JP2002267749A - Image radar equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enhance identification performance, and to generate a two-dimensional image using lengths as two axes. SOLUTION: This image radar equipment for obtaining shape information of a target by irradiating the target with an electric wave to use a reflected wave from the target is provided with plural radar image collecting devices 11 arranged in different positions to collect radar images of the target and to estimate an existing direction of the target based on the positions of the radars as references, a correspondence point determining circuit 12 for determining correspondence between respective reflection points on output images of the respective image collecting devices 11, and a three-dimensional shape restoring circuit 13 for restoring a three-dimensional shape of the target based on a determination result of an output from the correspondence point determining circuit 12, the radar images of outputs from the respective radar image collecting devices 11 and the existing direction of the target.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an image radar apparatus for recognizing and identifying a target using a radar image, and more particularly to an image radar apparatus capable of improving identification performance.

[0002]

2. Description of the Related Art FIG.
FIG. 1 is a diagram illustrating a configuration of a conventional radar device disclosed in Japanese Patent Application Laid-Open Publication No. HEI 10-115,000. In the figure, 501 is a transmitter, 502 is a transmission / reception switch, 503 is a transmission / reception antenna, 504 is a receiver, 505
Is a radar image reproducing means, 506 is a radar image displaying means,
507 is a target tracking means, 508 is a point image response estimating means, 5
09 is a target aspect angle estimation means, 510 is an RCS calculation means, 511 is a convolution integration means, 512 is a target shape data storage means, and 513 is an operator.

FIG. 24 is a diagram showing a positional relationship between a target and a radar at the time of observation and a movement of the target. In the figure, 52
1 is a target and 522 is a radar device. FIG. 25 shows FIG.
3 shows in detail the inside of the radar image reproducing means 505 shown in FIG. In the figure, reference numeral 531 denotes a range compression means, 532 denotes a motion compensation means, 533 denotes a cross range compression means, and 534 denotes a two-dimensional storage means. FIG. 26 shows FIG.
3 shows the details of the inside of the radar image display means 506 shown in FIG. In the figure, 541 indicates a two-dimensional display buffer, and 542 indicates a monitor TV.

Next, the operation will be described with reference to the drawings.
The high-frequency signal generated by the transmitter 501 is transmitted to the transmission / reception switch 50.
The light is radiated from the transmission / reception antenna 503 toward the target 521 via the transmission / reception antenna 2. A part of the high-frequency signal applied to the target 521 is reflected in the direction of the radar device 522 and is transmitted and received by the transmitting / receiving antenna 503.
After being amplified and detected by the receiver 504 via the transmission / reception switch 502, the radar image reproducing means 505 converts the signal into a radar image indicating the RCS (Radar Cross Section) distribution of the target 521, and the radar image display means 506 Is displayed.

Hereinafter, a method of reproducing an image will be described in detail. The received signal output from the receiver 504 is input to the radar image reproducing unit 505, and first, the range compression unit 531 performs a process of improving the range resolution, that is, pulse compression. The received signal after range compression is stored in the two-dimensional storage unit 534 in accordance with the range bin number m and the pulse hit number n. In order to remove random components harmful to image reproduction from the movement of the target 521, the received signal is read from the two-dimensional storage means 534, and the motion compensation means 5 is set so that the Doppler frequency at the center point of the target 521 becomes zero.
32, the phase compensation and the rearrangement of the range bins are performed, and stored in the two-dimensional storage means 534 again.

Now, assuming that the target 521 is rotating or translating in yaw motion as shown in FIG. 24, different points on the target existing in the same range bin are reflected waves of different Doppler frequencies. Occurs. Utilizing this, the cross-range compression means 533 converts the received signal after phase compensation into an FFT for each range bin.
(Fast Fourier Transform) to improve cross range resolution. The resolution is improved in both the range and cross range directions, and the RCS of each target point
The radar image representing the distribution is sent to the radar image display means 506, and once stored in the two-dimensional display buffer 541,
The image is displayed on the monitor TV 542 as an image. As described above, a radar device that obtains its shape by using the Doppler effect generated by a target motion is an ISAR (Inverse Synthetic).
Aperture Radar).

[0007] The received signal obtained by the receiver 504 is also supplied to the target tracking means 507, and the target tracking means 507 estimates the motion characteristics of the target, such as the traveling direction, position, speed, and acceleration. A point image response function corresponding to the impulse response of the radar device is calculated by the point image response estimating means 508 from the result and the specifications of the radar device. At the same time,
In the target aspect angle estimation means 509, the target 521
The target aspect angle is estimated from the position of the radar device 522 and the traveling direction of the target 521. In the target shape data storage means 512, three-dimensional shape data for each target is stored. The RCS calculation unit 510 sequentially reads the three-dimensional shape data stored in the target shape data storage unit 512, and calculates a target RCS distribution based on the estimated target aspect angle. To calculate the RCS distribution,
For example, GTD (Geometrical Theory of Diffraction)
Well-known methods such as PTD (Physical Theory of Diffraction) can be used. At this time, the resolution of the target shape data does not always coincide with the resolution of the radar device.
In 1, the convolution of the RCS distribution and the point image response function is performed to generate a dictionary image for recognition and identification. The dictionary image generated in this way is displayed on the radar image display means 506 together with the reproduced radar image, so that the operator 513 can view the dictionary image at the same time. Can be easily recognized and identified.

[0008]

In the conventional radar device, since a target three-dimensional shape cannot be obtained, there is a problem that the identification performance is low. In addition, the conventional radar apparatus cannot obtain a target three-dimensional RCS distribution, and thus has a problem of low identification performance. Further, the conventional radar apparatus has a problem that the discriminating performance is low because a characteristic amount specific to a target such as a rotational motion of the target cannot be estimated. Further, the conventional radar apparatus has a problem that a two-dimensional image having two axes in length cannot be generated.

SUMMARY OF THE INVENTION The present invention has been made to solve the above-described problems. An image radar capable of improving the discrimination performance and generating a two-dimensional image having two axes in length. The aim is to obtain a device.

[0010]

A radar apparatus according to the present invention is an image radar apparatus that irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A plurality of radar image collecting apparatuses that are arranged to collect the radar image of the target and estimate the direction of the target based on the radar position, and determine the correspondence between each reflection point on the output image of each radar image collecting apparatus. Three-dimensional shape restoration for restoring a target three-dimensional shape from a corresponding point determination circuit, a corresponding point determination result output from the corresponding point determination circuit, a radar image output from each radar image acquisition device, and a target existing direction. And a circuit.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with a radio wave and obtains target shape information by using a reflected wave from the target. A plurality of radar image collecting devices for collecting radar images and estimating the direction of presence of a target based on the radar position, and a corresponding point determining circuit for determining a correspondence between each reflection point on an output image of each radar image collecting device And a three-dimensional reflection intensity that constructs a three-dimensional distribution of reflection intensity on the target from the corresponding point determination result output from the corresponding point determination circuit, the radar image output from each radar image acquisition device, and the target existence direction. And a distribution construction circuit.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A plurality of radar image collection devices for collecting radar images and estimating the direction in which the target exists based on the radar position, and the correspondence between each reflection point on the output image of each radar image collection device is determined by the amplitude of each reflection point. The intensity-considered corresponding point determination circuit, which also uses the value information, and the corresponding point determination result output from the intensity-considered corresponding point determination circuit and the direction in which the radar image and the target exist, which are the outputs of the radar image collection devices. A three-dimensional shape restoration circuit for restoring a target three-dimensional shape.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A plurality of radar image collection devices for collecting radar images and estimating the direction in which the target exists based on the radar position, and a large number of reflection points on the output image of each radar image collection device for each reflection point. An N image corresponding point determination circuit for associating using any three of the images
A three-dimensional shape restoring circuit for restoring a three-dimensional shape of the target from the corresponding point determination result output from the N image corresponding point determination circuit, the radar image output from each radar image acquisition device, and the target direction; ing.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with a radio wave and obtains target shape information by using a reflected wave from the target. Multiple radar image acquisition devices that collect radar images and estimate the direction of the target based on the radar position, and select a corresponding reference point among the reflection points on the output image of each radar image acquisition device A reference point selecting circuit, a reference position estimating circuit for estimating the spatial position of the reference point obtained by the reference point selecting circuit, a spatial position of the reference point obtained by the reference position estimating circuit, and a value obtained by the radar image collecting apparatus. A rotational angular velocity vector estimating circuit for estimating a rotational angular velocity vector of a target from an image position of each reference point image and a target direction with reference to the position of each radar image acquisition device; And a rotational motion estimation circuit having a rotation axis position estimating circuit which estimates the position of the shaft.

