JP2007033060A - Offset error calibration method in radar range finder - Google Patents

Offset error calibration method in radar range finder Download PDF

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JP2007033060A
JP2007033060A JP2005212658A JP2005212658A JP2007033060A JP 2007033060 A JP2007033060 A JP 2007033060A JP 2005212658 A JP2005212658 A JP 2005212658A JP 2005212658 A JP2005212658 A JP 2005212658A JP 2007033060 A JP2007033060 A JP 2007033060A
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distance
offset error
simulated
calibration method
antenna
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JP4827121B2 (en
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Hajime Kobayashi
源 小林
Koichi Kataue
晃一 片上
Masayuki Sugano
真行 菅野
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Japan Radio Co Ltd
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Abstract

<P>PROBLEM TO BE SOLVED: To provide an offset error calibration method applicable for measuring distances to all the objects. <P>SOLUTION: A simulation route 6 is connected between a transmission antenna 2 and a reception antenna 3 to allow switching between different distances A, B with respective known simulation distances, an offset error is thereby acquired based on a measured distance A1 when in the simulation distance A and a measured distance B1 when in the simulation distance B, the offset error is stored as a calibration data in a memory, and the calibration data is subtracted or added from/to the obtained measured distance, when finding a range practically. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

本発明は、レーダ測距装置で測定された距離に含まれるオフセット誤差を校正するオフセット誤差校正方法に関するものである。   The present invention relates to an offset error calibration method for calibrating an offset error included in a distance measured by a radar distance measuring device.

レーダ測距装置で測定された距離には、アンテナから目標物までの距離だけでなく、送受信器からアンテナまでのケーブルの電気長およびアンテナの電気長によるオフセット誤差が含まれる。しかも、このレーダ測距装置を装備させる装置への装備状況はまちまちである場合が多く、ケーブルの電気長等が同一とは限らない。   The distance measured by the radar distance measuring device includes not only the distance from the antenna to the target, but also the electrical length of the cable from the transceiver to the antenna and the offset error due to the electrical length of the antenna. Moreover, there are many cases in which the equipment equipped with this radar distance measuring device is mixed, and the electrical length of the cable is not always the same.

そこで、このような場合には、レーダ測距装置の個々についてオフセット誤差を検出して校正データとし、実際の計測距離からその校正データを差し引いてオフセット誤差校正を行う必要がある。このような手法を提案したものとして、特許文献１がある。   Therefore, in such a case, it is necessary to detect the offset error for each radar ranging device and use it as calibration data, and to perform offset error calibration by subtracting the calibration data from the actual measurement distance. Patent Document 1 discloses such a method.

この特許文献１による手法は、航空機から大地に向けて電波を発射し、大地より反射された電波を受信して、発射してから受信するまでの電波伝播時間を計測することにより航空機と大地間の高度を測定するとき、予め、航空機の駐機状態において計測した測定値を校正データとしてメモリに記憶しておき、実際の航空機の飛行中では、計測した高度データからメモリに記憶した校正データを引算して正規の高度データを得るようにしたものである。
特開平１０−２６８０３９号公報 This technique according to Patent Document 1 emits radio waves from an aircraft toward the ground, receives radio waves reflected from the ground, and measures the radio wave propagation time from launch to reception to measure the distance between the aircraft and the ground. When measuring the altitude of the aircraft, the measured values measured in the aircraft parking state are stored in the memory as calibration data in advance, and the calibration data stored in the memory from the measured altitude data is stored during the actual flight of the aircraft. Subtracted to obtain normal altitude data.
Japanese Patent Laid-Open No. 10-268039

ところが、上記特許文献１は、校正データを得る際の駐機状態の判定を、航空機が駐機する際にオン／オフするスイッチによって行うもの、具体的には航空機が駐機する際に脚が接地するとき荷重がかかりスイッチが動作することによって行うものであり、脚やスイッチが付属した航空機以外には適用することができない。例えば、ミサイルの大地間高度測定、タンク等に貯蔵された液体の基準面から液面までの距離の測定、走行車両の車間距離の測定、車両と障害物との間の測定等には適用することができない。   However, in Patent Document 1 described above, the determination of the parking state when obtaining calibration data is performed by a switch that is turned on / off when the aircraft is parked, specifically, when the aircraft is parked. This is done by applying a load when touching the ground and operating the switch, and cannot be applied to aircraft other than those equipped with legs and switches. For example, it is applicable to the measurement of altitude between missiles to the ground, measurement of the distance from the reference plane to the liquid level of liquid stored in a tank, measurement of the distance between traveling vehicles, measurement between vehicles and obstacles, etc. I can't.

