti-background clutter of pulsed radar and antijamming capability; And be specially adapted to closely use, aspect military and civilian, all obtained development faster in recent years.Major advantage can be summed up as following three aspects:
1.FMCW being its modulation, biggest advantage is easy to realize through solid state transmitter;
2. to from the FMCW system, extract range information, must handle frequency information, and this step can be through accomplish based on the processor of FFT (being designated hereinafter simply as FFT) now;
3.FMCW signal be difficult to arrive with traditional intercepting and capturing detections of radar.
Except above-mentioned advantage, also there are some shortcomings in fmcw radar, mainly shows three aspects:
1. operating distance is limited: cause the limited reason of fmcw radar operating distance to mainly contain two aspects, at first the fmcw radar transmitter and receiver is worked simultaneously, and when operating distance increased, transmitter leaakage also increased to the power of receiver; Secondly owing to the fmcw radar non-blind area, the close-in target echo power is very strong, takes into account remote little target echo, and receiver need design dynamically big.Because continuous wave radar can not be the same as radio-frequency front-end design STC with pulsed radar, so be difficult to the dynamic range that reaches bigger.
2. distance-speed coupled problem: the long-pending linear FM signal of band when being super large that fmcw radar adopts; Theoretical according to Ambiguity Function of Radar Signals; It certainly exists the coupled problem of distance and speed, and this not only causes the actual resolution characteristic of system to descend, and can cause the moving target range error.
For example application number is 02800268 one Chinese patent application, discloses the technical scheme of a kind of denomination of invention for " FM-CW radar installations ", and its specification digest is following: " the FM-CW radar installations comprises the modulation signal occurrence device that switches the FM-CW ripple; Fast Fourier transform sends signal and detects processing with the Beat Signal that receives signal, calculates and the distance of target object, the calculation element of relative velocity; Confirm the control device of the switching of sensing range control modulation signal according to computed range; Switch to and changed modulating frequency, the triangular wave frequency of sending ripple, the modulation signal of the value of one of centre frequency of transmission ripple.The distance that on the bee-line that calculates, adds predetermined distance, the distance that perhaps from the distance of fixed object, deducts predetermined distance is as sensing range." through its overall plan analysis is learnt, the also unresolved fmcw radar of this patented claim intrinsic operating distance finite sum apart from the speed coupled problem.
Summary of the invention
Deficiency to the prior art existence; Technical matters to be solved by this invention is a kind of FMCW marine navigation radar to be provided, effectively the problem of solution emission leakage; Improve receiver sensitivity; Make the complete machine operate as normal, accomplished the big dynamic design of receiver, avoided the range-Doppler coupling of movement overseas target.
For solving the problems of the technologies described above; The technical scheme that the present invention takes is; A kind of FMCW marine navigation radar; Comprise showing control terminal subsystem, antenna feeder subsystem, driver and timer subsystem, receiver subsystem and signal Processing subsystem, its receiver subsystem connects antenna feeder subsystem, signal Processing subsystem and apparent control terminal subsystem, and the signal Processing subsystem connects and shows the control terminal subsystem; Show the control terminal subsystem and connect driver and timer subsystem, the antenna feeder subsystem connects driver and timer subsystem.
Optimize; Above-mentioned FMCW marine navigation radar; Its antenna feeder subsystem comprises antenna, collector ring and stepper motor, and antenna is connected with apparent control terminal subsystem transmission through collector ring, and collector ring is arranged at the gear center section; Stepper motor connects antenna, and the antenna feeder subsystem also includes a single spring switch that is used to realize the bow signal.
Optimize, above-mentioned FMCW marine navigation radar, its receiver subsystem comprises limiter; Limiter connects preselection filter, and preselection filter connects low noise amplifier, and low noise amplifier connects wave filter one; Wave filter one connects first frequency mixer, and first frequency mixer connects wave filter two, and wave filter two connects amplifier in; Amplifier connects wave filter three in one, and wave filter three connects second frequency mixer, and second frequency mixer connects amplifier in two.