Further, there is further provided a rotation movement history accumulation circuit for accumulating the estimation result of the rotation movement which is the output of the rotation movement estimation circuit at each time.

Further, a projection plane determining circuit for estimating the scaling of the cross range axis, length and frequency for each radar image acquisition device based on the estimation result of the rotational motion estimating circuit, and a projection plane determining circuit based on the estimation result of the projection plane determining circuit , And a range / cross range image generation circuit for generating a radar image representing a range and a cross range orthogonal to the range by a length with respect to the radar image obtained for each radar image acquisition device.

Further, for each reflection point on each range cross range image generating circuit, the range of existence of each reflection point is limited to a straight line passing through the reflection point on the range cross range image and orthogonal to the plane, A straight line intersection determination circuit that determines whether or not each axis appearing for each range cross range image intersects;
Based on the intersection information obtained by the straight-line intersection determination circuit, a search is made for an intersection corresponding to a point on each surface that intersects at a single point on the entire surface, and a corresponding point is determined based on the search. And a three-dimensional shape construction circuit for constructing a target three-dimensional shape based on the information of the intersection information consideration type corresponding point determination circuit.

Further, for each reflection point on each range cross range image generating circuit, the range of existence of each reflection point is limited to a straight line passing through the reflection point on the range cross range image and orthogonal to the plane, A straight line intersection determination circuit that determines whether or not each axis appearing for each range cross range image intersects;
An intersection search circuit that determines the three-dimensional coordinates of the intersection with respect to the set of points determined to intersect, and determines an axis for each reflection point with respect to another range cross-range image, and the axis passes through the intersection. Check whether to pass, if passing, that point, and a set of points on each image related to the intersection, corresponding to the intersection passing type corresponding point determination circuit that determines otherwise does not correspond, And a three-dimensional shape construction circuit for constructing a target three-dimensional shape based on information of the intersection passing type corresponding point determination circuit.

The target shape data storage means for storing shape data of the candidate target, the three-dimensional shape of the observation target restored by the three-dimensional shape restoration circuit, and the shape data of the candidate target stored in the target shape data storage means And a three-dimensional shape matching circuit for outputting similar candidate targets.

A target shape data storage means for storing shape data of the candidate target, and a three-dimensional reflection intensity of the reflection intensity by applying electromagnetic field theory to the three-dimensional shape data of each candidate target stored in the target shape data. The RCS calculating means for calculating the distribution, the three-dimensional distribution of the reflection intensity of the observation target constructed by the reflection intensity three-dimensional distribution construction circuit and the three-dimensional distribution of the reflection intensity of each candidate target obtained by the RCS calculating means are collated. And a reflection intensity three-dimensional distribution matching circuit for selecting a similar candidate target.

The radar apparatus according to the present invention is an image radar apparatus that irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A radar image collection device that transmits and receives radio waves to and from the target, collects radar images of the target, and estimates the direction in which the target exists based on the radar position, and irradiates the target from a predetermined radar image collection device. A target radar image and a reception-only radar image acquisition device that obtains a range vector related to the radar image using the reflected signal, and between each reflection point on the output image obtained from the radar image acquisition device or the reception-only radar image acquisition device. A corresponding point determination circuit that determines the correspondence between the two, and the corresponding point determination result output from the corresponding point determination circuit and the output of each radar image acquisition device or reception-only radar image acquisition device It includes the presence direction of the radar image and the target and a 3D reconstruction circuit for restoring the three-dimensional shape of the target is.

Further, the rotation motion storage means for storing the rotation motion information for each candidate target, and the rotation motion history and the rotation motion storage means for the observation target for each time stored in the rotation motion history storage circuit. A rotation motion verification circuit that verifies the rotation motion information for each candidate target and outputs a candidate target having a similar rotational motion.

Further, the radar image collecting apparatus includes a transmitter for generating a high-frequency pulse for irradiating the target, a transmitting and receiving antenna for transmitting and receiving the high-frequency pulse generated by the transmitter, and a radio-frequency pulse reflected and scattered by the target. A receiver for receiving and detecting the section via a transmission / reception antenna, a radar image reproducing means for generating a radar image to be observed based on a received signal obtained by the receiver, and a radar image collecting apparatus from the arrival direction of the received signal And a range vector calculating means for obtaining the direction in which the target exists based on the position of the target as a unit vector.

Further, the radar image collecting apparatus includes a receiver for receiving and detecting a part of a high-frequency pulse reflected and scattered by a target via a transmitting / receiving antenna, and an object to be observed based on a received signal obtained by the receiver. Image reproducing means for generating a radar image, and a bister range for estimating a unit vector in a range direction from an arrival direction of a received signal and an irradiation direction of a radar image collecting apparatus which has performed transmission for obtaining the received signal. Vector calculation means.

In the radar apparatus according to the present invention, a transmitter for generating a high-frequency pulse for irradiating a target, a transmitting and receiving antenna for transmitting and receiving a high-frequency pulse generated by the transmitter, and a radio-frequency pulse reflected and scattered by the target. A receiver that receives and detects a part of the signal via a transmitting / receiving antenna, a radar image reproducing unit that generates a radar image of an observation target based on a received signal obtained by the receiver, and a direction in which a target exists from an arrival direction of the received signal. Range vector calculating means obtained by a unit vector, radar image history storing means for storing a radar image which is an output of a radar image reproducing means which changes every moment due to relative movement between a radar and a target, and moment by moment due to relative movement between a radar and a target Range vector history storage means for storing the calculation result of the range vector which is the output of the range vector calculating means that changes A corresponding point determination circuit for determining a corresponding point from the radar image at each time which is a mobile radar image acquisition device having an output of a mobile radar image acquisition apparatus,
A three-dimensional shape restoration circuit is provided for restoring a target three-dimensional shape from the corresponding point judgment result of the corresponding point judgment circuit and the history of the range vector and the history of the radar image output from the moving radar image acquisition device.

[0026]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Embodiment 1 FIG. 1 is a processing block diagram showing Embodiment 1 of the image radar apparatus of the present invention. In the figure, 11 is a radar image acquisition device, 12 is a corresponding point determination circuit, and 13 is a three-dimensional shape restoration circuit.

FIG. 2 is a processing block diagram showing the radar image collecting apparatus 11 of FIG. 1 in detail. In the figure, 501 is a transmitter, 502 is a transmission / reception switch, 503 is a transmission / reception antenna, 504 is a receiver, 505 is radar image reproducing means, 1
Reference numeral 4 denotes a range vector calculation unit.