本発明の目的は、脚やスイッチが付属した航空機の大地間高度に限らず、あらゆる目標物との間の距離測定に適用できるようにしたオフセット誤差校正方法を提供することである。   An object of the present invention is to provide an offset error calibration method that can be applied to distance measurement with respect to any object, not limited to the altitude between the grounds of an aircraft to which legs and switches are attached.

請求項１にかかる発明は、送信部から送信ケーブルを介して送信されたレーダ波を送信アンテナから目標物に発射し、該目標物で反射したレーダ波を受信アンテナで受信し受信ケーブルを介して受信部に取り込んで前記目標物までの距離を測定するレーダ測距時に、前記送信ケーブル、前記送信アンテナ、前記受信アンテナ、前記受信ケーブルによるオフセット誤差を校正するオフセット誤差校正方法において、前記送信アンテナと前記受信アンテナの間の経路として、既知で且つ異なる距離の第１および第２の模擬距離を切り替えて設定し、前記第１の模擬距離を設定したときの計測距離と前記第２の模擬距離を設定したときの計測距離とに基づきオフセット誤差を得、該得たオフセット誤差を校正データとしてメモリに格納し、実際のレーダ測距時に得られた計測距離から前記校正データを減算して校正することを特徴とする。   According to the first aspect of the present invention, a radar wave transmitted from a transmission unit via a transmission cable is emitted from a transmission antenna to a target, a radar wave reflected by the target is received by a reception antenna, and is received via a reception cable. In the offset error calibration method for calibrating the offset error due to the transmission cable, the transmission antenna, the reception antenna, and the reception cable during radar ranging for measuring the distance to the target by taking in the reception unit, As the path between the receiving antennas, the first and second simulated distances of different known distances are switched and set, and the measured distance and the second simulated distance when the first simulated distance is set An offset error is obtained based on the set measurement distance, and the obtained offset error is stored in the memory as calibration data, so that the actual Characterized in that the measurement distance obtained at da ranging calibration by subtracting the calibration data.

請求項２にかかる発明は、請求項１に記載のオフセット誤差校正方法において、前記第１および第２の模擬距離を設定して得る前記計測距離を、複数回計測して得た結果の平均値又は最高値としたことを特徴とする。   The invention according to claim 2 is the offset error calibration method according to claim 1, wherein the measurement distance obtained by setting the first and second simulated distances is an average value obtained by measuring a plurality of times. Alternatively, the maximum value is used.

請求項３にかかる発明は、請求項２に記載のオフセット誤差校正方法において、前記第１の模擬距離を設定して行う距離測定と演算から前記第２の模擬距離を設定して行う距離測定と演算への切り替えが、得られた複数の計測距離の差分が閾値を超えたときに行われるようにしたことを特徴とする。   According to a third aspect of the present invention, in the offset error calibration method according to the second aspect, distance measurement performed by setting the first simulated distance and distance measurement performed by setting the second simulated distance from calculation Switching to calculation is performed when the difference between the obtained plurality of measurement distances exceeds a threshold value.

請求項４にかかる発明は、請求項１、２又は３に記載のオフセット誤差校正方法において、前記第１および第２の模擬距離の設定を、前記送信アンテナにカップリング可能な受信アンテナカプラ、前記受信アンテナにカップリング可能な送信アンテナカプラ、および該両アンテナカプラを接続するケーブルからなる模擬経路を使用し、前記ケーブルの長さを切り替えて行うことを特徴とする。   According to a fourth aspect of the present invention, in the offset error calibration method according to the first, second, or third aspect, the reception antenna coupler capable of coupling the setting of the first and second simulated distances to the transmission antenna, It is characterized by using a simulated path comprising a transmission antenna coupler that can be coupled to a reception antenna and a cable connecting the two antenna couplers, and switching the length of the cable.

請求項５にかかる発明は、請求項１、２、３又は４に記載のオフセット誤差校正方法において、前記第１および第２の模擬距離の設定を、前記レーダ波を反射する第１および第２の模擬目標物を使用して行うことを特徴とする。   According to a fifth aspect of the present invention, in the offset error calibration method according to the first, second, third, or fourth aspect, the first and second simulated distances are set by reflecting the radar wave by setting the first and second simulated distances. It is characterized by using a simulated target object.

