CN201259545Y - Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship - Google Patents
Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship Download PDFInfo
- Publication number
- CN201259545Y CN201259545Y CNU2008201630840U CN200820163084U CN201259545Y CN 201259545 Y CN201259545 Y CN 201259545Y CN U2008201630840 U CNU2008201630840 U CN U2008201630840U CN 200820163084 U CN200820163084 U CN 200820163084U CN 201259545 Y CN201259545 Y CN 201259545Y
- Authority
- CN
- China
- Prior art keywords
- frequency
- signal
- modulation
- division
- millimeter
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Images
Landscapes
- Radar Systems Or Details Thereof (AREA)
Abstract
The utility model relates to radio positioning radar technical field, in particular to a millimeter wave time-division frequency-modulation ship multi-target detection anti-collision radar, which is provided with a quasi-optical medium lens antenna annular array; DSP scan-round beam is adopted to warn targets which probably cause collision omni-directionally on the water surface; full phase parameter receiving /transmitting reference signals, time-division time sequence asynchronous control signals, water surface camera, local ship velocity and GPS signals are inputted to MCU to generate time-division n-path modulated frequency and waveform which accesses to a millimeter wave linear phase locking frequency modulator and transmitted through R/T <2>, a circulator, a beam switch and an antenna array; the echo wave is processed and controlled by the DSP and the MCU through the antenna array, the beam switch, the circulator, R/T <1>, a low-noise high-frequency amplifier, a subharmonic wave frequency mixer, an intermediate amplifier, a time-division circuit and a multi-target signal interrelated matching filter; when a plurality of targets are detected, the DSP restrains false alarms and determines the azimuth, distance and relative speed of each target; a CRT is used for displaying three-dimensional images; the target closest to the local ship can be identified; when distance between the local ship and the closest target is less than the safety distance, sound and light alarm is started up; the intelligent obstacle avoidance and speed reduction are carried out when closing to danger distance, the millimeter wave time-division frequency-modulation ship multi-target detection anti-collision radar makes decisions through referring to actual water surface situation, local ship velocity and GPS data, and improves ship navigation safety.
Description
Technical field
The utility model relates to radio wave transmission and the technical field that receives detection of a target orientation, distance and speed, specifically is a kind of millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar.
Background technology
Current, ocean shipping and landlocked rivers and lakes shipping, fishery develop rapidly, ship increases in a large number, harbour, navigation channel are more and more crowded, ship overload, hypervelocity are often arranged, and its inertial force impacted and starts big wave when especially two ships or many ships crossed, and influenced the course and was difficult for correct the manipulation, cause ship to collide mutually or to clash into bridge pier accidents caused, shipwreck even bridge subside when serious.Accidents caused probability is bigger when stormy weather is abominable.Therefore, it is imperative that radar collision is used in ocean shipping, fish production, landlocked rivers and lakes shipping, is badly in need of advanced collision avoidance radar and improves navigation safety.Analyze FM-CW Continuous Wave with frequency modulation collision avoidance radar from technical elements and be confined to detect simple target, modulation signal only indicates to have fuzzy distance and the speed measured simultaneously to all targets in the viewing area as detecting with the periodic signal of single-frequency.The mutual intermodulation of adjacent a plurality of target echo, the meeting of crosstalking are difficult to differentiate it and detect data, the influence judgement.Pulse PD radar emission pulsewidth is blocked the reception of echoed signal, it is crashproof that existence can not up-close inspection apart from the blind area, lack and to collide target detection and tracking power a plurality of, the waters that ship is intensive is used the anti-mutual interference problem of collision avoidance radar and certainly will be solved, but because of continuous wave radar antenna emitted energy radiation leakage blocks, influence detection of echoes, especially the Weak target difficulty can detect.Collision-warning radar operating distance is nearer, requires the residing water surface of hull to have the crashproof function of comprehensive safe navigation.In addition, the simple displaying device is difficult to differentiate to adjacent target, can not show a plurality of target panoramic pictures, relative position, far and near, the translational speed shortcoming early warning of distance.The existing collision avoidance radar of general structure lacks the function that constitutes closed-loop control with sensor signal, the Based Intelligent Control that lacks control of water environment antenna self-adaptive and automatic obstacle-avoiding, slows down, stops ship, poor visibility or navigation run into dangerous situation and can not in time help the driver to separate danger to avoid accident.
Summary of the invention
The purpose of this utility model provides relatively fast simultaneously, may bump a kind of millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar of target of comprehensive warning waters of living in.
Technical solutions of the utility model are provided with: circulator, in put, sound table device SAW matched filter banks, Data Buffer Memory FIFO, digital signal processor DSP, microcontroller MCU, double port memory RAM, interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor GPS, audible-visual annunciator, yaw rudder controller, engine retarder, igniting/extinguish controller, keyboard, also be provided with receipts/send out dual-purpose quasi-optical integrated dielectric lens antenna array, beam switch, a receipts/switch T/R
1, T/R
2, frequency synthesizer, time division circuit, low noise sound pitch put, sub-harmonic mixer, millimeter-wave time-division linear frequency modulation device, modulation signal generator, Multiple Target Signals extract circuit, raster-scanned image display CRT, wherein, receive/send out dual-purpose the quasi-optical integrated dielectric lens antenna array to rise that the position is set as the horizontal annular battle array or be ring array around mast at ship, frequency synthesizer is exported f
C2Access DSP is a clock signal, f
C3Access MCU is a clock signal, and dsp code pulse distribution sequence inserts beam switch, CRT, and the target that the water surface may collide is surveyed in comprehensive scan round, frequency synthesizer output f
C1The access time division circuit is that clock signal, time division circuit preset end through interface I/O access MCU, water surface image sensor, this ship's speed sensor, satnav sensor gps signal generate n road time-division pulse through insert MCU control time division circuit through interface I/O, and switch T/R is received/sends out in high level logic " 1 " access
2, low-level logic " 0 " inserts T/R
1, frequency synthesizer output f
NInsert millimeter-wave time-division linear frequency modulation device locking fundamental frequency, two or four harmonics are transmitting carrier frequency f
0It is reference frequency that frequency synthesizer output fm inserts modulation signal generator, modulation signal generator frequency, waveform transformation preset end and insert MCU through interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor gps signal MCU control modulation signal generator produce n group frequency modulating signal and waveform, be encoded to the n road pulse access millimeter-wave time-division linear frequency modulation device that frequency increments is arranged at time division circuit, through T/R
2To circulator, beam switch, aerial array emission, frequency synthesizer output f
LInserting sub-harmonic mixer is inherent two or four frequency multiplication local oscillation signals, f
iInserting Multiple Target Signals extraction circuit is intermediate frequency coherent detection reference signal, and the echo radio frequency is through aerial array, beam switch, circulator, T/R
1The low noise sound pitch is put, sub-harmonic mixer, in put, the pulse of n road is chosen the n group echo signal of launching code through sound table device SAW matched filter banks in the asynchronous storbing gate of time division circuit sequential, Multiple Target Signals is extracted circuit, Data Buffer Memory FIFO inserts the DSP data bus, DSP and MCU data bus, address wire, control line is through double port memory RAM tandem and arbitrating signals is provided, interface I/O inserts CRT respectively, audible-visual annunciator, the yaw rudder controller, engine retarder, the controller of lighting a fire/extinguish, keyboard, the grouping time multiplexing date is reset in the dsp software design sheet, moving-target shows MTI, distance side lobe suppresses, Fast Fourier Transform (FFT) FFT, CFAR is handled CFAR, the programming of MCU system software comprises master routine and data acquisition, data processing, the object control subprogram, in put and detect automatic gain control AGC voltage through filtering, amplifying access low noise sound pitch puts, in put the AGC control end, frequency synthesizer, time division circuit, the low noise sound pitch is put, sub-harmonic mixer, beam switch, circulator, receive/send out switch T/R