Optimize; Above-mentioned FMCW marine navigation radar; Its driver and timer subsystem comprise DDS module and frequency synthesizer module, and the DDS module comprises a level transferring chip, and level transferring chip connects the FPGA controller; The FPGA controller connects the DDS controller, and the FPGA controller is connected power supply chip respectively with the DDS controller; Said frequency synthesizer module connects first frequency mixer, signal Processing subsystem and second frequency mixer respectively
Optimize; Above-mentioned FMCW marine navigation radar; Its signal Processing subsystem comprises A/D sampling module, Digital Down Converter Module, FPGA signal processing module and DSP signal processing module, and the A/D sampling module connects the receiver subsystem, and the A/D sampling module connects Digital Down Converter Module; Digital Down Converter Module connects the FPGA signal processing module, and the FPGA signal processing module connects the DSP signal processing module; Said DSP signal processing module connects and shows the control terminal subsystem.
Optimize; Above-mentioned FMCW marine navigation radar, its antenna feeder subsystem also include a power amplifier and a sky line traffic control, and antenna comprises emitting antenna and receiving antenna; Show the control terminal subsystem and be connected with receiving antenna through a day line traffic control, receiving antenna connects low noise amplifier; Said emitting antenna connects a power amplifier and a day line traffic control respectively.
Optimize, above-mentioned FMCW marine navigation radar is provided with isolator one between its preselection filter and the low noise amplifier; Be provided with isolator two between low noise amplifier and the wave filter one.
Optimize, above-mentioned FMCW marine navigation radar is provided with the SFC wave filter between the amplifier in its second frequency mixer and two.
Optimize, above-mentioned FMCW marine navigation radar, its SFC wave filter is the crystal rejection filter, the center frequency of SFC wave filter is 21.77MHz, 3dB bandwidth of rejection 14KHz;
Optimize, above-mentioned FMCW marine navigation radar, its antenna are micro-strip array antenna, and receive-transmit isolation is 70dB.
It has following beneficial effect the present invention:
With compared with techniques in the past, the present invention uses the microstrip antenna of independent research, has improved isolation between antennas, has solved the problem that transmitter is revealed basically, is the echo reception in later stage, and signal Processing is laid a good foundation; Used SFC filtering at two intermediate frequencies, the echo of close-in target has been decayed, made the dynamic range of receiver reach 100dB; Through to the signal modulation format, design modulation period, in the usable range of navar, avoided range-Doppler coupling.The present invention adopts multi-functional microprocessor, VLSI (very large scale integrated circuits), FPGA+DSP synergistic signal treatment technology; Can realize the scanning room relevant treatment, weak target detection, target following; Flight path shows, the security area is set, functions such as GPS demonstration; And have very high reliability, be specially adapted to middle-size and small-size naval vessel.
Description of drawings
Below in conjunction with accompanying drawing and embodiment to further explain of the present invention;
Fig. 1 is a system logic block diagram of the present invention;
The real subsystem block diagram of the present invention of Fig. 2;
Fig. 3 is an antenna feeder subsystem logic diagram of the present invention;
Fig. 4 is driver of the present invention and timer subsystem logic diagram;
Fig. 5 is a DDS modular system logic diagram of the present invention;
Fig. 6 is a receiver subsystem logic diagram of the present invention;
Fig. 7 is a signal Processing subsystem logic diagram of the present invention.