請求項６にかかる発明は、送信部から送信ケーブルを介して送信されたレーダ波を送信アンテナから目標物に発射し、該目標物で反射したレーダ波を受信アンテナで受信し受信ケーブルを介して受信部に取り込んで前記目標物までの距離を測定するレーダ測距時に、前記送信ケーブル、前記送信アンテナ、前記受信アンテナ、前記受信ケーブルによるオフセット誤差を校正するオフセット誤差校正方法において、前記送信アンテナと前記受信アンテナの間に模擬距離を設定して行う計測距離と該模擬距離との相関特性の傾斜を予め得ておき、前記送信アンテナと前記受信アンテナの間に既知の模擬距離を設定し、該既知の模擬距離を設定したときの計測距離と前記相関特性の傾斜とに基づきオフセット誤差を得、該得たオフセット誤差を校正データとしてメモリに格納し、実際のレーダ測距時には得られた計測距離から前記校正データを減算して校正することを特徴とする。   According to a sixth aspect of the present invention, a radar wave transmitted from a transmission unit via a transmission cable is emitted from a transmission antenna to a target, a radar wave reflected by the target is received by a reception antenna, and is received via a reception cable. In the offset error calibration method for calibrating the offset error due to the transmission cable, the transmission antenna, the reception antenna, and the reception cable during radar ranging for measuring the distance to the target by taking in the reception unit, An inclination of a correlation characteristic between the measured distance and the simulated distance obtained by setting a simulated distance between the receiving antennas is obtained in advance, a known simulated distance is set between the transmitting antenna and the receiving antenna, An offset error is obtained based on the measured distance when a known simulated distance is set and the slope of the correlation characteristic, and the obtained offset error is calibrated. Stored in the memory as over data, characterized by calibration by subtracting the calibration data from the actual measurement distance obtained during radar ranging.

請求項７にかかる発明は、請求項６に記載のオフセット誤差校正方法において、前記模擬距離を設定して得る前記計測距離を、複数回計測して得た結果の平均値又は最高値としたことを特徴とする。   The invention according to claim 7 is the offset error calibration method according to claim 6, wherein the measurement distance obtained by setting the simulated distance is an average value or a maximum value obtained by measuring a plurality of times. It is characterized by.

請求項８にかかる発明は、請求項６又は７に記載のオフセット誤差校正方法において、前記模擬距離の設定を、前記送信アンテナにカップリング可能な受信アンテナカプラ、前記受信アンテナにカップリング可能な送信アンテナカプラ、および該両アンテナカプラを接続するケーブルからなる模擬経路を使用して行うことを特徴とする。   The invention according to claim 8 is the offset error calibration method according to claim 6 or 7, wherein the setting of the simulated distance is a reception antenna coupler capable of coupling to the transmission antenna, and transmission capable of being coupled to the reception antenna. It is characterized by using a simulated path comprising an antenna coupler and a cable connecting both antenna couplers.

請求項９にかかる発明は、請求項６又は７に記載のオフセット誤差校正方法において、前記模擬距離の設定を、前記レーダ波を反射する模擬目標物を使用して行うことを特徴とする。   The invention according to claim 9 is the offset error calibration method according to claim 6 or 7, wherein the setting of the simulated distance is performed by using a simulated target that reflects the radar wave.

本発明のオフセット誤差校正方法によれば、送信アンテナと受信アンテナの間に、距離が既知の１つ又は２つの模擬距離を設定してそのときの距離を測定し、所定の演算を行うことにより簡単にオフセット誤差を得て校正することができ、しかもレーダ測距装置を搭載する装置としては何ら条件（例えば、脚、スイッチ等）が必要となることはなく、どのような装置に搭載するレーダ測距装置にも適用することができる利点がある。   According to the offset error calibration method of the present invention, by setting one or two simulated distances with known distances between the transmitting antenna and the receiving antenna, measuring the distance at that time, and performing a predetermined calculation An offset error can be easily obtained and calibrated, and a device equipped with a radar ranging device does not require any conditions (eg, legs, switches, etc.), and the radar mounted on any device There is an advantage that can be applied to a distance measuring device.

以下、レーダ測距装置におけるオフセット誤差校正方法の実施例について説明する。   Hereinafter, an embodiment of an offset error calibration method in the radar distance measuring device will be described.

図１は実施例１のオフセット誤差校正方法を実施するレーダ測距装置の構成を示すブロック図である。１は送信部、受信部、演算部、メモリ等のレーダ測距機能部を有する測距装置本体、２はマイクロ波等のレーダ波を発射する送信アンテナ、３は目標物で反射された反射レーダ波を受信する受信アンテナ、４は測距装置本体１の送信部から送信アンテナ２に送信レーダ波を伝播する送信ケーブル、５は受信アンテナ３から測距装置本体１の受信部に受信レーダ波を伝播する受信ケーブルである。   FIG. 1 is a block diagram illustrating a configuration of a radar distance measuring apparatus that performs the offset error calibration method according to the first embodiment. 1 is a distance measuring apparatus main body having a radar ranging function unit such as a transmission unit, a reception unit, a calculation unit, and a memory, 2 is a transmission antenna that emits a radar wave such as a microwave, and 3 is a reflection radar reflected by a target. A receiving antenna 4 for receiving a wave, a transmission cable 4 for transmitting a transmission radar wave from the transmission unit of the distance measuring device main body 1 to the transmission antenna 2, and 5 a received radar wave from the receiving antenna 3 to the receiving unit of the distance measuring device main body 1. It is a receiving cable that propagates.