1, T/R
2, millimeter-wave time-division linear frequency modulation device radar receipts/Power Generation Road is integrated, shielding;
Wherein, frequency synthesizer is by constant-temperature crystal oscillator, the crystal oscillator frequency divider, the frequency multiplication amplifier chain, frequency mixer, phase detector, loop filter, voltage controlled oscillator VCO, loop divider is formed, wherein VCO is by gallium arsenide High Electron Mobility Transistor GaAsHEMT, the dielectric resonator feedback oscillation, varactor is voltage-controlled tuning, loop divider is by prescalar and programmable frequency divider combination, programmable frequency divider frequency division control end inserts microcontroller MCU through interface I/O, constant-temperature crystal oscillator output divides two-way, one the tunnel behind frequency multiplication amplifier chain and VCO output access frequency mixer, insert phase detector through loop divider again, phase detector is inserted through the crystal oscillator frequency division in another road, phase demodulation voltage is synthetic through the voltage-controlled VCO frequency of phase locking of loop filter, and VCO exports f
NLocking millimeter-wave time-division linear frequency modulation device fundamental frequency, the output harmonics is radar carrier frequency f
0, f
NThrough directional coupler is the inherent frequency multiplication local oscillation signal of sub-harmonic mixer f
L, frequency programmable dividing output f
iFor intermediate frequency coherent detection reference signal, fm are modulating reference signal, f
C1Be time-division clock signal, f
C2Be DSP clock signal, f
C3Be the MCU clock signal;
Receive/send out the quasi-optical integrated dielectric lens antenna array dual-purpose, antenna integrated by the little band quadripole of dielectric substrate oscillator, di-lens, the array pedestal, protective cover constitutes, di-lens is that an end face is a hemisphere, the other end is the right cylinder cross section, the antenna integrated cylindrical cross-section that closely is placed on di-lens of the little band quadripole of dielectric substrate oscillator is a feed, di-lens hemisphere end face is the aerial radiation face, rise the position at ship and be set as the horizontal annular array or around the mast circle ring array, dsp code pulse train inserts beam switch, raster-scanned image display CRT coordinate converter;
Beam switch is at antenna feeder waveguide transmission line integrated PIN diode chip for backlight unit, series and parallel is single-pole single-throw switch (SPST) SPST, the control bias voltage is through low-pass network incoming digital signal processor dsp code pulse distribution sequence, and a plurality of SPST beam switch are combined into single pole multiple throw, receives/send out switch T/R
1, T/R
2Be located at circulator and receive/bifurcation, by the PIN diode chip, series and parallel is single-pole single-throw switch (SPST) SPST, and the control bias voltage inserts T/R through low-pass network by time-division pulse high level logical one
2, low-level logic " 0 " inserts T/R
1
The millimeter-wave time-division linear frequency modulation device is made up of millimetric wave voltage-controlled oscillator VCO, loop filter LF, phase detector DP, its VCO by Geng manage Gunn, art hyperabrupt junction varactors and electric capacity chip, fin line waveguide, suspended mictrostrip constitutes, fin line is established single ridge cycle grid, honest and just pipe Gunn resonant circuit, varactor tuning branch road coupling are installed on single dorsal fin line, bias voltage, modulation signal are introduced through ground connection shunt capacitance suspended mictrostrip, frequency synthesizer output f
NInsert DP with the VCO fundamental frequency signal, phase demodulation voltage is connected to the voltage-controlled end of VCO varactor through LF, and inserts n road time-division pulse linear frequency modulation, and it is radar emission carrier frequency f that output waveguide isolation fundamental frequency is chosen two or four harmonics
0, VCO is individually shielded;
Modulation signal generator is by parallel n group prescalar M, phase-locked loop pll, programmable frequency divider N, digital waveform transducer WV forms, it is reference frequency that frequency synthesizer output fm inserts modulation signal generator, the programmable frequency divider Fractional-N frequency presets end, digital waveform transducer WV counting presets through interface I/O and inserts microcontroller MCU, water surface image sensor, this ship's speed sensor, satnav sensor gps signal inserts n group phase-locked loop pll generation frequency and the waveform transformation that MCU control modulating frequency increases progressively through interface I/O, input meets prescalar M, output meets programmable frequency divider N digital waveform transducer WV, can be changed into triangular wave or sawtooth wave or sinusoidal wave f
1, f
2, f
nN group modulation signal;
It is that substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT, micro strip matching network constitute that the low noise sound pitch is put by a double grid indium phosphide, first grid inserts echo radio frequency matching network microstrip line, second grid is an automatic gain control AGC control end, put the AGC output voltage in the access, source electrode capacitance-resistance ground connection, drain electrode connects sub-harmonic mixer through the matching network microstrip line, frequency synthesizer output f
NInserting sub-harmonic mixer through directional coupler is local oscillation signal f
L, sub-harmonic mixer oppositely is attempted by local oscillation signal f by two schottky diodes
LBetween the little band matching network of little band matching network and echo radiofrequency signal RF, intermediate-freuqncy signal IF is at local oscillation signal f
LNetwork one side is taken out through the bandpass filtering network;
Multiple Target Signals is extracted circuit and is made up of sound table device SAW matched filter banks, coherent detector I/Q, modulus converter A/D, in put output and choose f in the asynchronous sequential storbing gate in time division circuit n road
1', f
2', f
n' group echoed signal access sound table device SAW matched filter banks, coherent detector I/Q, its wave detector is made of I branch road, two multipliers of Q branch road, frequency synthesizer output intermediate frequency coherent signal fi connects the I branch road, it is the coherent reference local oscillator that the phase shift pi/2 connects the Q branch road, and output is through A/D, echo data memory RAM incoming digital signal processor DSP data bus;
Time division circuit is by field programmable gate array PFGA group structure counter, monostalbe trigger, code translator, code switch, the asynchronous storbing gate of sequential, frequency synthesizer output f
C1Clock signal inserts counter clock end Cp and monostalbe trigger input end, counter control end able to programme inserts MCU through interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor gps signal insert MCU control through interface I/O and generate n road time-division pulse, and switch T/R is received/sends out in high level logic " 1 " access
2, low-level logic " 0 " inserts T/R
1, f
1, f
2, f
nThe group modulation signal inserts code switch, counter data end, monostalbe trigger output terminal dock with the code translator input, code translator output and code switch control end join and constitute n group modulation signal by frequency increments or the voltage-controlled millimeter wave frequency modulator of n road time-division pulse that successively decreases, and frequency modulation output is connected to T/R
2, circulator, beam switch, the emission of quasi-optical integrated dielectric lens antenna array, the echo radio frequency is through quasi-optical integrated dielectric lens antenna array, beam switch, circulator, T/R
1, the low noise sound pitch puts, sub-harmonic mixer, in put, choose by launching code f in the asynchronous storbing gate of time division circuit sequential
1', f
2', f
n' n group signal access sound table device SAW matched filter banks successively, extract circuit coherent detector I/Q, modulus converter A/D, Data Buffer Memory FIFO through Multiple Target Signals and insert the DSP data bus;
Raster-scanned image display CRT is by coordinate converter, video memory RAM, address selection I/O controller, digital to analog converter D/A, the scale generator, character-generator, the graphic color generator, display controller, the high-lightness circuit, kinescope X-Y-Z deflection system is formed, digital signal processor DSP coded pulse assigned sequence inserts coordinate converter, beam switch, the multiple goal echoed signal inserts microprocessor MCU interface I/O in the DSP operational data through double port memory RAM and delivers to display controller, this controller connects coordinate converter respectively, address selection I/O controller, video memory RAM, digital to analog converter D/A, scale, character-generator, kinescope X-Y-Z deflection system, wherein coordinate converter, digital to analog converter D/A, scale, character and graphic color generator also insert high-lightness circuit control kinescope respectively and transfer the brightness electrode.
