JP2008209199A - Radar device and similar device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a radar device and a similar device that operates only in a region requiring to forbid the storing and display of a track even in the proximity of one's own boat, and can simultaneously store and display the radar video and track in the other region. <P>SOLUTION: The radar device includes a data-for-track creating means for creating data W for track indicating the existence of a target based on the level of received data X for each sweep, a track storing forbidding region setting means for setting a track storing forbidding region based on the level of the received data X, a data-for-storing-track creating means for creating data Y for storing track formed of a predetermined level outside the track storing forbidding region and only when the data W for track indicating the presence of the target is detected, a track image data creating means for creating track image data that updates and stores the data Y for storing track at least one rotation of the sweep, and a displaying means for reading and displaying the track image data. <P>COPYRIGHT: (C)2008,JPO&INPIT

Description

  The present invention relates to a radar apparatus and a similar apparatus for converting received data in a polar coordinate system into image data in a rectangular coordinate system and displaying the data, and more particularly to a radar apparatus and a similar apparatus for performing track display.

  Conventionally, a radar apparatus for detecting targets in all directions of own ship acquires polar coordinate system reception data while rotating a radar antenna at a predetermined period. The radar apparatus converts the received data in the polar coordinate system into image data in an orthogonal coordinate system and writes it into the image memory. The radar apparatus reads and displays each image data stored in the image memory at a predetermined timing.

  In addition, some radar devices have a function of displaying a locus of a detected target, for example, a wake for a ship. When the radar device detects the target, it generates wake data indicating the presence of the target, converts it into wake image data of an orthogonal coordinate system, and writes it into the wake image memory. The radar apparatus reads out and displays each wake image data stored in the wake image memory together with each image data in the image memory.

  By the way, when the surroundings of the ship is detected by the radar, it can be generated from the stern by the main bang in which the electromagnetic wave transmitted from the radar antenna is directly received by the receiving circuit, the sea surface reflection that is strong or weak depending on the sea condition, or the movement of the ship. An unnecessary signal having a relatively high level may be received due to reflection by a traveling wave or the like. These unwanted signals are not desired to be displayed because they are not from true targets such as the coast, other ships, or buoys.

  Since these unnecessary signals always appear in the vicinity of the ship, the relative position with respect to the ship does not change. However, as the absolute position of the ship changes, the absolute position of unnecessary signals that appear in the vicinity of the ship changes. For this reason, in the method of displaying the trajectory of a target or the like based on the absolute position, the trajectory of the unnecessary signal is widened with the change in the absolute position of the ship. Therefore, in the area near the ship, the tracks of other targets (for example, other ships) are buried due to the locus of unnecessary signals, and cannot be identified.

As a method for solving this, there are an adjustment method in which the reception sensitivity is lowered as the ship is closer, and a method in which the reception sensitivity is suppressed for a predetermined time after the end of transmission. Moreover, in patent document 1, the method which does not perform wake memory | storage with respect to all the surrounding directions is used for the predetermined time after completion | finish of transmission.
Japanese Patent No. 3711204

  However, in the adjustment method that lowers the reception sensitivity as it is closer to the ship and the method that suppresses the reception sensitivity for a predetermined time after the end of transmission, it is also possible to acquire echoes of necessary targets that are present in the vicinity of the ship. It becomes impossible to maintain navigation safety.

  Further, in the method of Patent Document 1, wake storage and wake display are not performed in a circular area equidistant with respect to all directions centered on the ship. It does not always exist as well. That is, in the method of Patent Document 1, storage / display is prohibited up to an area where it is not necessary to prohibit wake storage and wake display.

  Accordingly, an object of the present invention is to provide a radar capable of storing and displaying a radar image and a wake at the same time in a region where the wake storage / display is prohibited even in the vicinity of the ship, and in other regions. It is to provide a device and similar devices.

  A radar apparatus and a similar apparatus according to the present invention include a reception data storage means, a wake data generation means, a prohibited area detection data generation means, a wake storage prohibition area setting means, a wake storage data generation means, a wake image data generation means, and a display. It is characterized by providing a means.

  The reception data storage means sequentially acquires the reception data of the polar coordinate system obtained by rotating the sweep for each sweep, and stores the reception data for at least one sweep. The wake data generating means generates wake data indicating the presence or absence of a target based on the level of the received data.

  The prohibited area detection data generating means generates prohibited area detection data used for setting the wake storage prohibited area based on the level of the received data.

  The wake storage prohibited area setting means uses the reception start timing of each sweep as the start timing of the wake storage prohibited area, and sets the end timing of the wake storage prohibited area based on the prohibited area detection data acquired sequentially from the reception start timing. The wake storage prohibition area is set for each sweep.