本実施例１では、このような構成のレーダ測距装置において、送信アンテナ２と受信アンテナ３との間に、模擬経路６を接続する。この模擬経路６は、送信アンテナ２とカップリングされる受信アンテナカプラ６１、受信アンテナ３とカップリングされる送信アンテナカプラ６１，ケーブル６３，６４，６５，６６、およびスイッチＳＷ１，ＳＷ２からなる。アンテナカプラ６１，６２はアンテナ２，３とのカップリング効果を高めるために、内面に多重反射防止用の処理を施すことが望ましい。   In the first embodiment, the simulated path 6 is connected between the transmitting antenna 2 and the receiving antenna 3 in the radar distance measuring apparatus having such a configuration. The simulated path 6 includes a reception antenna coupler 61 coupled to the transmission antenna 2, a transmission antenna coupler 61 coupled to the reception antenna 3, cables 63, 64, 65, and 66, and switches SW1 and SW2. The antenna couplers 61 and 62 are preferably subjected to multiple antireflection treatment on the inner surface in order to enhance the coupling effect with the antennas 2 and 3.

そして、模擬経路６は、スイッチＳＷ１，ＳＷ２を図示の側に切り替えたときは、アンテナカプラ６１，６２，ケーブル６３，６４，６５によって、模擬距離Ａが設定される。また、スイッチＳＷ１，ＳＷ２を図示と反対の側に切り替えたときは、アンテナカプラ６１，６２，ケーブル６３，６４，６６によって、模擬距離Ｂ（Ａ＜Ｂ）が設定される。この模擬距離Ａ，Ｂの距離（電気長）は予め測定されており、既知のものである。   In the simulated route 6, when the switches SW1 and SW2 are switched to the illustrated side, the simulated distance A is set by the antenna couplers 61 and 62 and the cables 63, 64, and 65. Further, when the switches SW1 and SW2 are switched to the opposite side of the figure, the simulated distance B (A <B) is set by the antenna couplers 61 and 62 and the cables 63, 64 and 66. The distances (electric lengths) of the simulated distances A and B are measured in advance and are known.

図２はオフセット誤差校正処理のタイミングチャート、図３はその処理のフローチャートである。アンテナ２，３に模擬経路６を接続して測距装置本体１で測距動作を開始させると、時間Ｔ１で距離測定（レーダ波の送信から受信までの時間測定）を行い（ステップＳ１）、その直後の時間Ｔ２で距離演算を行い（ステップＳ２）、これを１サイクルとして繰り返し、絶えず測距を行う。   FIG. 2 is a timing chart of offset error calibration processing, and FIG. 3 is a flowchart of the processing. When the simulated path 6 is connected to the antennas 2 and 3 and the distance measuring operation is started by the distance measuring device body 1, distance measurement (time measurement from transmission to reception of radar wave) is performed at time T1 (step S1). Distance calculation is performed at time T2 immediately after that (step S2), and this is repeated as one cycle to continuously measure the distance.

このとき、測距装置本体１に対して、校正用指令パルス（ステップＳ３）と模擬距離Ａ用の校正用模擬距離指令信号が与えられると、模擬経路６のスイッチＳＷ１，ＳＷ２が図１の状態に切り替わって模擬経路６が模擬距離Ａに設定される。そして、レーダ波の発射によって時間Ｔａ（＝Ｔ１＋Ｔ２）において模擬距離Ａを含む経路の距離測定（時間測定）と距離演算が行われ（ステップＳ４）、これによって計測距離Ａ１が求められる。この計測距離Ａ１には模擬経路６の模擬距離Ａの他に、アンテナ２，３とケーブル４，５を含む経路の距離、つまりオフセット誤差が含まれている。   At this time, when the calibration command pulse (step S3) and the simulated simulation distance command signal for the simulated distance A are given to the distance measuring device body 1, the switches SW1 and SW2 of the simulated path 6 are in the state shown in FIG. And the simulated route 6 is set to the simulated distance A. Then, the distance measurement (time measurement) and the distance calculation of the route including the simulated distance A are performed at the time Ta (= T1 + T2) by the emission of the radar wave (step S4), thereby obtaining the measurement distance A1. In addition to the simulated distance A of the simulated path 6, the measured distance A1 includes the distance of the path including the antennas 2 and 3 and the cables 4 and 5, that is, an offset error.