Embodiment
As shown in Figure 1; The present invention is a kind of FMCW marine navigation radar; Comprise showing control terminal subsystem, antenna feeder subsystem, driver and timer subsystem, receiver subsystem and signal Processing subsystem, its receiver subsystem connects antenna feeder subsystem, signal Processing subsystem and apparent control terminal subsystem, and the signal Processing subsystem connects and shows the control terminal subsystem; Show the control terminal subsystem and connect driver and timer subsystem, the antenna feeder subsystem connects driver and timer subsystem.The antenna feeder subsystem comprises antenna, collector ring and stepper motor; Antenna is connected with apparent control terminal subsystem transmission through collector ring; Collector ring is arranged at the gear center section, and stepper motor connects antenna, and the antenna feeder subsystem also includes a single spring switch that is used to realize the bow signal.The receiver subsystem comprises limiter, and limiter connects preselection filter, and preselection filter connects low noise amplifier; Low noise amplifier connects wave filter one, and wave filter one connects first frequency mixer, and first frequency mixer connects wave filter two; Wave filter two connects amplifier in; Amplifier connects wave filter three in one, and wave filter three connects second frequency mixer, and second frequency mixer connects amplifier in two.Driver and timer subsystem comprise DDS module and frequency synthesizer module; The DDS module comprises a level transferring chip; Level transferring chip connects the FPGA controller, and the FPGA controller connects the DDS controller, and the FPGA controller is connected power supply chip respectively with the DDS controller; Said frequency synthesizer module connects first frequency mixer, signal Processing subsystem and second frequency mixer respectively.The signal Processing subsystem comprises A/D sampling module, Digital Down Converter Module, FPGA signal processing module and DSP signal processing module; The A/D sampling module connects the receiver subsystem; The A/D sampling module connects Digital Down Converter Module; Digital Down Converter Module connects the FPGA signal processing module, and the FPGA signal processing module connects the DSP signal processing module; Said DSP signal processing module connects and shows the control terminal subsystem.The antenna feeder subsystem also includes a power amplifier and a sky line traffic control, and antenna comprises emitting antenna and receiving antenna, shows the control terminal subsystem and is connected with receiving antenna through a day line traffic control, and receiving antenna connects low noise amplifier; Said emitting antenna connects a power amplifier and a day line traffic control respectively.Be provided with isolator one between preselection filter and the low noise amplifier.Be provided with isolator two between low noise amplifier and the wave filter one.Be provided with the SFC wave filter in second frequency mixer and two between the amplifier.The SFC wave filter is the crystal rejection filter, and the center frequency of SFC wave filter is 21.77MHz, 3dB bandwidth of rejection 14KHz; Antenna is a micro-strip array antenna, and receive-transmit isolation is 70dB.
As shown in Figure 3, the antenna feeder subsystem mainly is made up of antenna A1, collector ring A2, stepper motor A3.Antenna adopts the micro-strip array antenna of independent research, and receive-transmit isolation has reached 70dB; Pass through collector ring A2 transmission signals between antenna and the radar.Collector ring A2 is a kind of of slip ring, is installed in the center section of gear, and the rotary joint that is responsible for antenna is communicated with and transmission power supply and signal.Antenna A1 uses step motor control antenna A1 to rotate, by apparent control terminal clocking control step rotating speed of motor; The stem signal adopts single spring switch A4 to realize, cooperates with the stem signal according to the Stepping Motor Control pulse to produce bearing signal.Like Fig. 4, shown in Figure 5, driver and timer subsystem are made up of DDS module and frequency synthesizer module.The DDS module mainly is made up of FPGA, DDS chip, level transferring chip, watchdog circuit and power supply chip.The DDS module adopts the sawtooth wave modulation system in this system, produces two kinds of modulating bandwidth signals, and start pulse signal; Frequency synthesizer receives the reference signal that the DDS module produces, and signal is modulated, and produces 1 the tunnel and transmits, and 2 road local oscillation signals are sent to transmitter and receiver respectively.As shown in Figure 6, the receiver subsystem is carried out mixing, amplification, Filtering Processing with the target echo signal that antenna receives, and produces the intermediate-freuqncy signal that is fit to handle and is transferred to the signal Processing subsystem.Because this receiver intermediate frequency is lower, it is bigger to gain, so adopt the scheme of double conversion.After receiving antenna received echoed signal, the feeder line through certain was transported to echoed signal in the receive channel.Echoed signal is at first passed through limiter C1, in case non-return ripple signal excessive cause receive channel saturated in addition the damage.Then via the outer undesired signal of preselection filter C2 filtering band.LNA C4 amplifies echoed signal, and introduces less noise.Isolator (C3, C5) before and after the LNA reduces the reflection that the mismatch of LNA input and output causes.Pass through one-level wave filter C6 afterwards, the non-linear harmonic waves