  The wake storage data generation means generates wake storage data having a predetermined level only when wake data outside the wake storage prohibited area and with a target is detected.

  In the initial state, all the wake image data are set to 0 level. When the wake image data is acquired from the wake memory data generating means, the wake image data generating means converts the wake image data into the Cartesian coordinate system wake image data. Thus, each track image data updated and stored for each rotation of the sweep is generated.

  The display means reads and displays the wake image data.

  In this configuration, wake image data indicating the status of the target up to one rotation before the sweep is generated based on the received data. The generation of the wake image data is performed as follows.

  First, when a target is detected by the wake data generation means, wake data indicating the presence of the target is generated. In parallel with this processing, the detection start timing of the detection wave is set to the start timing of the wake storage prohibited area by the wake storage prohibited area setting means. In the sweep of the direction in which the unnecessary signal is generated, the level of the received data by the unnecessary signal continues to be high immediately after the start of reception.In the sweep in the direction in which the unnecessary signal is not generated, the received data level of the unnecessary signal is increased after the start of reception. It doesn't always stay high. Using this, the wake storage prohibited area setting means detects the timing when the received data level is low for each sweep, and sets the end timing of the wake storage prohibited area.

  The wake storage data generating means prohibits wake storage based on the wake image data stored in the wake image data storage means before one sweep, the wake storage prohibited area generated for each sweep, and the wake data. A newly generated signal in the area is regarded as an unnecessary signal, and a signal generated outside the wake storage prohibited area is regarded as a target, and wake storage data is generated. In addition, in the wake memory data generation means, there is a target before one rotation of the sweep and this time there is no target wake data detected, or there is a target before one rotation of the sweep and this time In the case where the target is relatively within the wake storage prohibited area due to the movement of the ship, etc., data with a lowered level is generated according to the subtraction timing consisting of a separately set cycle. This subtraction timing is generated at a preset period and is output over a period of one sweep.

  As a result, an area where a new target can be detected and tracked can be stored in units of sweeps. In addition, even if a wake relatively enters the wake memory prohibited area from outside the wake memory prohibited area due to movement of the ship, etc., it remains within the wake memory prohibited area until a predetermined time set based on the subtraction timing. However, the corresponding track image data is continuously generated.

  By displaying the wake image data generated in this way on the display means, unnecessary wakes are not displayed in the wake memory prohibited area set for each direction from the ship, and the wake image data is outside the wake memory prohibited area. The track of the necessary target is displayed. Furthermore, even in the wake storage prohibited area, the wake of the target that originally existed relatively outside the wake storage prohibited area is continuously displayed.

  Further, the wake storage prohibited area setting means of the radar apparatus and similar apparatus of the present invention generates wake prohibited setting data of a predetermined level at the reception start timing of each sweep. When it is detected that the level of the prohibited area detection data is less than the prohibited detection threshold value, a predetermined value is subtracted from the wake prohibited setting data. When the level of the prohibited lane setting data is other than 0 level, the prohibited area detection data When it is detected that the level is equal to or higher than the prohibition detection threshold, wake prohibition setting data of a predetermined level Vm is generated, and the timing when the level of the wake prohibition setting data becomes 0 level is set as the end timing.

  In this configuration, as a specific method for setting the end timing of the wake storage prohibited area, a predetermined level of wake prohibition setting data is set when a target is detected, and if no target is detected, the level of the wake prohibition setting data is lowered. I will let you. Thereby, the end timing is set because the target is not detected for a predetermined time.

  The prohibited area detection data generating means of the radar apparatus and similar apparatus of the present invention generates prohibited area detection data Z (n) having a predetermined level if the received data X is equal to or greater than a target detection threshold, If the received data X is less than the target detection threshold, the prohibited area detection data Z (n) is generated by subtracting a predetermined value from the prohibited area detection data Z (n−1) corresponding to one rotation before the sweep. It is characterized by that.

  In this configuration, by using the generated prohibited area detection data in a feedback manner, not only the acquired reception data but also the prohibited area detection data considering the reception data corresponding to one rotation before the sweep is generated. .

  According to the present invention, the new track memory is not prohibited in an area equidistant in all directions centered on the vicinity of the ship, and the track record is not performed only for the region where the new track memory should be prohibited. it can. As a result, even in the vicinity of the ship, the radar image and the wake can be stored and displayed in the entire area except the direction and area where the unnecessary signal is generated. As a result, it is possible to provide a radar image and a wake display that can be given higher safety than before.

  A radar apparatus according to a first embodiment of the present invention will be described with reference to the drawings. In the present embodiment, a radar apparatus will be described as an example, but the present embodiment can be applied to any apparatus that detects and displays a target such as sonar.