次に、校正用模擬距離指令信号が変化する（ステップＳ５）と、模擬経路６のスイッチＳＷ１，ＳＷ２が図１の状態の反対側に切り替わって模擬経路６が模擬距離Ｂに設定される。そして、レーダ波の発射によって時間Ｔｂ（＝Ｔ１＋Ｔ２）において模擬距離Ｂを含む経路の距離測定（時間測定）と距離演算が行われ（ステップＳ６）、これによって計測距離Ｂ１が求められる。この計測距離Ｂ１にも模擬経路６の模擬距離Ｂの他に、アンテナ２，３とケーブル４，５を含む経路の距離であるオフセット誤差が含まれている。   Next, when the calibration simulation distance command signal changes (step S5), the switches SW1 and SW2 of the simulation path 6 are switched to the opposite side of the state of FIG. 1 and the simulation path 6 is set to the simulation distance B. Then, the distance measurement (time measurement) and the distance calculation of the route including the simulated distance B are performed at the time Tb (= T1 + T2) by the emission of the radar wave (step S6), thereby obtaining the measurement distance B1. In addition to the simulated distance B of the simulated path 6, the measured distance B1 also includes an offset error that is the distance of the path including the antennas 2 and 3 and the cables 4 and 5.

そして、校正用模擬距離終了パルスが発生する（ステップＳ７）と、時間Ｔｃ内で上記模擬距離Ａ，Ｂと計測距離Ａ１，Ｂ１とから、オフセット誤差の演算が行われ、これが校正データとなる（ステップＳ８）。このオフセット誤差の演算時（時間Ｔｃ）には、距離測定および演算の処理は一時中断される。   When the calibration simulated distance end pulse is generated (step S7), the offset error is calculated from the simulated distances A and B and the measured distances A1 and B1 within the time Tc, and this is used as calibration data ( Step S8). During the calculation of the offset error (time Tc), the distance measurement and calculation processes are temporarily suspended.

図４はこのオフセット誤差を得るための演算内容を説明するための特性図である。模擬距離Ａ，Ｂと上記の距離計測と演算で得られた計測距離Ａ１，Ｂ１とは、図４に示すような関係にある。よって、直線Ｌが模擬距離０と交わる点Ｐ１と計測距離Ａ１との間の距離をＹとし、その点Ｐ１の距離をＸとすると、
（Ｂ１−Ａ１）／（Ｂ−Ａ）＝Ｋ (1)
により直線Ｌの傾斜Ｋが求められるので、
Ｙ＝Ｋ・Ａ
Ｘ＝Ａ１−Ｙ
＝Ａ１−Ｋ・Ａ (2)
により、距離Ｘを求めることができる。この距離Ｘは送信アンテナ２、受信アンテナ３、送信ケーブル４、受信ケーブル５を含む経路の距離であり、オフセット誤差である。 FIG. 4 is a characteristic diagram for explaining the calculation contents for obtaining the offset error. The simulated distances A and B and the measurement distances A1 and B1 obtained by the above distance measurement and calculation have a relationship as shown in FIG. Therefore, if the distance between the point P1 where the straight line L intersects the simulated distance 0 and the measurement distance A1 is Y and the distance of the point P1 is X,
(B1-A1) / (BA) = K (1)
Since the slope K of the straight line L is obtained by
Y = K ・ A
X = A1-Y
= A1-K ・ A (2)
Thus, the distance X can be obtained. This distance X is the distance of the path including the transmission antenna 2, the reception antenna 3, the transmission cable 4, and the reception cable 5, and is an offset error.

よって、測距装置本体１内のメモリの校正データエリアへの書込み許可中に、このオフセット誤差Ｘを校正データとして、その校正データエリアに書き込んで更新しておけば（ステップＳ９）、その後に行う実際の目標物の測定において得た距離（この場合は往復距離）からその校正データＸを引算したものを１／２にすれば、オフセット誤差が校正された目標物までの正規距離（アンテナ２，３から目標物までの距離）を得ることができる。   Therefore, when writing to the calibration data area of the memory in the distance measuring apparatus main body 1 is permitted, if this offset error X is written and updated in the calibration data area as calibration data (step S9), this is performed thereafter. If the value obtained by subtracting the calibration data X from the distance obtained in the actual measurement of the target (in this case, the round-trip distance) is halved, the normal distance to the target with the offset error calibrated (antenna 2 , 3 to the target).