The technical program is made a video recording in conjunction with this ship's speed by the water surface, satnav sensor gps signal MCU control n road time-division pulse, the victory of n group frequency modulating signal and waveform becomes, the emission of time-division coding n road pulse frequency modulation of the phase locking, a plurality of targets that the waters of living in of comprehensive detection simultaneously relatively fast may bump do not have fuzzy range finding, test the speed, arteries and veins internal linear frequency modulation is widened the signal transient bandwidth, big signal to noise ratio (S/N ratio) high resolution is obtained in pulse pressure matched filtering and weighting, launching one the tunnel receives a target information or receives a plurality of target coherent accumulations, target range is by narrowing down as far as nearly time-division coding pulsewidth linearity, the near more resolving power of distance is high more, Doppler frequency-shift is big more, it is clear more that the 3-D view details is differentiated, time-division T/R during pulse high level logical one forward position
2Connect emission, T/R
1Turn-off to receive, the back along the time enter low-level logic " 0 " T/R
2Turn-off emission, T/R
1Connect and receive, the edge was detected after the asynchronous storbing gate of time-division sequential was chosen echo signal, isolated the emitted energy leakage fully from the time, improved the Weak target input and increased radar horizon, the back is blocked along detection elimination emission pulsewidth and is avoided blind range to realize that low coverage is crashproof, improves dynamic range; DSP suppresses the target of false-alarm identification and this ship minimum distance, not having ship when the place ahead is navigated by water by driver's setting speed, its signal of detections of radar when ship occurring, track to nearest ship, controlling this ship's speed keeps a safe distance, sound and light alarm in the time of departing from safe distance, approach risk distance MCU command direction rudder controller automatic obstacle-avoiding or deceleration even extinguish the Based Intelligent Control of engine, its control is with reference to water surface shooting and this ship's speed signal, GPS makes current present position the data processing choice, ensure the ship navigation safety, play the barrier avoiding function that poor visibility navigation driver is difficult for seeing clearly, greatly improve crashworthiness; The a plurality of reference frequencies of full phase parameter radar signal, clock signal are taken from same constant-temperature crystal oscillator signal, become the integral multiple relation with it, guarantee to receive/send out carrier frequency, intermediate frequency demodulation, modulation signal, A/D conversion sampling coherence, the sectors position is accurate during assurance, improves antijamming capability; Transmission frequency locking fundamental frequency output harmonics is the radar carrier frequency, and with the inherent frequency multiplication combination of subharmonic mixing, low cost is obtained the high-end carrier frequency of millimeter wave, the broadband pulse pressure range finding high resolution and the high precision that tests the speed; The little gain height of quasi-optical integrated dielectric lens antenna millimeter wave loss, dustproof, the anti-water smoke erosion of antivibration is strong, and the DSP electricity is swept wave beam detection multiple goal and is had a wide sphere of vision, the resolution in azimuth height, accurately.
Description of drawings
Fig. 1 the utility model Radar Technology scheme schematic diagram
Pulse sequence figure is received/sent out to Fig. 2 radar
Fig. 3 frequency synthesizer
Fig. 4 modulation signal generator
Fig. 5 millimeter-wave time-division linear frequency modulation device
Fig. 6 time division circuit
Fig. 7 Multiple Target Signals is extracted circuit
Fig. 8 raster-scanned image display
Specific implementation method
With reference to Fig. 1, the utility model specific implementation method and embodiment are provided with: circulator 3, in put 6, sound table device SAW matched filter banks 7, Data Buffer Memory FIFO13, digital signal processor DSP 14, microcontroller MCU15, double port memory RAM16, interface I/O20, water surface image sensor 17, this ship's speed sensor 18, satnav sensor GPS19, audible-visual annunciator 21, yaw rudder controller 22, engine retarder 23, the controller 24 of lighting a fire/extinguish, keyboard 26 also is provided with receipts/send out dual-purpose quasi-optical integrated dielectric lens antenna array 1, beam switch 2, receive/send out switch T/R
1, T/R
2, frequency synthesizer 12, time division circuit 10, low noise sound pitch put 4, sub-harmonic mixer 5, millimeter-wave time-division linear frequency modulation device 9, modulation signal generator 11, Multiple Target Signals extract circuit 8, raster-scanned image display CRT25, wherein, receive/send out dual-purpose quasi-optical integrated dielectric lens antenna array 1 to rise that the position is set as the horizontal annular battle array or be ring array around mast at ship, frequency synthesizer 12 is exported f
C2Access DSP14 is a clock signal, f
C3Access MCU15 is a clock signal, and DSP14 coded pulse assigned sequence inserts beam switch 2, CRT26, and the target that the water surface may collide is surveyed in comprehensive scan round, frequency synthesizer 12 output f
C1Insert time division circuit 10 and insert MCU15 through interface I/O20 for clock signal, time division circuit 10 preset end, water surface image sensor 17, this ship's speed sensor 18, satnav sensor GPS19 signal generate n road time-division pulse through insert MCU15 control time division circuit 10 through interface I/O20, and switch T/R is received/sends out in high level logic " 1 " access
2, low-level logic " 0 " inserts T/R
1, frequency synthesizer 12 output f
NInsert millimeter-wave time-division linear frequency modulation device 9 locking fundamental frequencies, two or four harmonics are transmitting carrier frequency f
0It is reference frequency that frequency synthesizer 12 output fm insert modulation signal generator 11, modulation signal generator 11 frequencies, waveform transformation preset end and insert MCU15 through interface I/O20, water surface image sensor 17, this ship's speed sensor 18, satnav sensor GPS19 signal MCU15 control modulation signal generator 11 produce n group frequency modulating signal and waveform, be encoded to the n road pulse access millimeter-wave time-division linear frequency modulation device 9 that frequency increments is arranged at time division circuit 10, through T/R
2To circulator 3, beam switch 2, aerial array emission 1, frequency synthesizer 12 output f
LInserting sub-harmonic mixer 5 is inherent two or four frequency multiplication local oscillation signals, f
iInserting Multiple Target Signals extraction circuit is intermediate frequency coherent detection reference signal, and the echo radio frequency is through aerial array 1, beam switch 2, circulator 3, T/R
1The low noise sound pitch puts 4, sub-harmonic mixer 5, in put 6, the pulse of n road is chosen the n group echo signal of launching code through sound table device SAW matched filter banks 7 in the asynchronous storbing gate of time division circuit 10 sequential, Multiple Target Signals is extracted circuit 8, Data Buffer Memory FIFO13 inserts the DSP14 data bus, DSP14 and MCU15 data bus, address wire, control line is through double port memory RAM16 tandem and arbitrating signals is provided, interface I/O20 inserts CRT25 respectively, audible-visual annunciator 21, yaw rudder controller 22, engine retarder 23, the controller 24 of lighting a fire/extinguish, keyboard 26, the grouping time multiplexing date is reset in the DSP14 software design sheet, moving-target shows MTI, distance side lobe suppresses, Fast Fourier Transform (FFT) FFT, CFAR is handled CFAR, the programming of MCU15 system software comprises master routine and data acquisition, data processing, the object control subprogram, in put 6 and detect automatic gain control AGC voltage through filtering, amplify access low noise sound pitch and put 4, in put 6 AGC control end, frequency synthesizer 12, time division circuit 10, the low noise sound pitch puts 4, sub-harmonic mixer 5, beam switch 2, circulator 3, receive/send out switch T/R1, T/R2, millimeter-wave time-division linear frequency modulation device 9 radar receipts/Power Generation Roads are integrated, shielding.