that cause of device such as filtering LNA have got into the first frequency mixer C7.After obtaining first intermediate-freuqncy signal, after an intermediate-freuqncy signal carried out filtering frequency-selecting C10 and amplify C9, get into the second frequency mixer C11.The output of second frequency mixer is exactly second intermediate-freuqncy signal.Utilize the stopband characteristic of crystal rejection filter C12 that the amplitude versus frequency characte of second intermediate-freuqncy signal is modulated, at last second intermediate-freuqncy signal after the modulation is amplified C13.The center frequency of crystal rejection filter is 21.77MHz, 3dB bandwidth of rejection 14KHz.Near second intermediate-freuqncy signal (close-in target echo) amplitude the centre frequency that makes obtains bigger decay, and maximum attenuation is about 40dB.Can guarantee thus to make the distant object echo can realize higher gain under the closely strong undersaturated situation of echo, realize the great dynamic range of receiver, total dynamic range has reached more than the 100dB.As shown in Figure 7, the signal Processing subsystem comprises A/D sampling module D1, Digital Down Converter Module D2, FPGA signal processing module D3 and DSP signal processing module D4.At first accomplish the digitized process of signal through A/D sampling module D1 from the analog if signal of receiver; Through Digital Down Converter Module D2 intermediate-freuqncy signal is moved in the lower frequency band range; During again through FPGA signal processing module D3; Use Fast Fourier Transform (FFT) that digitized time-domain signal is decomposed frequency domain, and process result is sent to DSP signaling module D4; The DSP signal-processing board is further handled it and is modulated into video data from the extracting data target information and sends to and show control terminal and show.Show the control terminal subsystem, adopt framework, use Windows XP operating system and Microsoft Visual C++2008 to develop based on CPCI (compact external unit interconnect standard).This subsystem is integrated Presentation Function, control function and data processing function.Wherein Presentation Function comprises mainly that PPI shows with AR and shows that Presentation Function module employing DirectX technology is write, and with the video data video memory that writes direct, has guaranteed the real-time demonstration of radar video; Control function mainly refers to through serial ports and DDS module communication, control synchronizing signal, having or not of transmitting, through pci interface communicate by letter with DSP, system is provided with etc., the receiving radar vision signal is provided with DSP module duty; Data processing function refers to that mainly PPI shows the reception and the demonstration of data and the apparent data of AR; And the admission of original video data etc.; Use the method for Digital Image Processing that apparent data of PPI and the apparent data of AR are handled, the contrast of enhancing signal makes video clear full.
Below in conjunction with accompanying drawing and embodiment the course of work of the present invention is explained further details:
As shown in Figure 1: as to wait for behind system's power-up initializing that showing control terminal 15 sends work order; When radar is controlled personnel and is sent the radar emission order through showing control terminal 15; Show control terminal 15 sends one " antenna loop is swept " earlier to sky line traffic control 10 order; Then to frequently combining and timer 4 sends one " emission " order, combine frequently and timer 4 according to the order generation that shows control terminal 15 transmit, a local oscillation signal, two local oscillation signals, wherein; Transmit and be sent to power amplifier 3 and carry out power amplification, send to free space through emitting antenna then; One local oscillation signal and two local oscillation signals are sent to first frequency mixer and second frequency mixer respectively.
The CW with frequency modulation signal that sends by transmitter through free space propagate run into target and launch after, the part echo is received through receiving antenna 2 because the reflection of echo generation belongs to diffuse reflection, echo amplitude a little less than; So need through low noise amplifier 5 echo to be amplified, the echo after the amplification is sent to first frequency mixer and combines frequently and timer 4 is sent a local oscillation signal here and carried out mixing, makes the signal carrier frequency drop to first intermediate frequency; For the first time after the frequency reducing, signal once amplifies through amplifier 7 in, carries out filtering through a median filter 8 again, and signal arrives second frequency mixer 9; Here signal is through mixing, and image frequency suppresses to arrive second intermediate frequency, gets into the SFC wave filter; In the middle of the echo of continuous wave radar, low frequency signal is the echo of close-in target, and echo reflection is the strongest; Duration is the longest, if do not suppress, can make the saturation of receiver; And the SFC wave filter is a kind of wave filter that signal is decayed by the frequency difference, and it is more and more stronger that signal frequency decays from high to low, is nonlinearities change; Through the conditioning of SFC wave filter, closely echo is effectively decayed, and has avoided the generation of the saturation of receiver.After the SFC wave filter, signal is through the amplification of amplifier 13 in two, the filtering of two median filters 12, last analog intermediate frequency signal arriving signal processing subsystem 11.