なお、上記実施例１において、模擬距離Ａを設定したときの計測距離Ａ１の測定（時間Ｔａ）と、模擬距離Ｂを設定したときの計測距離Ｂ１の測定（時間Ｔｂ）は、それぞれ２回以上繰り返して行ってもよい。この場合は、例えば、計測距離Ａ１，Ｂ１用のメモリエリアの使用量が一定量となるまでその演算結果を蓄えて、その後にその平均値を算出して、これを最終的な計測距離Ａ１，Ｂ１とすれば、ノイズ等による影響を低減することができる。このような処理を行うデータ処理のステップＳ１０，Ｓ１１を含めたフローチャートを図５に示した。   In Example 1, the measurement distance A1 when the simulation distance A is set (time Ta) and the measurement distance B1 when the simulation distance B is set (time Tb) are each measured twice or more. You may repeat. In this case, for example, the calculation result is stored until the usage amount of the memory area for the measurement distances A1 and B1 becomes a constant amount, and then the average value is calculated, and this is calculated as the final measurement distance A1, If it is set to B1, the influence by noise etc. can be reduced. A flowchart including steps S10 and S11 of data processing for performing such processing is shown in FIG.

また、上記のように模擬距離Ａ，Ｂを設定したときの測定をそれぞれ２回以上繰り返すときには、演算結果の計測距離をその前に得た計測距離と比較し、小さなデータを捨て大きなデータを更新して計測距離Ａ１，Ｂ１用のメモリエリアに残すようにすれば、計測距離Ａ１，Ｂ１として最高値のデータを得ることができる。この場合は、オフセット誤差が大きめに見積もられることになり、これが校正データとしてメモリの校正用データエリアにセットされることになるので、本レーダ測距装置をヘリコプタ等の航空機の高度測定に適用してオフセット誤差校正を行う際に、高度が低めになるよう校正されるため、地面への衝突危険防止の面で効果的である。   In addition, when repeating the measurement when the simulated distances A and B are set twice or more as described above, the measurement distance of the calculation result is compared with the measurement distance obtained before, and the small data is discarded and the large data is updated. Then, if the measurement distances A1 and B1 are left in the memory area, the highest value data can be obtained as the measurement distances A1 and B1. In this case, the offset error is estimated to be large, and this is set as calibration data in the calibration data area of the memory. Therefore, this radar ranging device is applied to altitude measurement of aircraft such as helicopters. Therefore, when offset error calibration is performed, the altitude is calibrated to be lower, which is effective in preventing the danger of collision with the ground.

また、上記のように模擬距離Ａ，Ｂを設定したときの測定をそれぞれ２回以上繰り返すときには、複数得られた計測距離の差分が予め定めた閾値（但し、この閾値は模擬距離ＡとＢの差分より小さく設定する。）を超えたとき、模擬距離Ｂの距離測定に切り替えられるように、計測距離Ａ１からＢ１への測定／演算の切り替え手段を測距装置本体１内に構成してもよい。このようにすれば、模擬経路６のスイッチＳＷ１，ＳＷ２の切り替えを手動にすることができ、測距装置本体１での模擬距離Ａを設定した計測距離Ａ１の測定／演算から模擬距離Ｂを設定した計測距離Ｂ１の測定／演算への切り替えを、スイッチＳＷ１，ＳＷ２と連動させる必要がなくなる。   Further, when the measurement when the simulation distances A and B are set as described above is repeated twice or more, the difference between the plurality of measurement distances obtained is a predetermined threshold value (however, this threshold value is equal to the simulation distances A and B). The measurement / calculation switching means from the measurement distance A1 to B1 may be configured in the distance measuring device main body 1 so that the measurement can be switched to the distance measurement of the simulated distance B. . In this way, the switch SW1 and SW2 of the simulation path 6 can be switched manually, and the simulation distance B is set from the measurement / calculation of the measurement distance A1 in which the simulation distance A is set in the distance measuring device body 1. There is no need to link the measurement distance B1 to measurement / calculation with the switches SW1 and SW2.

また、上記実施例１では、模擬経路６により２個の模擬距離Ａ、Ｂを切り替えて設定するようにしたが、模擬距離は１個のみを設定することもできる。このときは、図４における直線Ｌの傾斜Ｋを、前記式(1)のように２個の模擬距離を使用して、あるいは別の適宜手法によって予め定めておく。そして、例えば、模擬距離Ａのみを設定するときは、この模擬距離Ａとこのとき得られた計測距離Ａ１とから交点Ｐ２を求めることができるので、傾斜Ｋの直線Ｌがこの交点Ｐ２を通るように設定すれば、前記式(2)からオフセット誤差の距離Ｘを求めることができる。   In the first embodiment, the two simulated distances A and B are switched and set by the simulated route 6. However, only one simulated distance can be set. At this time, the slope K of the straight line L in FIG. 4 is determined in advance by using two simulated distances as in the formula (1) or by another appropriate method. For example, when only the simulated distance A is set, the intersection point P2 can be obtained from the simulated distance A and the measured distance A1 obtained at this time, so that the straight line L with the slope K passes through the intersection point P2. Is set, the distance X of the offset error can be obtained from the equation (2).