FIG. 3 is a geometry for explaining the processing of this embodiment. FIG. 4 is an example of an ISAR image obtained by each radar image acquisition device.

Next, the processing contents of this embodiment will be described with reference to FIGS. First, processing contents of the radar image collection device 11 will be described. In the radar image collection device 11, a high-frequency signal generated by the transmitter 501 is radiated from the transmission / reception antenna 503 to the target via the transmission / reception switch 502, and a part of the high-frequency signal applied to the target is used by the radar image collection device 11. Direction, which is transmitted to the transmitting / receiving antenna 5
03, the signal is amplified and detected by the receiver 504 via the transmission / reception switch 502, and then converted by the radar image reproducing means 505 into a radar image indicating the target RCS as in the conventional case.

The range vector calculating means 14 obtains a unit vector in the target direction as viewed from the radar image collecting device 11 based on the direction of arrival of the reflected wave. The unit vector is referred to as range vector in the following.

In this embodiment, as shown in FIG. 3, three radar image collecting apparatuses 11 are arranged at different positions. These are conveniently referred to as radar # 1, radar # 2, ra
Call it dar # 3. Each radar # n (n =
The ISAR image obtained in 1, 2, 3) is image # n
(N = 1, 2, 3) and the range vector is ssn (n =
1, 2, 3). In each image #n, an observed target image is obtained as shown in FIG. Here, it should be noted that images in different directions with respect to the same target are obtained depending on the observation direction.

The corresponding point determination circuit 12 compares each reflection point on each image and associates each image. For example, in the example of FIG. 4, it is assumed that the nose, the tip of the wing, the tip of the vertical tail, and the like are associated between the respective images.

Here, the number of reflection points corresponding to each other is defined as J + 1. One of these points is set as a reference point (in the example of FIG. 4, the nose P
0), this point and each reflection point Pj in image # n
(J = 1, 2,..., J) is defined as snj (n =
1, 2, 3; j = 1, 2,..., J).

Assuming that the position vector of each reflection point Pj with respect to the point P0 is rrj, equation (1) is established.

[0035]

(Equation 1)

Here, T represents the transposition operation of the vector.
When this is summarized for each point Pj, the following equation is obtained.

[0037]

(Equation 2)

Where ssnx, ssny, ssnz
(N = 1, 2, 3) represents the first, second, and third elements of the vector ssn. By transforming equation (2), the following equation is obtained.

[0039]

(Equation 3)

The three-dimensional shape restoration circuit 13 calculates a three-dimensional position vector of the point Pj based on the equation (3), and arranges the point at that position. By performing the same process for each point,
Regarding the observation target, its three-dimensional shape can be obtained as a distribution of points.

In the image radar apparatus having such a configuration, the three-dimensional shape of the target can be known, so that the identification performance is improved.

Embodiment 2 FIG. 5 is a processing block diagram showing Embodiment 2 of the image radar apparatus of the present invention. In the figure, reference numeral 21 denotes a reflection intensity three-dimensional distribution construction circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. In the present embodiment, the ISAR obtained by each radar image acquisition device 11 with respect to the position of each reflection point which is the output of the three-dimensional shape restoration circuit 13 in the first embodiment.
Give reflection intensity from the image.

That is, the reflection intensity three-dimensional distribution construction circuit 2
1, the ISAR obtained by each radar image acquisition device 11
Image image # 1, image # 2, image # 3
In each case, the reflection intensity of the reflection point Pj is assigned to the three-dimensional coordinates of each reflection point obtained by the three-dimensional shape restoration circuit 13. The three-dimensional reflection intensity distribution obtained in this way corresponds to the reflection intensity distribution on the target when the target is observed from each radar image acquisition device 11 direction.

In the image radar apparatus having such a configuration, the target three-dimensional shape can be known, so that the identification performance is improved. Further, since the target three-dimensional reflection intensity distribution can be known, the discrimination performance is improved.

Embodiment 3 FIG. 6 is a processing block diagram showing Embodiment 3 of the image radar apparatus of the present invention. In the figure, reference numeral 31 denotes an intensity-considered corresponding point determination circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. In the present embodiment, each image # is used by using the reflection intensity distribution obtained by the radar image collection device 11.
The reflection points between n are associated.

The intensity consideration corresponding point determination circuit 31 associates the reflection points based on the information on the intensity of the reflection points in each image. This is, for example, the radar image acquisition device 11
When the target directions viewed from the viewpoint are similar, the fact that the reflection intensity of the same reflection point takes a close value is used.

In the image radar device having such a configuration, the three-dimensional shape of the target can be known, so that the identification performance is improved. Further, since the target three-dimensional reflection intensity distribution can be known, the discrimination performance is improved. Further, since the three-dimensional shape is constructed using the reflection intensity, the construction accuracy of the three-dimensional shape is improved.

Embodiment 4 FIG. 7 is a processing block diagram showing Embodiment 4 of the image radar apparatus of the present invention. In the figure, reference numeral 41 denotes an N image corresponding point determination circuit. FIG. 8 is a diagram for explaining the processing of the present embodiment.

Next, the processing contents of this embodiment will be described with reference to FIGS. In the first embodiment, the IS obtained by the three radar image collection devices 11 arranged at different positions is used.
AR image image # 1, image # 2, image
The three-dimensional shape of the observation target was restored using # 3.

However, when this is performed, it is necessary that the reflection points correspond to the three images. However, it may not be detected in any of the images depending on the position of the reflection point, the reflection characteristics, and the like. Therefore, three or more N radar image collection devices 11 are prepared, and the ISAR image image is prepared.
# 1 to #N are obtained.

In the N image corresponding point determination circuit 41, these N
Three images from which the reflection points can be confirmed for each reflection point are selected for each reflection point. On the other hand, the three-dimensional shape restoration circuit 13 obtains a three-dimensional position vector by applying the equation (3) as in the first embodiment.

In the image radar device having such a configuration, the target three-dimensional shape can be known, so that the identification performance is improved. In addition, since a three-dimensional shape is constructed using a large number of images, for example, when three images cannot be seen in an image having a reflection point, the three radar image collection devices have linearly independent range vectors. We can cope when there is not.

Embodiment 5 FIG. 9 is a processing block diagram showing Embodiment 5 of the image radar apparatus of the present invention. In the figure, 51 is a reference point selection circuit, 52 is a reference position estimation circuit, 53 is a rotation angular velocity vector estimation circuit, 54 is a rotation axis position estimation circuit, and 55 is a rotation motion estimation circuit. Figure 1
0 is a diagram for explaining the processing content of the present embodiment.

Next, the processing contents of this embodiment will be described with reference to FIGS. Radar images image # 1, image # 2, and image by the three radar image collection devices 11
e # 3 is obtained. The reference point selection circuit 51 selects four points P0 to P3 on the target.

In the reference position estimating circuit 52, each image
The distance snm (n = 1, 2, 3; m = 1, 2, 3) of each reflection point Pm with respect to the reflection point P0 on #n is obtained. Further, the range vector ss of each radar image acquisition device 11
Using n, a three-dimensional position vector based on P0 is obtained by equation (3).

In the rotational angular velocity vector estimating circuit 53, i
In the image #n, the Doppler frequency fnm of each reflection point Pm based on P0 is obtained, and the relative velocity vnm of each reflection point Pm based on P0 is obtained by the following equation.