Receive/send out dual-purpose the quasi-optical integrated dielectric lens antenna array at ship and rise and be set as the horizontal annular array or around the mast circle ring array, by the comprehensive scan round one by one of dsp code pulse train control wave beam switch level emission, early warning collision target, dsp code pulse train derives the recognition objective present position at the corresponding time raster-scanned image display CRT coordinate converter of institute.Its di-lens hemisphere is a radiating surface, the short cylinder xsect closely place dielectric substrate little be with antenna integrated for feed, simulate antenna integrated infinite thick dielectric substrate and eliminate surface wave, the change cylinder length can obtain the quasi-optical Gaussian beam radiation height of suitable beam angle and distinguish force direction.The quasi-optical integrated dielectric lens antenna loss is little, gain is high, receive/reciprocity is strong, because firm antivibration of di-lens mechanical property and dustproof, anti-water smoke corrode good.
Receive/send out switch T/R
1, T/R
2Its PIN tube core is located at circulator respectively and receives, launches bifurcation, the PIN pipe positively biased conducting of transmitting branch series connection when sectors is leapt high level logic " 1 " forward position at that time, and PIN pipe in parallel instead ends T/R partially
2Connection transmits, at this moment T/R
1The PIN pipe of series connection is anti-to be open circuit partially, and PIN pipe positively biased in parallel is in short circuit, turn-offs received signal; Enter low-level logic " 0 " when dividing pulse back edge at that time, the PIN pipe positively biased conducting of receiving branch series connection, PIN pipe in parallel instead ends T/R partially
1Connect, received signal is passed through smoothly, simultaneously T/R
2The PIN pipe of series connection is anti-to be open circuit partially, and PIN pipe positively biased short circuit in parallel is turn-offed and launched, and RF-reflective returns circulator, absorbs the reflective power of PIN pipe.
In order to overcome The noise, improve the radar dim targets detection and establish the low noise sound pitch and put.Because collision avoidance radar operating distance is nearer, get final product about gain 12dB, it is very big to rise and fall because of echoed signal is strong and weak, prevent mixing input large-signal saturation jamming, the low noise sound pitch puts, in put substep automatic gain control AGC, keep receiving enough big dynamic range arranged, adapt to detection different distance target.The double-gated devices second grid-control system I
STo g
mVariation characteristic, source resistance autobias, I
SMake grid produce negative bias at its resistance drop, choose suitable I
bAnd g
m, add that AGC voltage can obtain good control characteristic, selecting indium phosphide for use is that substrate gallium arsenide high electron mobility double-gated devices InPGaAsHEMT has low-noise characteristic in the high-end frequency of millimeter wave, the AGC range of control is bigger.
Sub-harmonic mixer is at fin line or microstrip line circuit by two oppositely and connect schottky diode; protection is not burnt when too high back-pressure mutually; echo CF signal and local oscillation signal differ greatly; isolation is greater than 30dB; circuit is simple, and need not be coupled electric bridge and direct supply utilize local oscillation signal to produce the non-linear harmonic wave frequency multiplication; with the phase modulation carrier frequency with getting half or 1/4th frequencies, only a small amount of millimetric wave device can obtain high-end carrier frequency f
0
Pulse sequence figure is received/sent out to Fig. 2 radar, (a) is that the antenna beam switch is at pulse T of dsp code pulse distribution sequence cycles scanning
SWaveform, (b) be time division circuit clock signal f
C1Waveform (c) is monostalbe trigger timing pip t
1And duty factor t
2Waveform, time-division T/R during pulse high level logical one forward position
2Connect emission, T/R
1Turn-off to receive, the back along the time enter low electric logic " 0 " T/R
2Turn-off emission, T/R
1Connect reception, asynchronous sequential storbing gate is chosen echo signal.(d), (e), (f), (g) light waveform are the voltage-controlled frequency modulation of the phase locking VCO of time-division n road time sequential pulse control n group modulation signal fundamental frequency among the figure, and the output harmonics is the radar emission carrier frequency, pulsewidth τ and t
1Equate that dark waveform is an asynchronous receiving target echo-pulse of time-division, (d) receive/send out pulse overlap and coincide, echo time-delay Δ t=0, the zero distance target does not have echo and produces, and (g) echo time-delay Δ t=max is the corresponding time of the maximum non-fuzzy operating distance of radar.(e) target echo pulse delay Δ t〉0, produce echo, (f) the echo time-delay is Δ t＜max signal energy maximum.As seen, narrow apart from the near echo pulse, signal power is little, and it is stronger to be in the near field radiation, and the signal to noise ratio (S/N ratio) up-close inspection that descends when little is feasible, and the more weak reception of signal this moment is difficult for saturation jamming, improves dynamic range and improves detection probability.The back is not launched the pulsewidth shield along detection of echoes, and non-blind area in maximum radar range is isolated the leakage of emitted energy from the time fully, improves the ability of the small and weak signal target of detections of radar, reaches the advantage that FM-CW radar, PD radar do not possess.