As shown in Figure 4, after the analog if signal way signal Processing subsystem 11, at first be converted into digital signal through the AD sample circuit; Through DDC Digital Down Convert chip signal is converted into zero intermediate frequency I, Q signal again, through fpga chip signal is done the FFT Fast Fourier Transform (FFT) then, time-domain signal is transformed to frequency domain; Signal after the conversion is issued DSP through the EMIFB interface through the form of asynchronous transmission, and DSP is through asking mould, logarithm operation; CFAR is handled; Object detection process, video quantizing processing etc. pass the data processing of coming with FPGA and become video data to send the host computer demonstration to.
After apparent control terminal subsystem receives video data, convert video data to rgb signal and be sent to the display demonstration.In addition, show the State Control that the control terminal subsystem also is responsible for whole radar, gyro compass, GPS, the control of AIS equipment etc.
The technical matters that the present invention solves is following:
1, the solution of emission leakage problem:
In FMCW system radar,, even destroy the complete machine operate as normal if transmit and noise is leaked in the receiver and will directly influences receiver sensitivity.The influence of revealing can be seen from two aspects: on the one hand, if leakage signal is too strong, will make the saturation of receiver, destroy frequency mixer work, correct intermediate frequency output can not be arranged; On the other hand,, do not cause the saturation of receiver, but noise wherein also can influence the sensitivity of receiver even leakage signal is not too strong.
The main cause of revealing is that isolation between transmitting and receiving antenna is too poor too poor with isolation transceiver channel.The fmcw radar principle prototype adopts dual-mode antenna to separate form, improves the isolation of dual-mode antenna; The transceiver channel circuit adopts the shielding box structure design to improve isolation.
Through test, the isolation between transceiver channel can reach 80dB, and isolation between transmitting and receiving antenna can reach 70dB, efficiently solves the emission leakage problem of principle prototype.
2, the big dynamic design of receiver:
Because the fmcw radar non-blind area, the close-in target echo power is very strong, takes into account remote little target echo, and receiver need design dynamically big.Because continuous wave radar can not be the same at radio-frequency front-end design STC, so can only after oblique mixing of past, design the dynamic range that the SFC wave filter increases receiving system at signal with pulsed radar.
Existing receiver noise factor is 6.9dB, and the receiver sensitivity design load is 131dBm, because the instrument restriction can't continue after testing 110dBm, surpassing design load 0.9dB and do not consider to accumulate gain calculating according to noise figure should be about 122dBm.The present invention is owing to realized SFC filtering in two, receiver dynamic range approaches 100dB.
3, the solution of range-Doppler coupling:
Frequency modulated continuous wave radar realizes that the principle of range finding is through the target echo and the oblique mixing that transmits, thereby obtains the range information of target at frequency domain.Because there is doppler information in moving target, so the target range information of obtaining has error, has the range-Doppler coupling problem.
In order to solve the range-Doppler coupling problem, we have tested the various ways that three angle modulation, sawtooth wave are modulated.
Adopt the triangle modulation system, the target echo pairing of positive negative sense modulation signal is a gordian technique.Through overtesting, verify that it is very effective that this method detects single goal, is applicable to air search radar.But because the complicacy of ground or marine radar return is difficult to design effective matching method.
Variable slope sawtooth wave modulation range measurement principle is basic identical with three angle modulation, and difference is that Doppler influences the echo of variable slope sawtooth wave and is in the same way, and is reverse to the influence of triangular wave.Easier from the angle of frequency spectrum pairing, the sawtooth wave of slope needs the accurately centre frequency of estimation target echo but modify tone frequently, need more calculate.
According to the characteristics of the low velocity of naval target, setting its Doppler frequency has a upper limit at X-band.According to formula
when target velocity in 80 whens joint, its Doppler frequency is about 2.7KHz.
The chirp rate of signal form is improved, the frequency bandwidth of range unit is strengthened, the fastest so marine target also can not be crossed range unit.So just avoided the range-Doppler coupling of movement overseas target.