[0059]

(Equation 4)

Where λ is the transmission wavelength. vnm and s
The following relationship is established between sn, rrm, and the rotational angular velocity vector LL.

[0061]

(Equation 5)

However, if AA and BB are vectors, (AA · BB) is the inner product operation of AA and BB, and (AA × B
B) represents the cross product operation of AA and BB. Now, where n,
There are nine types of vectors rrm × ssn when m is changed. From these, three types of linearly independent vectors are selected, and these are defined as ggk (k = 1, 2, 3).
Assuming that the relative speed corresponding to the vector is vk, the following equation is established.

[0063]

(Equation 6)

Where ggkx, ggky, ggkz
(K = 1, 2, 3) are the first, second, and third elements of the vector ggk. Therefore, LL is given by the following equation.

[0065]

(Equation 7)

That is, the angular velocity vector representing the target rotational motion has been determined.

In the image radar apparatus having such a configuration, an angular velocity vector representing a target rotational motion can be obtained, and thus identification using this value can be performed.

In this embodiment, the number of radar image collecting apparatuses is three, but it goes without saying that the number of radar image collecting apparatuses is three or more.

Embodiment 6 FIG. FIG. 11 is a processing block diagram showing Embodiment 6 of the image radar apparatus of the present invention.
In the figure, reference numeral 61 denotes a rotational motion history accumulation circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. The process of estimating the rotational angular velocity vector LL by the rotational motion estimation circuit 55 using the three ISAR images obtained by the radar image acquisition device 11 is the same as in the fifth embodiment. In the present embodiment, the rotational angular velocity vector is stored in the rotational motion history storage circuit 61.

In the image radar apparatus having such a configuration, since the time change of the angular velocity vector representing the rotational movement of the target can be obtained, it is possible to obtain the motion information such as the period of the Pitch motion.

Embodiment 7 FIG. FIG. 12 is a processing block diagram showing Embodiment 7 of the image radar apparatus of the present invention.
In the figure, reference numeral 71 denotes a projection plane determination circuit, and 72 denotes a range / cross-range image generation circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. In the present embodiment, the projection plane determination circuit 71 first determines the projection plane of the target shape for each radar image acquisition device 11 using the angular velocity vector LL obtained by the rotational motion estimation circuit 55 of the fifth embodiment. . A position vector based on P0 of the reflection point Pm on the target is defined as rrm,
Assuming that the range and Doppler frequency on the ISAR image with respect to P0 are snm and fnm, the following equation is established between these variables.

[0074]

(Equation 8)

[0075]

(Equation 9)

Here, a vector ccn satisfying the following equation is introduced.

[0077]

(Equation 10)

This ccn is a unit vector in the same direction as the vector ssn × LL, and is hereinafter referred to as a cross range vector. From the equations (8) and (10), the plane defined by ssn and ccn in the space is the projection plane that projects the target shape. The following equation is established from the relations of equations (9) and (10).

[0079]

[Equation 11]

Here, since the right side is the inner product of the position vector rrm of the reflection point Pm and ccn, the left side is c of rrm.
This represents the projection component in the cn direction. Based on this, the range / cross-range image generation circuit 72 collects the ISAR image image # n (n = 1, 2, 2).
3) in the frequency direction, -λ / (2 || ssn × LL |
|) Times.

Thus, a range cross range image having the distance axis in both the ssn and ccn directions is obtained. The length in the cross range direction at this time is assumed to be cnm.

In the image radar apparatus having such a configuration, the range,
And a target image centered on the length in the cross range direction orthogonal to the target image can be obtained, and the target image can be improved using the target image.

Embodiment 8 FIG. FIG. 13 is a processing block diagram showing Embodiment 8 of the image radar apparatus of the present invention.
In the figure, reference numeral 81 denotes a straight-line intersection determination circuit, and reference numeral 82 denotes a cross-information-consideration-type corresponding point determination circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. In the present embodiment, the range vector ssn that determines the projection plane for each radar image acquisition device 11 in the processing up to the range / cross-range image generation circuit 72
(N = 1, 2, 3), the cross range vector ccn (n
= 1, 2, 3) and the reflection points on the three images are associated with each other using the coordinates snp and cnp of the reflection points on each image #n to construct a three-dimensional shape.

In the straight line intersection determination circuit 81, first, the normal vector ttn of the projection plane for each radar image acquisition device 11
Is obtained by the following equation.

[0086]

(Equation 12)

Assuming that a position vector when the reflection point P is projected onto each projection plane n is upn, upn is given by the following equation.

[0088]

(Equation 13)

The reflection point P passes through upn and exists on the axis in the ttn direction. Now, when the same point is observed on the planes na and nb, the above axes intersect at a certain point. Therefore, it is determined whether or not the above axes intersect, and if they intersect, it is determined as a candidate for the same combination of reflection points. The determination as to whether the axes intersect is performed by the following equation.

[0090]

[Equation 14]

If a in the above equation is 0, the two axes intersect. Otherwise, the two shafts are in a twisted position.

The straight line intersection determination circuit 81 determines the intersection between the axes passing through the reflection points on each surface based on the above information.

In the intersection information consideration type corresponding point determination circuit 82,
Based on the information of the straight-line intersection determination circuit 81,
A combination of points on each plane passing through the points is determined. The three-dimensional shape restoring circuit 13 restores the three-dimensional shape in the same manner as in the first embodiment and the like based on the information of the combination obtained by the intersection information consideration type corresponding point determination circuit 82.

In the image radar apparatus having such a configuration, a three-dimensional shape is constructed for the target by using the intersection information of the axes. Therefore, the accuracy of the three-dimensional shape construction is improved, and the identification performance is improved.

Embodiment 9 FIG. FIG. 14 is a processing block diagram showing Embodiment 9 of the image radar apparatus of the present invention.
In the figure, 91 is an intersection search circuit, and 92 is an intersection passing type corresponding point determination circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. In the same processing as in the eighth embodiment, imag
e # 1 to image # 3 out of image # 3
It is determined whether or not the reflection points on the image of a, image #nb intersect.

Image #n determined to intersect
Assuming that the position vector of the reflection point on a, image #nb on the image is rrnap and rrnbp, the position vector rrr of the intersection is given by the following equation.

[0098]

(Equation 15)

Here, α and β are unknown numbers. Well, t
Both tna and ttnb are three-dimensional vectors,
A two-dimensional vector can be generated by appropriately selecting two elements (for example, a first element and a second element). ttna,
The same two elements are selected at ttnb to generate a two-dimensional vector. These are (txa, tya) and (txb, tyb). However, sets that are linearly independent from each other are selected as these two-dimensional vectors. Rrna for the same element
The two-dimensional vectors generated from p and rrnbp are (rxa, rya) and (rxb, ryb), respectively. Note that these two-dimensional vectors are all column vectors and are considered below. α and β are determined by the following equations.

[0100]

(Equation 16)

Thus, rrr in equation (15) is determined. The intersection search circuit 91 performs the above processing.

By the way, when a point rrncp corresponding to the reflection point of the position vector rrr exists on the remaining one of the image # 1 and the image # 3, the following equation is established.

[0103]

[Equation 17]

Here, γ is an appropriate constant. Therefore,
Expression (17) is applied to each intersection point obtained between each reflection point on image #na and image #nb and each reflection point on image #nc, and if there is a set that satisfies this, Reflection points on each image related to the intersection of
It can be determined that the correspondence of this reflection point on image # nc has been taken.

The intersection passing type corresponding point determination circuit 92 determines the correspondence between the reflection points based on the above properties. The three-dimensional shape restoration circuit 13 restores the three-dimensional shape based on the result.