FIG. 1 is a block diagram showing the main configuration of the radar apparatus of the present embodiment.
FIG. 2A is a block diagram showing a main configuration of the prohibited area detecting unit 12 shown in FIG. 1, and FIG. 2B is a timing chart for explaining a method of generating the wake storage prohibited data NR. .
FIG. 3 (A) is a diagram showing the running status of own ship 500, and FIG. 3 (B) is a diagram showing a setting concept of the conventional wake storage prohibited area 701 shown in Patent Document 1, and FIG. C) is a diagram showing a setting concept of a wake storage prohibited area 700 by the radar apparatus of the present embodiment.

4A and 4B are diagrams showing the wake storage prohibited area for each sweep. FIG. 4A shows a case when viewed from an image, and FIG. 4B shows a case when viewed by a timing chart.
5A and 5B are diagrams showing an example of a display image displayed on the display. FIG. 5A shows a case where a conventional wake storage prohibited area is not set, and FIG. 5B shows a method described in the conventional Patent Document 1. (C) shows the case where the method of this embodiment is used.

  The radar antenna 1 of the radar apparatus according to the present embodiment radiates a pulsed radio wave with a transmission / reception period different from the rotation period while rotating on a horizontal plane at a predetermined rotation period, and also reflects a reflected wave from a target around the apparatus. Is received in the polar coordinate system. The radar antenna 1 outputs a reception signal to the reception unit 2 and outputs sweep angle data to the drawing address generation unit 5.

  The receiving unit 2 detects and amplifies the received signal from the radar antenna 1 and outputs the amplified signal to the AD converting unit 3. The AD converter 3 converts the analog reception signal into digital data (reception data) composed of a plurality of bits.

  The sweep memory 4 stores the digitally converted received data for one sweep in real time, and the received data X (n) for one sweep is written until the received data obtained by the next transmission is written again. Output to the detected image display memory 6. At this time, the sweep memory 4 also outputs the reception data X (n) for one sweep to the wake data generation unit 7 and the prohibited area detection data generation unit 11.

  The drawing address generator 5 uses the center of the sweep rotation as the start address, and responds from the antenna angle θ with reference to a predetermined direction (for example, the bow direction) and the read position r of the sweep memory 4 from the center to the periphery. An address for designating the pixels of the detected image display memory 6 arranged in the orthogonal coordinate system is created. Specifically, the drawing address generation unit 5 is configured by hardware that realizes the following equation.

X = Xs + r · sin θ
Y = Ys + r · cos θ
However, X and Y are addresses that specify pixels of the detection image display memory 6, Xs and Ys are the center addresses of the sweep, r is the distance from the center, and θ is the angle of the sweep (antenna). .

  The detected image display memory 6 is a memory having a capacity for storing detected image data for one rotation (one scan) of the antenna 1, and receives received data X (n) of the polar coordinate system sequentially input from the sweep memory 4. It is converted into detection image data in an orthogonal coordinate system based on the address generated by the drawing address generator 5 and stored. As a result, the detected image display memory 6 stores an image based on the latest received data.

  The wake data generation unit 7 generates wake data W (n) indicating the presence / absence of a target based on the received data X (n) input from the sweep memory 4 and outputs the wake data W (n) to the display wake data generation unit 9. . More specifically, the wake data generation unit 7 stores a target detection threshold value having a predetermined level in advance, and compares the target detection threshold value with the received data X (n). When the wake data generation unit 7 detects that the received data X (n) is at a level equal to or higher than the target detection threshold value, the wake data generation unit 7 outputs the wake data W (n) of “1” (Hi). On the other hand, when detecting that the received data is at a level lower than the target detection threshold, the wake data generation unit 7 outputs wake data W (n) of “0” (Low).

  The prohibited area detection data generation unit 11 generates prohibited area detection data Z (n) indicating the presence / absence of a target based on the received data X (n) input from the sweep memory 4 and outputs it to the prohibited area detection unit 12. To do. Here, the prohibited area detection data Z (n) is generated by the same method as the wake data W (n). That is, the prohibited area detection data generation unit 11 stores a target detection threshold value having a predetermined level in advance, and compares the target detection threshold value with the received data X (n). When the prohibited area detection data generation unit 11 detects that the received data X (n) is at a level equal to or higher than the target detection threshold, the prohibited area detection data generation unit 11 outputs the prohibited area detection data Z (n) of “1” (Hi). On the other hand, when the prohibited area detection data generation unit 11 detects that the received data X (n) is at a level lower than the target detection threshold, the prohibited area detection data generation unit 11 outputs prohibited area detection data Z (n) of “0” (Low). To do. Note that the target detection threshold used by the prohibited area detection data generation unit 11 and the target detection threshold used by the wake data generation unit 7 may be set to different values.