また、以上ではオフセット誤差を得るために模擬経路６を使用したが、アンテナ２，３からの距離が既知の模擬目標物を２つ用意し、これを切り替えて計測した計測距離から、実施例１と同様にオフセット誤差を求め、校正データとすることもできる。また、実施例３で説明した手法と同様にして、距離が既知の１個の模擬目標物を使用してオフセット誤差を求めて校正データとすることもできる。   In the above description, the simulated path 6 is used to obtain the offset error. However, two simulated targets whose distances from the antennas 2 and 3 are known are prepared, and the measured distances measured by switching these are used in the first embodiment. Similarly, the offset error can be obtained and used as calibration data. Similarly to the method described in the third embodiment, it is also possible to obtain an offset error using one simulated target with a known distance and use it as calibration data.

本発明の実施例１のレーダ測距装置の構成を示すブロック図である。It is a block diagram which shows the structure of the radar ranging apparatus of Example 1 of this invention. 本発明の実施例１のオフセット誤差校正処理のタイミングチャートである。It is a timing chart of offset error calibration processing of Example 1 of the present invention. 本発明の実施例１のオフセット誤差校正処理のフローチャートである。It is a flowchart of the offset error calibration process of Example 1 of this invention. 本発明の実施例１の模擬距離と計測距離との相関を示す特性図である。It is a characteristic view which shows the correlation of the simulation distance of Example 1 of this invention, and a measurement distance. 本発明の実施例２のオフセット誤差校正処理のフローチャートである。It is a flowchart of the offset error calibration process of Example 2 of this invention.

符号の説明Explanation of symbols

１：測距装置本体、２：送信アンテナ、３：受信アンテナ、４：送信ケーブル、５：受信ケーブル、６：模擬経路、６１：受信アンテナカプラ、６２：送信アンテナカプラ、６３〜６６：ケーブル。   DESCRIPTION OF SYMBOLS 1: Distance measuring device main body, 2: Transmission antenna, 3: Reception antenna, 4: Transmission cable, 5: Reception cable, 6: Simulated path, 61: Reception antenna coupler, 62: Transmission antenna coupler, 63-66: Cable

Claims (9)