Fig. 3 frequency synthesizer, constant-temperature crystal oscillator 12a output signal one tunnel inserts phase detector 12g through crystal oscillator frequency divider 12f and loop divider 12k, phase demodulation voltage is through loop filter 12h voltage controlled oscillator VCO 12i locking phase, another road connects frequency mixer 121 through frequency multiplication amplifier chain 12b, 12c, 12d, 12e and VCO12i output, get and frequently insert loop divider 12k, frequency feedback is moved down, reduce loop divider 12k frequency dividing ratio, improve the characteristic of making an uproar mutually.VCO12i dielectric resonator feedback oscillation frequency stability is higher, varactor tuning wider range, and synthetic through constant-temperature crystal oscillator 12a frequency of phase locking, frequency stability is better than 10
-9/ ms can be suitable for working under the big rugged surroundings of the strong vibration and the temperature difference, provides intelligent anticollision radar Coherent Detection each accurate reference signal.Frequency synthesizer output f
NSemaphore lock millimeter-wave time-division linear frequency modulation device fundamental frequency, the output harmonics is radar carrier frequency f
0, while f
NThrough directional coupler 12j is subharmonic mixing local oscillation signal f
L, its inherent frequency multiplication matches with the emission frequency multiplication, and the low-cost high carrier frequency that obtains detects.Loop divider 12k frequency programmable dividing is inserted by MCU interface I/O20, output f
iOrthogonal coherent wave detector I/Q reference signal, modulating reference signal fm, time-division clock signal f
C1, DSP clock signal f
C2, MCU clock signal f
C3, as seen, a plurality of reference frequencies and clock signal become the integral multiple relation with constant-temperature crystal oscillator 12a frequency, the accuracy of guarantee to receive/the signalling start-phase, modulation signal, A/D conversion sampling, intermediate frequency detection coherence in time dividing pulse, and the anti-clutter interference performance is stronger.
Fig. 4 modulation signal generator, the programmable frequency divider Fractional-N frequency presets end, digital waveform transducer WV counting presets end and inserts MCU through interface I/O20, frequency synthesizer output fm is a reference frequency signal, if 11a, 11b, 11n group side frequency modulation signal, and leave certain frequency interval and prevent signal cross-talk, n group modulation signal is under water surface shooting is controlled in conjunction with this ship's speed, gps signal MCU, the victory that n group phase-locked loop pll produces frequency modulating signal and waveform becomes, and its input prescalar M frequency division is f
r, output programmable frequency divider Fractional-N frequency is fs, fr/M=fs/N during the phase-locked loop pll locking, and voltage controlled oscillator VCO output frequency fs=frN/M, digital waveform transducer WV is transformed to triangular wave or sawtooth wave or sine wave with it, output f
1, f
2, f
nN group modulation signal, n group modulation signal is at time division circuit 10 code switchs output n road time sequential pulse signal, the time-division is taken turns voltage-controlled millimeter wave frequency modulator 9 frequency modulation.
Fig. 5 millimeter-wave time-division linear frequency modulation device, n group modulation signal f
1, f
2, f
nAt clock signal f
C1The time division circuit of control is encoded to the frequency increments arrangement chronologically and is added to millimeter-wave time-division linear frequency modulation device 9, in order to guarantee the coherence of millimeter wave carrier frequency and linear FM signal, radar carrier frequency and reference signal phase strict synchronism, reference frequency compositor output f
NSignal and voltage controlled oscillator VCO fundamental frequency are in phase detector DP bit comparison mutually, and loop filter LF filtering clutter noise locking fundamental frequency only allows two or four harmonics to be output as radar carrier frequency f through cut-off waveguide
0N road time-division modulation signals is realized linear frequency modulation of the phase locking of active time-division of VCO through the summing junction ∑, and harmonics is that carrier frequency has the wideband frequency modulation advantage, and VCO or modulation signal are if there is deviation will produce error signal V
d, closed-loop control VCO phase place keeps synchronous with reference signal at any time.
Fig. 6 time division circuit, able to programme the presetting through interface I/O20 of counter 10a inserted MCU, and water surface shooting and this ship's speed, gps signal MCU control counter 10a change two are advanced 10 and are advanced to count to generate n road time-division pulse, T/R during high level logic " 1 " forward position
2Connect emission, T/R
1Turn-off to receive, the back along the time enter low-level logic " 0 " T/R
2Turn-off emission, T/R
1Connect and receive monostalbe trigger 10b by clock signal f
C1Triggering is t to time-division pulse timing
1Be radar emission pulsewidth τ, duty factor t
2Be the detections of radar maximum operating range.Counter output forms n road sequential control n group modulation signal at code translator 10c, and encoded switch 10d is with f
1, f
2, f
nBe arranged as the voltage-controlled successively millimeter-wave time-division linear frequency modulation device 9 of frequency increments time-division pulse, through T/R
2, the emission of circulator, feed antenna, in put 6 echoed signals and choose f at the asynchronous storbing gate 10e of time division circuit sequential
1', f
2', f
n',, isolate emitted energy fully from the time and leak into receiving system along detecting thereafter, improve the detectability of Weak target signal, increase detects radar horizon, and the back is blocked along detection elimination emission pulsewidth and avoided blind range to realize that low coverage is crashproof, and improves dynamic range.Time division circuit is the emission of control radar n road modulation signal coding both, receiving echo chooses in the asynchronous storbing gate of its sequential again, the time division circuit time is cut apart the detection Multiple Target Signals, arteries and veins internal linear frequency modulation is widened the signal transient bandwidth, big signal to noise ratio (S/N ratio) high resolution is obtained in pulse pressure matched filtering weighting, launching one the tunnel receives a target information or receives a plurality of target coherent accumulations, target range is by narrowing down as far as nearly time-division coding pulsewidth linearity, the near more resolving power of distance is high more, Doppler frequency-shift is big more, the 3-D view details is differentiated clear more, time division multichannel detects a plurality of targets, in time domain, frequency domain, carry out in order in the spatial domain, and detection signal is in frequency, time dual coding identification multiple goal has strong interference free performance.
Fig. 7 Multiple Target Signals is extracted circuit, and the pulse of intermediate-freuqncy signal n road is chosen in the asynchronous storbing gate of time division circuit 10 sequential, 7 pairs of echo intermediate-freuqncy signals of access sound table device SAW matched filter banks f
1', f
2', f
n' anti-aliased and pulse pressure coupling and weighting, pulse compression network and emission frequency modulation relevant matches obtain the high s/n ratio information transmission.At this moment, mean that the target echo signal processing transfers frequency domain to from time domain, the full detail of radar target contains among the intermediate frequency complex modulated signal, therefore, before the echoed signal digitized processing, its intermediate frequency is removed, the inphase/orthogonal coherent detection of zero intermediate frequency, output zero intermediate frequency baseband signal.8a, 8b, 8n orthogonal coherent wave detector I/Q among the figure, divide I branch road and two multipliers of Q branch road, getting frequency synthesizer output fi signal and phase shift pi/2 is the coherent local oscillation signal, and radar mean frequency echoed signal inphase/orthogonal two-way coherent detection carries out Multiple Target Signals and extracts.This complex modulated signal is broken down into real part and imaginary part, and two information of the amplitude of signal and phase place all preserve, through A-D converter A/D temporal data memory buffer FIFO13.Data Buffer Memory FIFO13 makes a plurality of target data first in first out, improves the DSP14 arithmetic speed.