With compared with techniques in the past, the present invention uses the microstrip antenna of independent research, has improved isolation between antennas, has solved the problem that transmitter is revealed basically, is the echo reception in later stage, and signal Processing is laid a good foundation; Used SFC filtering at two intermediate frequencies, the echo of close-in target has been decayed, made the dynamic range of receiver reach 100dB; Through to the signal modulation format, design modulation period, in the usable range of navar, avoided range-Doppler coupling.The present invention adopts multi-functional microprocessor, VLSI (very large scale integrated circuits), FPGA+DSP synergistic signal treatment technology; Can realize the scanning room relevant treatment, weak target detection, target following; Flight path shows, the security area is set, functions such as GPS demonstration; And have very high reliability, be specially adapted to middle-size and small-size naval vessel.
Certainly, above-mentioned explanation is not to be limitation of the present invention, and the present invention also is not limited to above-mentioned giving an example; Those skilled in the art; In essential scope of the present invention, the variation of making, remodeling, interpolation or replacement all should belong to protection scope of the present invention.
Claims (10)
1. FMCW marine navigation radar; Comprise and show control terminal subsystem, antenna feeder subsystem, driver and timer subsystem, receiver subsystem and signal Processing subsystem; It is characterized in that: said receiver subsystem connects antenna feeder subsystem, signal Processing subsystem and apparent control terminal subsystem; The signal Processing subsystem connects and shows the control terminal subsystem, shows the control terminal subsystem and connects driver and timer subsystem, and the antenna feeder subsystem connects driver and timer subsystem.
2. FMCW marine navigation radar according to claim 1; It is characterized in that: said antenna feeder subsystem comprises antenna, collector ring and stepper motor; Antenna is connected with apparent control terminal subsystem transmission through collector ring; Collector ring is arranged at the gear center section, and stepper motor connects antenna, and the antenna feeder subsystem also includes a single spring switch that is used to realize the bow signal.
3. FMCW marine navigation radar according to claim 1 is characterized in that: said receiver subsystem comprises limiter, and limiter connects preselection filter; Preselection filter connects low noise amplifier, and low noise amplifier connects wave filter one, and wave filter one connects first frequency mixer; First frequency mixer connects wave filter two, and wave filter two connects amplifier in, and amplifier connects wave filter three in one; Wave filter three connects second frequency mixer, and second frequency mixer connects amplifier in two.
4. FMCW marine navigation radar according to claim 1; It is characterized in that: said driver and timer subsystem comprise DDS module and frequency synthesizer module; The DDS module comprises a level transferring chip; Level transferring chip connects the FPGA controller, and the FPGA controller connects the DDS controller, and the FPGA controller is connected power supply chip respectively with the DDS controller; Said frequency synthesizer module connects first frequency mixer, signal Processing subsystem and second frequency mixer respectively.
5. FMCW marine navigation radar according to claim 1; It is characterized in that: said signal Processing subsystem comprises A/D sampling module, Digital Down Converter Module, FPGA signal processing module and DSP signal processing module; The A/D sampling module connects the receiver subsystem; The A/D sampling module connects Digital Down Converter Module, and Digital Down Converter Module connects the FPGA signal processing module, and the FPGA signal processing module connects the DSP signal processing module; Said DSP signal processing module connects and shows the control terminal subsystem.
6. FMCW marine navigation radar according to claim 1; It is characterized in that: said antenna feeder subsystem also includes a power amplifier and a sky line traffic control; Antenna comprises emitting antenna and receiving antenna; Show the control terminal subsystem and be connected with receiving antenna through a day line traffic control, receiving antenna connects low noise amplifier; Said emitting antenna connects a power amplifier and a day line traffic control respectively.
7. FMCW marine navigation radar according to claim 3 is characterized in that: be provided with isolator one between said preselection filter and the low noise amplifier; Be provided with isolator two between said low noise amplifier and the wave filter one.
8. FMCW marine navigation radar according to claim 3 is characterized in that: be provided with the SFC wave filter between the amplifier in said second frequency mixer and two.
9. FMCW marine navigation radar according to claim 3 is characterized in that: said SFC wave filter is the crystal rejection filter, and the center frequency of SFC wave filter is 21.77MHz, 3dB bandwidth of rejection 14KHz.
10. FMCW marine navigation radar according to claim 2 is characterized in that: said antenna is a micro-strip array antenna, and receive-transmit isolation is 70dB.
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