送信部から送信ケーブルを介して送信されたレーダ波を送信アンテナから目標物に発射し、該目標物で反射したレーダ波を受信アンテナで受信し受信ケーブルを介して受信部に取り込んで前記目標物までの距離を測定するレーダ測距時に、前記送信ケーブル、前記送信アンテナ、前記受信アンテナ、前記受信ケーブルによるオフセット誤差を校正するオフセット誤差校正方法において、
前記送信アンテナと前記受信アンテナの間の経路として、既知で且つ異なる距離の第１および第２の模擬距離を切り替えて設定し、前記第１の模擬距離を設定したときの計測距離と前記第２の模擬距離を設定したときの計測距離とに基づきオフセット誤差を得、該得たオフセット誤差を校正データとしてメモリに格納し、実際のレーダ測距時に得られた計測距離から前記校正データを減算して校正することを特徴とするオフセット誤差校正方法。 Radar wave transmitted from the transmission unit via the transmission cable is emitted from the transmission antenna to the target, the radar wave reflected by the target is received by the reception antenna, and taken into the reception unit via the reception cable. In an offset error calibration method for calibrating an offset error due to the transmission cable, the transmission antenna, the reception antenna, and the reception cable at the time of radar ranging to measure the distance to
As the path between the transmitting antenna and the receiving antenna, first and second simulated distances of different known distances are set by switching, and the measured distance when the first simulated distance is set and the second The offset error is obtained based on the measured distance when the simulated distance is set, and the obtained offset error is stored in the memory as calibration data, and the calibration data is subtracted from the measured distance obtained during actual radar ranging. An offset error calibration method characterized by performing calibration. 請求項１に記載のオフセット誤差校正方法において、
前記第１および第２の模擬距離を設定して得る前記計測距離を、複数回計測して得た結果の平均値又は最高値としたことを特徴とするオフセット誤差校正方法。 The offset error calibration method according to claim 1,
An offset error calibration method, wherein the measurement distance obtained by setting the first and second simulated distances is an average value or a maximum value obtained by measuring a plurality of times. 請求項２に記載のオフセット誤差校正方法において、
前記第１の模擬距離を設定して行う距離測定と演算から前記第２の模擬距離を設定して行う距離測定と演算への切り替えが、得られた複数の計測距離の差分が閾値を超えたときに行われるようにしたことを特徴とするオフセット誤差校正方法。 The offset error calibration method according to claim 2,
Switching from distance measurement and calculation performed by setting the first simulated distance to distance measurement and calculation performed by setting the second simulated distance, the difference between the obtained plurality of measured distances exceeded a threshold value An offset error calibration method characterized in that it is sometimes performed. 請求項１、２又は３に記載のオフセット誤差校正方法において、
前記第１および第２の模擬距離の設定を、前記送信アンテナにカップリング可能な受信アンテナカプラ、前記受信アンテナにカップリング可能な送信アンテナカプラ、および該両アンテナカプラを接続するケーブルからなる模擬経路を使用し、前記ケーブルの長さを切り替えて行うことを特徴とするオフセット誤差校正方法。 In the offset error calibration method according to claim 1, 2, or 3,
A simulated path comprising the receiving antenna coupler capable of coupling to the transmitting antenna, the transmitting antenna coupler capable of coupling to the receiving antenna, and a cable connecting the two antenna couplers for setting the first and second simulated distances. The offset error calibration method is characterized in that the length of the cable is switched using 請求項１、２、３又は４に記載のオフセット誤差校正方法において、
前記第１および第２の模擬距離の設定を、前記レーダ波を反射する第１および第２の模擬目標物を使用して行うことを特徴とするオフセット誤差校正方法。 In the offset error calibration method according to claim 1, 2, 3, or 4,
An offset error calibration method characterized in that the first and second simulated distances are set using first and second simulated targets that reflect the radar wave. 送信部から送信ケーブルを介して送信されたレーダ波を送信アンテナから目標物に発射し、該目標物で反射したレーダ波を受信アンテナで受信し受信ケーブルを介して受信部に取り込んで前記目標物までの距離を測定するレーダ測距時に、前記送信ケーブル、前記送信アンテナ、前記受信アンテナ、前記受信ケーブルによるオフセット誤差を校正するオフセット誤差校正方法において、
前記送信アンテナと前記受信アンテナの間に模擬距離を設定して行う計測距離と該模擬距離との相関特性の傾斜を予め得ておき、前記送信アンテナと前記受信アンテナの間に既知の模擬距離を設定し、該既知の模擬距離を設定したときの計測距離と前記相関特性の傾斜とに基づきオフセット誤差を得、該得たオフセット誤差を校正データとしてメモリに格納し、実際のレーダ測距時には得られた計測距離から前記校正データを減算して校正することを特徴とするオフセット誤差校正方法。 Radar wave transmitted from the transmission unit via the transmission cable is emitted from the transmission antenna to the target, the radar wave reflected by the target is received by the reception antenna, and taken into the reception unit via the reception cable. In an offset error calibration method for calibrating an offset error due to the transmission cable, the transmission antenna, the reception antenna, and the reception cable during radar ranging to measure the distance to
An inclination of a correlation characteristic between the measured distance and the simulated distance obtained by setting a simulated distance between the transmitting antenna and the receiving antenna is obtained in advance, and a known simulated distance is set between the transmitting antenna and the receiving antenna. Set and obtain an offset error based on the measured distance when the known simulated distance is set and the slope of the correlation characteristic, store the obtained offset error in a memory as calibration data, and obtain it during actual radar ranging An offset error calibration method, wherein calibration is performed by subtracting the calibration data from the measured distance. 請求項６に記載のオフセット誤差校正方法において、
前記模擬距離を設定して得る前記計測距離を、複数回計測して得た結果の平均値又は最高値としたことを特徴とするオフセット誤差校正方法。 The offset error calibration method according to claim 6,
An offset error calibration method, wherein the measurement distance obtained by setting the simulated distance is an average value or a maximum value obtained by measuring a plurality of times. 請求項６又は７に記載のオフセット誤差校正方法において、
前記模擬距離の設定を、前記送信アンテナにカップリング可能な受信アンテナカプラ、前記受信アンテナにカップリング可能な送信アンテナカプラ、および該両アンテナカプラを接続するケーブルからなる模擬経路を使用して行うことを特徴とするオフセット誤差校正方法。 The offset error calibration method according to claim 6 or 7,
The simulated distance is set using a simulated path comprising a receiving antenna coupler that can be coupled to the transmitting antenna, a transmitting antenna coupler that can be coupled to the receiving antenna, and a cable connecting the two antenna couplers. An offset error calibration method characterized by 請求項６又は７に記載のオフセット誤差校正方法において、
前記模擬距離の設定を、前記レーダ波を反射する模擬目標物を使用して行うことを特徴とするオフセット誤差校正方法。 The offset error calibration method according to claim 6 or 7,
An offset error calibration method, wherein the simulated distance is set using a simulated target that reflects the radar wave.
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