In the image radar apparatus having such a configuration, since the three-dimensional shape is constructed using the intersection information of the axes, the accuracy of the three-dimensional shape construction is improved, and the identification performance is improved.

Embodiment 10 FIG. FIG. 15 is a processing block diagram showing Embodiment 10 of the image radar apparatus of the present invention. In the figure, reference numeral 101 denotes a three-dimensional shape matching circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. The processing for constructing the three-dimensional shape of the observation target by the processing up to the three-dimensional shape restoration circuit 13 is the same as that in the first embodiment. In the three-dimensional shape matching circuit 101, the three-dimensional shape of each candidate target stored in the target shape data storage means 512 and the three-dimensional shape of the observation target constructed by the three-dimensional shape restoration circuit 13.
Check the dimensional shape. The candidate target determined to be the best match as a result of the collation is output as the observation target identification result.

In the image radar apparatus having such a configuration, the type of the observation target can be identified using the three-dimensional shape, so that the identification performance is improved.

Embodiment 11 FIG. FIG. 16 is a processing block diagram showing Embodiment 11 of the image radar apparatus of the present invention. In the figure, reference numeral 111 denotes a reflection intensity three-dimensional distribution matching circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. The processing up to the reflection intensity three-dimensional distribution construction circuit 21 to obtain the reflection intensity three-dimensional distribution of the observation target is the same as in the second embodiment. Reflection intensity three-dimensional distribution matching circuit 1
In 11, the three-dimensional distribution of the reflection intensity of the observation target and the three-dimensional distribution of the reflection intensity of the candidate target obtained by applying the RCS calculation unit 510 to the three-dimensional shape of each candidate target stored in the target shape data storage unit 512 are obtained. Match to identify the type.

In the image radar apparatus having such a configuration, the type of the observation target can be identified using the three-dimensional reflection intensity distribution, so that the identification performance is improved.

Embodiment 12 FIG. FIG. 17 is a processing block diagram showing Embodiment 12 of the image radar apparatus of the present invention. In the figure, reference numeral 121 denotes a reception-only image collection device. FIG. 18 is a processing block diagram showing the reception-only image collection device 121 of FIG. 17 in detail. In the figure, reference numeral 122 denotes a bi-star range vector calculating means.

Next, the processing contents of this embodiment will be described with reference to FIGS. In the present embodiment, a target three-dimensional shape is constructed using radar images obtained by one radar image acquisition device 11 and two reception-only radar image acquisition devices 121. In the reception-only radar image collection device 121, the radio wave emitted from the radar image collection device 11 and scattered by the target is received by the receiver 50 via the reception antenna 503.
4 and the radar image reproducing means 505 reproduces the radar image.

The bister range vector calculating means 122 calculates a range vector in a bistatic configuration from the direction of arrival of the reflected wave and the direction of irradiation from the radar image acquisition device 11 to the target. Hereinafter, the corresponding point determination circuit 1
The processing in the two- and three-dimensional shape restoration circuit 13 is the same as in the first embodiment.

In the present embodiment, the same effects as in the first embodiment can be realized with a simpler configuration.

Embodiment 13 FIG. Figure 19 is a process block diagram of showing a thirteenth embodiment of the image radar device of the present invention. In the figure, 131 is the rotational motion storage means, 132 is a rotational movement matching circuit.

Next, the processing contents of this embodiment will be described with reference to FIG. In the present embodiment, the rotational motion history of the target stored in the rotational motion history storage circuit 61 in the same processing as in the sixth embodiment is replaced with the rotational motion history ( For example yaw, rol
1 and the pitch motion cycle and amplitude, etc.), a candidate target having a similar rotational motion is determined as a target identification result.

In the image radar apparatus having such a configuration, the identification is performed by using the unique motion information for each target, so that the identification performance is improved.

Embodiment 14 FIG. FIG. 20 is a processing block diagram showing Embodiment 14 of the image radar apparatus of the present invention. In the figure, reference numeral 131 denotes a mobile radar image collection device. FIG. 21 is a processing block diagram showing the mobile radar image collection device 131 of FIG. 20 in detail. In the figure, 13
Reference numeral 2 denotes a radar image history storage unit, and 133 denotes a range vector history storage unit. FIG. 22 is a diagram for explaining the processing content of the present embodiment.

Next, the processing contents of this embodiment will be described with reference to FIG. 20, FIG. 21, and FIG. In the present embodiment,
It is assumed that the mobile radar image acquisition device observes a target while moving from place to place as time advances to t = t1, t2, and t3.

In the moving radar image collecting apparatus 131, the processes up to the radar image reproducing means 505 and the range vector calculating means 14 are the same as those of the radar image collecting apparatus 11 shown in the first embodiment. Mobile radar image acquisition device 131
In this example, the radar image history accumulation means 132 is arranged at the subsequent stage of the radar image reproduction means, and the radar image ra at each time tn is set.
dar # n is accumulated. Further, a range vector history storage unit 133 is arranged at a subsequent stage of the range vector calculation unit 14 to store the range vector ssn at each time tn. Thereafter, the corresponding point determination circuit 12 determines the correspondence between the images, and the three-dimensional shape restoration circuit 13 restores the three-dimensional shape in the same manner as in the first embodiment.

That is, the present embodiment has an advantage that the same effect as that of the first embodiment can be obtained with a small number of radar image collecting apparatuses.

[0124]

According to the radar device of the present invention,
An image radar device that irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target, wherein the target is arranged at different positions to collect a target radar image and the presence of the target based on the radar position. A plurality of radar image collecting devices for estimating a direction, a corresponding point determining circuit for determining a correspondence between reflection points on an output image of each radar image collecting device, and a corresponding point determination output from the corresponding point determining circuit A three-dimensional shape restoration circuit for restoring the three-dimensional shape of the target from the result, the radar image output from each radar image acquisition device, and the direction in which the target exists is provided. Therefore, the target three-dimensional shape can be known, and the identification performance can be improved.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A plurality of radar image collecting devices for collecting radar images and estimating the direction of a target based on a radar position, and a corresponding point determining circuit for determining a correspondence between reflection points on an output image of each radar image collecting device And a three-dimensional reflection intensity for constructing a three-dimensional distribution of reflection intensity on the target from the corresponding point determination result output from the corresponding point determination circuit, the radar image output from each radar image acquisition device, and the target direction. And a distribution construction circuit. Therefore, the target three-dimensional shape can be known and the discrimination performance can be improved, and the target three-dimensional reflection intensity distribution can be known, so that the discrimination performance is further improved.

The radar apparatus according to the present invention is an image radar apparatus which irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A plurality of radar image collection devices for collecting radar images and estimating the direction in which the target exists based on the radar position, and the correspondence between each reflection point on the output image of each radar image collection device is determined by the amplitude of each reflection point. The intensity-considered corresponding point determination circuit, which also uses the value information, and the corresponding point determination result output from the intensity-considered corresponding point determination circuit and the direction in which the radar image and the target exist, which are the outputs of the radar image collection devices. A three-dimensional shape restoration circuit for restoring a target three-dimensional shape. Therefore, the target three-dimensional shape can be known and the discrimination performance can be improved, and the target three-dimensional reflection intensity distribution can be known, so that the discrimination performance is improved. Furthermore, using reflection intensity, 3
Since the three-dimensional shape is constructed, the construction accuracy of the three-dimensional shape is improved.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. a plurality of radar image acquisition apparatus for performing presence estimated direction of a target relative to the collection and radar position of the radar images, between the reflection point on the output image of the radar image acquisition device, for each reflection point, many An N image corresponding point determination circuit for associating using any three of the images
A three-dimensional shape restoring circuit for restoring a three-dimensional shape of the target from the corresponding point determination result output from the N image corresponding point determination circuit, the radar image output from each radar image acquisition device, and the target direction; ing. Therefore, since the target three-dimensional shape can be known, the discrimination performance is improved.
Since a three-dimensional shape is constructed using a large number of images, for example, in the case of three images, when a reflection point cannot be seen in an image with three reflection images, the range vector is not linearly independent in three radar image acquisition devices. Can also respond.