Digital signal processor DSP 14 Fast Fourier Transform (FFT) FFT are equivalent to a large amount of range gate and Doppler filter group, to the distance and the relative velocity spectrum analysis of a plurality of target beats.Suppress to finish Fast Fourier Transform (FFT) FFT, CFAR processing CFAR through distance side lobe, intensity according to residual spur is regulated detection threshold automatically, false-alarm probability is remained in the permissible value, the signal that surpasses thresholding is made the relevant information processing, to determine whether real goal, really be then the data such as distance, speed and orientation angles of target to be delivered to image display.The target of DSP14 identification and this ship minimum distance, the place ahead does not have ship and establishes the speed navigation by the driver, radar is surveyed its signal when ship occurring, track to nearest ship, controlling this ship's speed keeps a safe distance, depart from the safe distance sound and light alarm, MCU command direction rudder controller automatic obstacle-avoiding or start speed reduction unit even extinguish engine intelligent control when approaching risk distance.The radar signal software programming is made up of DSP14, MCU boot and master routine, the DSP14 master routine is mainly finished fast Fourier FFT conversion, obtain the frequency and the phase information of target echo signal, give the MCU internal memory with the data transfer of handling, wait for that next step is by road conditions shooting, this ship's speed and satnav sensor gps signal integrated data processing control executing mechanism.
Double port memory RAM makes DSP and MCU swap data both sides handshake operation, and each data takies from low to high by byte in dual port RAM, and double port memory RAM provides arbitrating signals to avoid DSP and MCU data processing to compete.
Fig. 8 raster-scanned image display, coordinate transform 25a distributes the cycle clock signal of multi-beam conversion to be transformed to binary digital picture X, Y data digital signal processor DSP 13 control coded pulses, and for video memory RAM25b provides the address of image information, the method that adopts the high-speed multiplier vector to produce realizes coordinate conversion.Video memory 25b essence is a jumbo random read-write RAM, its address equates with pixel on the figure, an i.e. location one pixel, adapt to the demonstration of a plurality of roadblock target complex information figures, display controller 25e has Displaying timer, display control signal produces and raster scanning, the addressing function, scale 25f, character 25g and graphic color generator 25h provide the sign and the color of scale location and explanatory note for image shows, high-lightness circuit 25i and image X-Y-Z deflection system 25j are the circuit and the parts of CRT indispensability, raster scanning produces the back and forms horizontal X, vertical Y scanning and high-lightness Z signal thereof, add to the deflection control of CRT, by address selection controller 25c, scan-data is the address of reading of image RAM, and image information is read synchronously.
This image shows makes every effort to concisely can distinguish, be suitable for to differentiate the required information of collision avoidance radar image demonstration that reads fast without the driver of professional training, the multiple goal radar echo signal is through digital signal processor DSP 14, microcontroller MCU15 control, the echo information data storage is among image RAM25b, then raster scanning produce circuit synchronously under read view data, digital to analog converter D/A, 25d and high-lightness circuit 25i add on the accent brightness electrode of CRT, can dynamically show a plurality of target azimuths, the rate signal three-dimensional panorama image of distance signal figure and relative variation.
Present embodiment radar carrier frequency is 76.5GHz, emission output peak power 5.2W, CDAA circularly disposed antenna array is listed in the scanning of dsp code pulse distribution sequence cycles, single dielectric lens antenna wave beam horizontal azimuth ± 2.5 °, 3.2 ° at vertical orientations angle, antenna gain 34dB, secondary lobe-22dB, switched-beam switch scanning speed 50ms/Hz, guarantee that wave beam scans distance and is the wide water surface scope turnover rate of the 100m of 550m place, radar noise coefficient Fn16dB, millimeter wave carrier frequency propagation in atmosphere loss La and system loss Ls17dB, maximum operating range are 1600m, minimum range 20m, time-derived channel quantity n is provided with 16, water surface navigation channel camera, this ship's speed sensor, satnav sensor GPS adjusts time-derived channel by microcontroller MCU control, looks water environment control channel amount and detects target, nearest Target Recognition time＜260 μ s, this ship time speed 50km/h energy gradual braking, angle on target resolving power≤2 ° target range resolving power≤1m, speed resoluting force＜1.2km/h.
Claims (10)
1, a kind of millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar, be provided with circulator, in put, sound table device SAW matched filter banks, Data Buffer Memory FIFO, digital signal processor DSP, microcontroller MCU, double port memory RAM, interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor GPS, audible-visual annunciator, the yaw rudder controller, engine retarder, the controller of lighting a fire/extinguish, keyboard is characterized in that: also be provided with receipts/send out dual-purpose quasi-optical integrated dielectric lens antenna array, beam switch, receive/send out switch T/R
1, T/R
2, frequency synthesizer, time division circuit, low noise sound pitch put, sub-harmonic mixer, millimeter-wave time-division linear frequency modulation device, modulation signal generator, Multiple Target Signals extract circuit, raster-scanned image display CRT, wherein, receive/send out dual-purpose the quasi-optical integrated dielectric lens antenna array to rise that the position is set as the horizontal annular battle array or be ring array around mast at ship, frequency synthesizer is exported f
C2Access DSP is a clock signal, f
C3Access MCU is a clock signal, and dsp code pulse distribution sequence inserts beam switch, CRT, and the target that the water surface may collide is surveyed in comprehensive scan round, frequency synthesizer output f
C1The access time division circuit is that clock signal, time division circuit preset end through interface I/O access MCU, water surface image sensor, this ship's speed sensor, satnav sensor gps signal generate n road time-division pulse through insert MCU control time division circuit through interface I/O, and switch T/R is received/sends out in high level logic " 1 " access
2, low-level logic " 0 " inserts T/R
1, frequency synthesizer output f
NInsert millimeter-wave time-division linear frequency modulation device locking fundamental frequency, two or four harmonics are transmitting carrier frequency f
0, frequency synthesizer output f
mThe access modulation signal generator is a reference frequency, modulation signal generator frequency, waveform transformation preset end and insert MCU through interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor gps signal MCU control modulation signal generator produce n group frequency modulating signal and waveform, be encoded to the n road pulse access millimeter-wave time-division linear frequency modulation device that frequency increments is arranged at time division circuit, through T/R
2To circulator, beam switch, aerial array emission, frequency synthesizer output f
LInserting sub-harmonic mixer is inherent two or four frequency multiplication local oscillation signals, f
iInserting Multiple Target Signals extraction circuit is intermediate frequency coherent detection reference signal, and the echo radio frequency is through aerial array, beam switch, circulator, T/R
1The low noise sound pitch is put, sub-harmonic mixer, in put, the pulse of n road is chosen the n group echo signal of launching code through sound table device SAW matched filter banks in the asynchronous storbing gate of time division circuit sequential, Multiple Target Signals is extracted circuit, Data Buffer Memory FIFO inserts the DSP data bus, DSP and MCU data bus, address wire, control line is through double port memory RAM tandem and arbitrating signals is provided, interface I/O inserts CRT respectively, audible-visual annunciator, the yaw rudder controller, engine retarder, the controller of lighting a fire/extinguish, keyboard, the grouping time multiplexing date is reset in the dsp software design sheet, moving-target shows MTI, Fast Fourier Transform (FFT) FFT, distance side lobe suppresses, CFAR is handled CFAR, the programming of MCU system software comprises master routine and data acquisition, data processing, the object control subprogram, in put and detect automatic gain control AGC voltage through filtering, amplifying access low noise sound pitch puts, in put the AGC control end, frequency synthesizer, time division circuit, the low noise sound pitch is put, sub-harmonic mixer, beam switch, circulator, receive/send out switch T/R
1, T/R
2, millimeter-wave time-division linear frequency modulation device radar receipts/Power Generation Road is integrated, shielding.
2, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: frequency synthesizer is by constant-temperature crystal oscillator, the crystal oscillator frequency divider, the frequency multiplication amplifier chain, frequency mixer, phase detector, loop filter, voltage controlled oscillator VCO, loop divider is formed, wherein VCO is by gallium arsenide High Electron Mobility Transistor GaAsHEMT, the dielectric resonator feedback oscillation, varactor is voltage-controlled tuning, loop divider is by prescalar and programmable frequency divider combination, programmable frequency divider frequency division control end inserts microcontroller MCU through interface I/O, constant-temperature crystal oscillator output divides two-way, one the tunnel behind frequency multiplication amplifier chain and VCO output access frequency mixer, insert phase detector through loop divider again, phase detector is inserted through the crystal oscillator frequency division in another road, phase demodulation voltage is synthetic through the voltage-controlled VCO frequency of phase locking of loop filter, and VCO exports f
NLocking millimeter-wave time-division linear frequency modulation device fundamental frequency, the output harmonics is radar carrier frequency f
0, f
NThrough directional coupler is the inherent frequency multiplication local oscillation signal of sub-harmonic mixer f
L, frequency programmable dividing output f
iFor intermediate frequency coherent detection reference signal, fm are modulating reference signal, f
C1Be time-division clock signal, f
C2Be DSP clock signal, f
C3Be the MCU clock signal.
3, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: receive/send out the quasi-optical integrated dielectric lens antenna array dual-purpose, antenna integrated by the little band quadripole of dielectric substrate oscillator, di-lens, the array pedestal, protective cover constitutes, di-lens is that an end face is a hemisphere, the other end is the right cylinder cross section, the antenna integrated cylindrical cross-section that closely is placed on di-lens of the little band quadripole of dielectric substrate oscillator is a feed, di-lens hemisphere end face is the aerial radiation face, rise the position at ship and be set as the horizontal annular array or around the mast circle ring array, dsp code pulse train inserts beam switch, raster-scanned image display CRT coordinate converter.
4, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: beam switch is at antenna feeder waveguide transmission line integrated PIN diode chip for backlight unit, series and parallel is single-pole single-throw switch (SPST) SPST, the control bias voltage is through low-pass network incoming digital signal processor dsp code pulse distribution sequence, a plurality of SPST beam switch are combined into single pole multiple throw, receive/send out switch T/R
1, T/R
2Be located at circulator and receive/bifurcation, by the PIN diode chip, series and parallel is single-pole single-throw switch (SPST) SPST, and the control bias voltage inserts T/R through low-pass network by time-division pulse high level logical one
2, low-level logic " 0 " inserts T/R
1
5, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: the millimeter-wave time-division linear frequency modulation device is made up of millimetric wave voltage-controlled oscillator VCO, loop filter LF, phase detector DP, its VCO by Geng manage Gunn, art hyperabrupt junction varactors and electric capacity chip, fin line waveguide, suspended mictrostrip constitutes, fin line is established single ridge cycle grid, honest and just pipe Gunn resonant circuit, varactor tuning branch road coupling are installed on single dorsal fin line, bias voltage, modulation signal are introduced through ground connection shunt capacitance suspended mictrostrip, frequency synthesizer output f
NInsert DP with the VCO fundamental frequency signal, phase demodulation voltage is connected to the voltage-controlled end of VCO varactor through LF, and inserts n road time-division pulse linear frequency modulation, and it is radar emission carrier frequency f that output waveguide isolation fundamental frequency is chosen two or four harmonics
0, VCO is individually shielded.
6, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: modulation signal generator is formed frequency synthesizer output f by parallel n group prescalar M, phase-locked loop pll, programmable frequency divider N, digital waveform transducer WV
mThe access modulation signal generator is a reference frequency, the programmable frequency divider Fractional-N frequency presets end, digital waveform transducer WV counting presets through interface I/O and inserts microcontroller MCU, water surface image sensor, this ship's speed sensor, satnav sensor gps signal insert n group phase-locked loop pll generation frequency and the waveform transformation that MCU control modulating frequency increases progressively through interface I/O, input meets prescalar M, output meets programmable frequency divider N digital waveform transducer WV, can be changed into triangular wave or sawtooth wave or sinusoidal wave f
1, f
2, f
nN group modulation signal.
7, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: it is that substrate gallium arsenide High Electron Mobility Transistor InPGaAsHEMT, micro strip matching network constitute that the low noise sound pitch is put by a double grid indium phosphide, first grid inserts echo radio frequency matching network microstrip line, second grid is an automatic gain control AGC control end, put the AGC output voltage in the access, source electrode capacitance-resistance ground connection, drain electrode connects sub-harmonic mixer through the matching network microstrip line, frequency synthesizer output f
NInserting sub-harmonic mixer through directional coupler is local oscillation signal f
L, sub-harmonic mixer oppositely is attempted by local oscillation signal f by two schottky diodes
LBetween the little band matching network of little band matching network and echo radiofrequency signal RF, intermediate-freuqncy signal IF is at local oscillation signal f
LNetwork one side is taken out through the bandpass filtering network.
8, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: Multiple Target Signals is extracted circuit and is made up of sound table device SAW matched filter banks, coherent detector I/Q, modulus converter A/D, in put output and choose f in the asynchronous sequential storbing gate in time division circuit n road
1', f
2', f
n' group echoed signal access sound table device SAW matched filter banks, coherent detector I/Q, its wave detector is made of I branch road, two multipliers of Q branch road, frequency synthesizer output intermediate frequency coherent signal fi connects the I branch road, it is the coherent reference local oscillator that the phase shift pi/2 connects the Q branch road, and output is through A/D, echo data memory RAM incoming digital signal processor DSP data bus.
9, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: time division circuit is by field programmable gate array PFGA group structure counter, monostalbe trigger, code translator, code switch, the asynchronous storbing gate of sequential, frequency synthesizer output f
C1Clock signal inserts counter clock end Cp and monostalbe trigger input end, counter control end able to programme inserts MCU through interface I/O, water surface image sensor, this ship's speed sensor, satnav sensor gps signal insert MCU control through interface I/O and generate n road time-division pulse, and switch T/R is received/sends out in high level logic " 1 " access
2, low-level logic " 0 " inserts T/R
1, f
1, f
2, f
nThe group modulation signal inserts code switch, counter data end, monostalbe trigger output terminal dock with the code translator input, code translator output and code switch control end join and constitute n group modulation signal by frequency increments or the voltage-controlled millimeter wave frequency modulator of n road time-division pulse that successively decreases, and frequency modulation output is connected to T/R
2, circulator, beam switch, the emission of quasi-optical integrated dielectric lens antenna array, the echo radio frequency is through quasi-optical integrated dielectric lens antenna array, beam switch, circulator, T/R
1, the low noise sound pitch puts, sub-harmonic mixer, in put, choose by launching code f in the asynchronous storbing gate of time division circuit sequential
1', f
2', f
n' n group signal butt joint sound table device SAW matched filter banks successively, extract circuit coherent detector I/Q, modulus converter A/D, Data Buffer Memory FIFO through Multiple Target Signals and insert the DSP data bus.
10, millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar according to claim 1, it is characterized in that: raster-scanned image display CRT is by coordinate converter, video memory RAM, address selection I/O controller, digital to analog converter D/A, the scale generator, character-generator, the graphic color generator, display controller, the high-lightness circuit, kinescope X-Y-Z deflection system is formed, digital signal processor DSP coded pulse assigned sequence inserts coordinate converter, beam switch, the multiple goal echoed signal inserts microprocessor MCU interface I/O in the DSP operational data through double port memory RAM and delivers to display controller, this controller connects coordinate converter respectively, address selection I/O controller, video memory RAM, digital to analog converter D/A, scale, character-generator, kinescope X-Y-Z deflection system, wherein coordinate converter, digital to analog converter D/A, scale, character and graphic color generator also insert high-lightness circuit control kinescope respectively and transfer the brightness electrode.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201630840U CN201259545Y (en) | 2008-08-28 | 2008-08-28 | Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CNU2008201630840U CN201259545Y (en) | 2008-08-28 | 2008-08-28 | Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| CN201259545Y true CN201259545Y (en) | 2009-06-17 |
Family
ID=40773783
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CNU2008201630840U Expired - Fee Related CN201259545Y (en) | 2008-08-28 | 2008-08-28 | Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship |
Country Status (1)
| Country | Link |
|---|---|
| CN (1) | CN201259545Y (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN102323569A (en) * | 2011-08-15 | 2012-01-18 | 宁波成电泰克电子信息技术发展有限公司 | FPGA (Field Programmable Gate Array) based ship radar ant-interference processing method |
| RU2463706C2 (en) * | 2010-12-07 | 2012-10-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Балтийская государственная академия рыбопромыслового флота" | Contact disturbances sources detection device |
| CN105182327A (en) * | 2014-03-14 | 2015-12-23 | 科达海洋传感器有限公司 | Negative pseudo-range processing with multi-static fmcw radars |
| CN109611695A (en) * | 2019-01-21 | 2019-04-12 | 北京中盾讯达科技有限公司 | Pipeline carrier radar corrodes leak source on-line detecting system |
-
2008
- 2008-08-28 CN CNU2008201630840U patent/CN201259545Y/en not_active Expired - Fee Related
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| RU2463706C2 (en) * | 2010-12-07 | 2012-10-10 | Федеральное государственное бюджетное образовательное учреждение высшего профессионального образования "Балтийская государственная академия рыбопромыслового флота" | Contact disturbances sources detection device |
| CN102323569A (en) * | 2011-08-15 | 2012-01-18 | 宁波成电泰克电子信息技术发展有限公司 | FPGA (Field Programmable Gate Array) based ship radar ant-interference processing method |
| CN105182327A (en) * | 2014-03-14 | 2015-12-23 | 科达海洋传感器有限公司 | Negative pseudo-range processing with multi-static fmcw radars |
| CN105182327B (en) * | 2014-03-14 | 2018-10-02 | 科达海洋传感器有限公司 | Negative pseudorange processing with more base fmcw radars |
| CN109611695A (en) * | 2019-01-21 | 2019-04-12 | 北京中盾讯达科技有限公司 | Pipeline carrier radar corrodes leak source on-line detecting system |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN101354438B (en) | Millimeter-wave time-division linear frequency modulation multiple-target detection colliding-proof radar for car | |
| CN101373217B (en) | Millimeter wave marine frequency modulation multichannel anti-collision radar | |
| CN201259544Y (en) | Millimeter-wave random code PM AM anti-collision radar for ship | |
| CN201259546Y (en) | Time division multi-channel random code phase modulated anti-collision radar for ship | |
| US10451723B2 (en) | Signal processing apparatus of a continuous-wave (CW) radar sensing system | |
| CN101661106B (en) | Millimeter-wave random biphase code phase-modulation and amplitude-modulation automotive collision-proof radar | |
| CN101354439B (en) | Millimeter-wave time-division random code phase modulation multichannel colliding-proof radar for car | |
| CN101373218B (en) | Millimeter wave time-division passive frequency modulation multichannel colliding-proof radar for car | |
| CN101661107B (en) | Millimeter-wave time division frequency-modulation shipborne multi-target detection collision-proof radar | |
| CN101661105B (en) | Millimeter-wave random code phase-modulation and amplitude-modulation shipborne collision-proof radar | |
| US10663571B2 (en) | Radar system and associated apparatus and methods | |
| USRE45999E1 (en) | Device and method for 3D height-finding avian radar | |
| US4952939A (en) | Radar intrusion detection system | |
| CN201259547Y (en) | Millimeter wave time-division linear frequency modulated multi-target detection anti-collision radar for automobile | |
| CN101661108B (en) | Time division multichannel random code phase-modulation shipborne collision-proof radar | |
| CN201259545Y (en) | Millimeter wave time-division frequency modulated multi-target detection anti-collision radar for ship | |
| CN108196250A (en) | For the continuous-wave radar system and its method of low altitude small target detection | |
| CN201259549Y (en) | Millimeter wave time division frequency modulated multi-channel anti-collision radar for automobile | |
| Skolnik et al. | An ultrawideband microwave-radar conceptual design | |
| Zainuddin et al. | Maritime radar: a review on techniques for small vessels detection | |
| CN201259548Y (en) | Millimeter wave time division random code phase modulated multi-channel anti-collision radar for automobile | |
| CN201259550Y (en) | Millimeter wave frequency modulated multi-channel anti-collision radar for ship | |
| CN201259551Y (en) | Millimeter wave random bi-phase code phase and amplitude modulated multi-channel anti-collision radar for automobile | |
| Ryan | Detection of small radar cross section targets at sea using coherent radar | |
| Stove et al. | Littoral sea clutter returns at 94GHz |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C17 | Cessation of patent right | ||
| CF01 | Termination of patent right due to non-payment of annual fee |
Granted publication date: 20090617 Termination date: 20090928 |