Further, the radar apparatus according to the present invention is an image radar apparatus which irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. Multiple radar image acquisition devices that collect radar images and estimate the direction of the target based on the radar position, and select a corresponding reference point among the reflection points on the output image of each radar image acquisition device A reference point selecting circuit, a reference position estimating circuit for estimating the spatial position of the reference point obtained by the reference point selecting circuit, a spatial position of the reference point obtained by the reference position estimating circuit, and a value obtained by the radar image collecting apparatus. A rotational angular velocity vector estimating circuit for estimating a rotational angular velocity vector of a target from an image position of each reference point image and a target direction with reference to the position of each radar image acquisition device; And a rotational motion estimation circuit having a rotation axis position estimating circuit which estimates the position of the shaft. For this reason, an angular velocity vector representing the target rotational motion can be obtained, so that identification using this value can be performed, and the identification performance is further improved.

Further, there is further provided a rotation motion history accumulation circuit for accumulating the estimation result of the rotation motion output from the rotation motion estimation circuit at each time. Thus, it is possible to obtain a time change of the angular velocity vector representing the target rotational motion, so that it is possible to obtain motion information such as a period of the Pitch motion.

A projection plane determining circuit for estimating the scaling of the cross range axis, length, and frequency for each radar image acquisition apparatus based on the estimation result of the rotational motion estimating circuit, and a projection plane determining circuit based on the estimation result of the projection plane determining circuit , And a range / cross range image generation circuit for generating a radar image representing a range and a cross range orthogonal to the range by a length with respect to the radar image obtained for each radar image acquisition device. Therefore, the target image can be obtained with the range of each radar image acquisition device with respect to the target, and the target image centered on the length in the cross range direction orthogonal to the range.
This can be used to improve target identification performance.

[0131] Further, each reflection point on each range cross-range image generating circuit, a presence range of the reflection point as a reflection point on that range cross-range image, and limited to a straight line perpendicular to the plane, and the straight line intersection determination circuit determines whether each axis that appears in each range cross-range image intersect,
Based on the intersection information obtained by the straight-line intersection determination circuit, a search is made for an intersection corresponding to a point on each surface that intersects at a single point on the entire surface, and a corresponding point is determined based on the search. And a three-dimensional shape construction circuit for constructing a target three-dimensional shape based on the information of the intersection information consideration type corresponding point determination circuit. Therefore, regarding the target, since the three-dimensional shape is constructed using the intersection information of the axes, the accuracy of the three-dimensional shape construction is improved, and the identification performance is improved.

Further, for each reflection point on each range cross range image generation circuit, the existence range of each reflection point is limited to a straight line passing through the reflection point on the range cross range image and orthogonal to the plane, A straight line intersection determination circuit that determines whether or not each axis appearing for each range cross range image intersects;
An intersection search circuit that determines the three-dimensional coordinates of the intersection with respect to the set of points determined to intersect, and determines an axis for each reflection point with respect to another range cross-range image, and the axis passes through the intersection. Check whether to pass, if passing, that point, and a set of points on each image related to the intersection, corresponding to the intersection passing type corresponding point determination circuit that determines otherwise does not correspond, And a three-dimensional shape construction circuit for constructing a target three-dimensional shape based on information of the intersection passing type corresponding point determination circuit. Therefore, regarding the target, the three-dimensional shape is constructed using the intersection information of the axes, so that the accuracy of the three-dimensional shape construction is improved and the identification performance is improved.

The target shape data storage means for storing the shape data of the candidate target, the three-dimensional shape of the observation target recovered by the three-dimensional shape recovery circuit, and the shape data of the candidate target stored in the target shape data storage means And a three-dimensional shape matching circuit for outputting similar candidate targets. Therefore, the type of the observation target can be identified using the three-dimensional shape, and the identification performance is improved.

A target shape data storage means for storing shape data of candidate targets, and a three-dimensional shape of reflection intensity by applying electromagnetic field theory to the three-dimensional shape data of each candidate target stored in the target shape data. The RCS calculating means for calculating the distribution, the three-dimensional distribution of the reflection intensity of the observation target constructed by the reflection intensity three-dimensional distribution construction circuit and the three-dimensional distribution of the reflection intensity of each candidate target obtained by the RCS calculating means are collated. And a reflection intensity three-dimensional distribution matching circuit that selects a similar candidate target. Therefore, the type of the observation target can be identified using the three-dimensional reflection intensity distribution, and the identification performance is improved.

The radar apparatus according to the present invention is an image radar apparatus that irradiates a target with radio waves and obtains target shape information by using a reflected wave from the target. A radar image collection device that transmits and receives radio waves to and from the target, collects radar images of the target, and estimates the direction in which the target exists based on the radar position, and irradiates the target from a predetermined radar image collection device. Between a target radar image and a reception-only radar image acquisition device that obtains a range vector related to the radar image using the reflected signal, and between each reflection point on the output image obtained from the radar image acquisition device or the reception-only radar image acquisition device A corresponding point determination circuit that determines the correspondence between the two, and the corresponding point determination result output from the corresponding point determination circuit and the output of each radar image acquisition device or reception-only radar image acquisition device It includes the presence direction of the radar image and the target and a 3D reconstruction circuit for restoring the three-dimensional shape of the target is. Therefore, the radar device can be realized with a simpler configuration, and cost can be reduced.

The rotation motion storage means for storing the rotation motion information for each candidate target, and the rotation motion history and the rotation motion storage means for the observation target for each time stored in the rotation motion history storage circuit. A rotation motion verification circuit that verifies the rotation motion information for each candidate target and outputs a candidate target having a similar rotational motion. In such a configuration, discrimination is performed using unique motion information for each target, so that discrimination performance is improved.

Further, the radar image collecting apparatus includes a transmitter for generating a high-frequency pulse for irradiating a target, a transmitting and receiving antenna for transmitting and receiving a high-frequency pulse generated by the transmitter, and a radio-frequency pulse reflected and scattered by the target. A receiver for receiving and detecting the section via a transmission / reception antenna, a radar image reproducing means for generating a radar image to be observed based on a received signal obtained by the receiver, and a radar image collecting apparatus from the arrival direction of the received signal And a range vector calculating means for obtaining the direction in which the target exists based on the position of the target as a unit vector. Therefore, based on the arrival direction of the reflected wave, a unit vector in the target direction viewed from the radar image acquisition device, that is, a range vector can be obtained.

[0138] The radar image collecting apparatus also includes a receiver for receiving and detecting a part of a high-frequency pulse reflected and scattered by a target via a transmitting / receiving antenna, and an object to be observed based on a received signal obtained by the receiver. Image reproducing means for generating a radar image, and a bister range for estimating a unit vector in a range direction from an arrival direction of a received signal and an irradiation direction of a radar image collecting apparatus which has performed transmission for obtaining the received signal. Vector calculation means. Therefore, the range vector in the bistatic configuration can be calculated based on the arrival direction of the reflected wave and the irradiation direction from the radar image acquisition device to the target.

Further, in the radar device according to the present invention, a transmitter for generating a high-frequency pulse for irradiating a target, a transmitting / receiving antenna for transmitting and receiving a high-frequency pulse generated by the transmitter, and a radio-frequency pulse reflected and scattered by the target are generated. some receivers for receiving and detection via the transmitting and receiving antenna, a radar image reproducing means for generating a radar image of the observation target based on the received signal obtained by the receiver, the presence direction of the target from the direction of arrival of the received signal Range vector calculating means for obtaining a unit vector, radar image history storing means for storing a radar image which is an output of the radar image reproducing means which changes every moment by the relative movement of the radar and the target, and every moment by the relative movement of the radar and the target Range vector history storage means for storing the calculation result of the range vector which is the output of the range vector calculating means that changes A corresponding point determination circuit for determining a corresponding point from the radar image at each time which is a mobile radar image acquisition device having an output of a mobile radar image acquisition apparatus,
A three-dimensional shape restoration circuit is provided for restoring a target three-dimensional shape from the corresponding point judgment result of the corresponding point judgment circuit and the history of the range vector and the history of the radar image output from the moving radar image acquisition device. Therefore, there is an advantage that a similar effect can be obtained with a small number of radar image collecting apparatuses.

[Brief description of the drawings]

FIG. 1 is a processing block diagram illustrating an image radar apparatus according to a first embodiment of the present invention.

FIG. 2 is a processing block diagram showing a radar image collecting apparatus of FIG. 1 in detail;

FIG. 3 is a geometry for explaining the processing of the first embodiment.

Figure 4 is an example of ISAR images obtained by the radar image acquisition device.

FIG. 5 is a processing block diagram showing a second embodiment of the image radar apparatus of the present invention.

FIG. 6 is a processing block diagram showing a third embodiment of the image radar apparatus of the present invention.

FIG. 7 is a processing block diagram showing a fourth embodiment of the image radar apparatus of the present invention.

FIG. 8 is a diagram illustrating a process according to a fourth embodiment.

FIG. 9 is a processing block diagram showing Embodiment 5 of the image radar apparatus of the present invention.

FIG. 10 is a diagram for explaining processing contents of a fifth embodiment.

FIG. 11 is a processing block diagram illustrating Embodiment 6 of the image radar apparatus of the present invention.

FIG. 12 is a processing block diagram showing a seventh embodiment of the image radar apparatus of the present invention.

FIG. 13 is a processing block diagram showing an eighth embodiment of the image radar apparatus of the present invention.

FIG. 14 is a processing block diagram showing a ninth embodiment of the image radar apparatus of the present invention.

FIG. 15 is an image radar apparatus according to a tenth embodiment of the present invention;
It is a processing block diagram showing.

FIG. 16 is an image radar apparatus according to an eleventh embodiment of the present invention.
It is a processing block diagram showing.

FIG. 17 is a twelfth embodiment of the image radar apparatus of the present invention.
It is a processing block diagram showing.

FIG. 18 is a processing block diagram showing the reception-only image collection device of FIG. 17 in detail.

FIG. 19 is a thirteenth embodiment of the image radar apparatus according to the present invention;
It is a processing block diagram showing.

FIG. 20 is a fourteenth embodiment of the image radar apparatus according to the present invention;
It is a processing block diagram showing.

FIG. 21 is a processing block diagram showing the moving radar image collecting apparatus of FIG. 20 in detail.

FIG. 22 is a diagram for describing the processing content of the fourteenth embodiment.

23 is a diagram showing a configuration of a conventional radar device.

FIG. 24 is a diagram showing a positional relationship between a target and a radar at the time of observation and a movement of the target.

FIG. 25 shows details of the inside of the radar image reproducing means shown in FIG. 23;

FIG. 26 shows details of the inside of the radar image display means shown in FIG. 23;

[Explanation of symbols]

11 radar image acquisition device, 12 corresponding point determination circuit, 1
3 three-dimensional shape restoration circuit, 21 reflection intensity three-dimensional distribution construction circuit, 31 intensity consideration corresponding point determination circuit, 41N image corresponding point determination circuit, 51 reference point selection circuit, 52 reference position estimation circuit, 53 rotation angular velocity vector estimation circuit, 54
Rotation axis position estimation circuit, 55 Rotational motion estimation circuit, 61
Rotational motion history storage circuit, 71 Projection plane determination circuit, 72
Range / Cross-Range Image Generation Circuit, 81 Straight Line Intersection Determination Circuit, 82 Intersection Information Considering Corresponding Point Determination Circuit, 91
Intersection search circuit, 92 Intersection passing type corresponding point determination circuit, 51
2 target shape data storage means, 101 three-dimensional shape verification circuit, 510 RCS calculation means, 111 reflection intensity three-dimensional distribution verification circuit, 121 reception-only radar image acquisition device, 131 rotation motion storage means, 132 rotation motion verification circuit, 501 transmission Machine, 503 transmitting / receiving antenna, 50
4 receiver, 505 radar image reproducing means, 14 range vector calculating means, 122 bister range vector calculating means, 132 radar image history storing means, 131
Mobile radar image acquisition device

Claims (16)

[Claims] 1. A radio wave is irradiated to the target, an image radar system using a reflected wave from the target to obtain a target shape information are arranged in different positions relative to the collection and the radar position of the radar image of the target A plurality of radar image collection devices for estimating the existence direction of the target, a corresponding point determination circuit for determining a correspondence between each reflection point on an output image of each of the radar image collection devices, and a corresponding point determination circuit. A radar having a three-dimensional shape restoring circuit for restoring a three-dimensional shape of a target based on a determination result of a corresponding point which is an output, a radar image which is an output of each radar image acquisition device, and a direction in which the target exists. apparatus. 2. An image radar apparatus for irradiating a target with a radio wave and obtaining target shape information by using a reflected wave from the target, wherein the radar apparatus is arranged at different positions and collects a target radar image and uses the radar position as a reference. A plurality of radar image collection devices for estimating the existence direction of the target, a corresponding point determination circuit for determining a correspondence between each reflection point on an output image of each of the radar image collection devices, and a corresponding point determination circuit. A reflection intensity three-dimensional distribution construction circuit for constructing a three-dimensional distribution relating to the reflection intensity on the target from the determination result of the corresponding point which is the output, the radar image which is the output of each radar image collecting device, and the direction in which the target exists. A radar device characterized by the above-mentioned. 3. An image radar apparatus for irradiating a target with radio waves and obtaining target shape information by using a reflected wave from the target, wherein the radar apparatus is arranged at different positions and collects a target radar image and uses the radar position as a reference. A plurality of radar image collection devices for estimating the direction in which the target exists, and a correspondence between each reflection point on the output image of each of the radar image collection devices is also determined using the amplitude value information of each reflection point. An intensity-considered corresponding point determination circuit, and a three-dimensional shape of a target is restored from a corresponding point determination result output from the intensity-considered corresponding point determination circuit, a radar image output from each radar image acquisition device, and a target existing direction. And a three-dimensional shape restoring circuit. 4. An image radar apparatus for irradiating a target with radio waves and obtaining target shape information by using a reflected wave from the target, wherein the radar apparatus is arranged at different positions and collects a target radar image and uses the radar position as a reference. A plurality of radar image collection devices for estimating the direction of the existence of the target, and between each reflection point on the output image of each radar image collection device, any one of a large number of images for each reflection point An N image corresponding point determination circuit that associates a target image with a target image based on a determination result of a corresponding point output from the N image corresponding point determination circuit, a radar image output from each radar image acquisition device, and a direction in which the target exists. Restore 3D shape 3
A radar device comprising a three-dimensional shape restoration circuit. 5. An image radar apparatus for irradiating a target with radio waves and obtaining target shape information by using a reflected wave from the target, wherein the radar apparatus is arranged at different positions and a target radar image is collected and a reference is made to the radar position. A plurality of radar image collecting devices for estimating the direction of existence of the target, and a reference point selecting circuit for selecting a corresponding reference point among the reflection points on the output image of each radar image collecting device; A reference position estimating circuit for estimating a spatial position of the reference point obtained by the point selecting circuit, a spatial position of the reference point obtained by the reference position estimating circuit, and an image of each reference point obtained by the radar image collecting apparatus A rotational angular velocity vector estimating circuit for estimating a rotational angular velocity vector of the target from a position on the image of the target and a target direction based on the position of each radar image collecting apparatus, and a rotation for estimating the position of the rotational axis Radar apparatus is characterized in that a rotary motion estimation circuit having position estimation circuit. 6. The radar apparatus according to claim 5, further comprising: a rotation motion history accumulation circuit that accumulates, at each time, a rotation motion estimation result output from the rotation motion estimation circuit. 7. A projection plane determination circuit for estimating a scaling of a cross range axis, a length, and a frequency for each radar image acquisition device based on an estimation result of the rotation motion estimation circuit, and an estimation result of the projection plane determination circuit. And a range / cross-range image generation circuit for generating a radar image representing a range and a cross-range orthogonal to the range by a length with respect to the radar image obtained for each radar image acquisition device. The radar device according to claim 5, wherein 8. For each reflection point on each of the range cross-range image generation circuits, the existence range of each reflection point is limited to a straight line passing through the reflection point on the range cross-range image and orthogonal to the plane. A straight-line intersection determination circuit that determines whether or not each axis appearing in each range cross-range image intersects; and, based on the intersection information obtained by the straight-line intersection determination circuit, the axes related to points on each surface Search for things that intersect at one point,
It further includes a crossing information consideration type corresponding point determination circuit that determines a corresponding point based on the information, and a three-dimensional shape construction circuit that constructs a target three-dimensional shape based on information of the intersection information consideration type corresponding point determination circuit. The radar device according to claim 7, wherein: 9. For each reflection point on each of the range cross range image generation circuits, the range of each reflection point is limited to a straight line passing through the reflection point on the range cross range image and orthogonal to the plane. A straight-line intersection determining circuit for determining whether or not each axis appearing in each range cross-range image intersects; an intersection searching circuit for determining three-dimensional coordinates of the intersection with respect to a set of points determined to intersect; Regarding another range cross range image, an axis is determined for each reflection point, it is checked whether the axis passes through the intersection, and if so, a set of the point and the point on each image related to the intersection. And a three-dimensional shape for constructing a target three-dimensional shape based on information from the intersection-passing type corresponding point determining circuit, which determines that the corresponding three-dimensional shape is not supported. Build times The radar device according to claim 7, further comprising a road. 10. A target shape data accumulating means for accumulating shape data of a candidate target, a three-dimensional shape of an observation target restored by the three-dimensional shape restoring circuit, and a candidate target stored in the target shape data accumulating means. The radar apparatus according to claim 3, further comprising a three-dimensional shape matching circuit that matches shape data and outputs a similar candidate target. 11. A target shape data storage means for storing shape data of a candidate target, and applying an electromagnetic field theory to the three-dimensional shape data of each candidate target stored in the target shape data to obtain a three-dimensional reflection intensity. RCS calculation means for calculating the distribution; three-dimensional distribution of the reflection intensity of the observation target constructed by the reflection intensity three-dimensional distribution construction circuit and three-dimensional distribution of the reflection intensity of each candidate target obtained by the RCS calculation means. 3. The radar apparatus according to claim 2, further comprising a reflection intensity three-dimensional distribution matching circuit for comparing and selecting similar candidate targets. 12. An image radar apparatus for irradiating a target with radio waves and obtaining target shape information using reflected waves from the target, wherein the radar apparatuses are arranged at different positions to transmit and receive radio waves to and from the target. A radar image acquisition device that collects a radar image of the target and estimates the direction in which the target exists based on the radar position; and a target that illuminates the target from a predetermined radar image acquisition device and uses the reflected signal. A receiving-only radar image acquisition device that obtains a radar image and a range vector related to the radar image; and a corresponding point that determines correspondence between reflection points on an output image obtained from the radar image acquisition device or the receiving-only radar image acquisition device. A determination circuit, a determination result of a corresponding point which is an output of the corresponding point determination circuit, and a radar image which is an output of each of the radar image collection devices or the reception-only radar image collection device. Radar apparatus is characterized in that a 3D reconstruction circuit from the presence direction of the target to restore the target of a three-dimensional shape and. 13. A rotating motion accumulating means for accumulating rotating motion information for each candidate target, a rotating motion history of an observation target for each time stored in the rotating motion history accumulating circuit, and a rotating motion accumulating means. 7. The radar apparatus according to claim 6, further comprising: a rotation motion verification circuit that verifies the stored rotation motion information for each candidate target and outputs a candidate target having a similar rotation motion. 14. A radar image collecting apparatus, comprising: a transmitter for generating a high-frequency pulse for irradiating a target; a transmitting and receiving antenna for transmitting and receiving a high-frequency pulse generated by the transmitter; and a high-frequency pulse reflected and scattered by the target. A receiver for receiving and detecting a part of the received signal via the transmitting / receiving antenna, a radar image reproducing means for generating a radar image to be observed based on a received signal obtained by the receiver, and an arrival direction of the received signal. 14. The radar apparatus according to claim 1, further comprising: a range vector calculating unit configured to obtain a direction in which the target exists based on the position of the radar image acquisition apparatus as a unit vector. 15. A radar image collecting apparatus comprising: a receiver for receiving and detecting a part of a high-frequency pulse reflected and scattered by a target via a transmission / reception antenna; and a reception signal obtained by the receiver. A radar image reproducing means for generating a radar image of an observation target; and a bi-directional unit for estimating a unit vector in a range direction from an arrival direction of a received signal and an irradiation direction of a radar image collecting apparatus which has transmitted to obtain the received signal. 2. The apparatus according to claim 1, further comprising: a stir vector calculator.
4. The radar device according to any one of 3. 16. A transmitter for generating a high-frequency pulse for irradiating a target, a transmitting and receiving antenna for transmitting and receiving the high-frequency pulse generated by the transmitter, and a part of the high-frequency pulse reflected and scattered by the target through the transmitting and receiving antenna. Receiver for receiving / detecting the target signal, radar image reproducing means for generating a radar image to be observed based on the received signal obtained by the receiver, a range vector for obtaining the direction of the target from the arrival direction of the received signal as a unit vector Calculating means, radar image history accumulating means for accumulating a radar image which is an output of the radar image reproducing means which changes every moment due to relative movement between the radar and the target, and the range which changes every moment due to relative movement between the radar and the target A moving radar image acquisition device having range vector history storage means for storing the calculation result of the range vector output from the vector calculation means. A corresponding point determination circuit that determines a corresponding point from a radar image at each time that is an output of the moving radar image collecting apparatus; a corresponding point determination result of the corresponding point determining circuit and an output of the moving radar image collecting apparatus And a three-dimensional shape restoring circuit for restoring a target three-dimensional shape from a range vector history and a radar image history.