  As shown in FIG. 2A, the prohibited area detection unit 12 includes a prohibition determination data generation unit 121 and a wake storage prohibition data generation unit 122.

  The prohibition determination data generation unit 121 generates prohibition determination data LOAD based on the sweep reception start signal SS, the wake storage prohibition data NR, and the prohibition area detection data Z (n), and sends the prohibition determination data LOAD to the wake storage prohibition data generation unit 122. Output. Specifically, a method for generating the wake storage prohibition data NR will be described with reference to FIG.

The sweep reception start signal SS (the top row in FIG. 2 (B)) is a signal indicating a predetermined time from the reception start timing of each sweep. When the sweep reception start timing is received from the reception unit 2, “1” (Hi) It becomes “0” (Low) after elapse of a preset time.
The initial value of the wake storage prohibition data NR (fifth stage from the top in FIG. 2B) is “1” (Hi).

  The prohibition determination data generation unit 121 is “1” if the prohibition area detection data Z (n) (second stage from the top in FIG. 2B) and the wake storage prohibition data NR are both “1”. (Hi) intermediate determination data (not shown) is generated. Otherwise, “0” (Low) intermediate determination data (not shown) is generated. When one of the sweep reception start signal SS and the intermediate determination data is “1” (Hi), the prohibition determination data generation unit 121 sets “1” (Hi) prohibition determination data LOAD (FIG. 2). (B) (third stage from the top) is generated. Otherwise, “0” (Low) prohibition determination data LOAD is generated.

  When the prohibition determination data LOAD is “1” (Hi), the wake storage prohibition data generation unit 122 stores the level of the value data (fourth row from the top in FIG. 2B) at a predetermined level Vm. To do. For example, if the value data is 4 bits, the value data is represented by levels 0 to 15, and if the prohibition determination data LOAD is “1” (Hi), the value data of level “15” is stored.

  On the other hand, when the prohibition determination data LOAD is “0” (Low), the wake storage prohibition data generation unit 122 subtracts one level of the stored Value data and stores it again. For example, if the level of the stored value data is “15”, the value data of level “14” is re-stored by subtracting “1”. At this time, the wake storage prohibition data generation unit 122 does not perform subtraction when the value of the value data is already “0”, and retains it as it is. Thus, the wake storage prohibition data generation unit 122 generates value data that is not “0” unless the prohibition determination data LOAD is continuously at the “0” level for a predetermined period. That is, value data that is not “0” is generated as long as the reception data X (n) with the target is frequently detected over time from the reception start timing. At this time, the frequency at which the received data X (n) with the target for preventing the Value data from becoming “0” is detected depends on the maximum value of the Value data. For example, when value data is represented by the above-mentioned 4 bits, value data that is not “0” is generated unless the number of prohibited area detection data Z (n) continuously becomes “0”.

  The track storage prohibition data generation unit 122 outputs “0” (Low) track storage prohibition data NR if the stored Value data is “0”, and if the Value data is not “0”, 1 ”(Hi) wake storage prohibition data NR is output. The output wake storage prohibition data NR is input to the display wake data generation unit 9. Accordingly, the prohibited area detection unit 12 outputs the wake storage prohibition data NR of “1” over the period in which the target is frequently detected over time from the reception start timing, and the wake storage of “0” is once performed. When the prohibition data NR is output, the wake storage prohibition data NR of “0” is output thereafter.

  The display wake data generation unit 9 performs wake data W (n) input from the wake data generation unit 7, wake storage prohibition data NR output from the prohibited region detection unit 12, and wake image display memory for each sweep. 10 is generated based on the wake image data Y (n−1) before one sweep and the subtraction signal C from the subtraction timing generation unit 8. And output to the wake image display memory 10. At this time, the subtraction timing generation unit 8 generates a subtraction signal C of “1” (Hi) with a time length corresponding to one sweep in accordance with a preset subtraction period, and supplies the subtraction signal C to the display track data generation unit 9. .

  Specifically, if the wake data W (n) is “1” (Hi) and the wake storage prohibition data NR is “0” (Low), the display wake data generation unit 9 displays the current wake image. Data Y (n) is set to a preset maximum level VYmax. For example, when the wake image data Y (n) is stored in 4 bits, VYmax is “15”. The display track data generation unit 9 performs subtraction timing (subtraction signal C ==) when the track data W (n) is “0” (Low) or the track storage prohibition data NR is “1” (Hi). In the case of 1), the level obtained by subtracting one step from the wake image data Y (n-1) before one sweep rotation is output as the current wake image data Y (n) = Y (n-1) -1. On the other hand, the display wake data generation unit 9 does not perform subtraction timing when the wake data W (n) is “0” (Low) or the wake storage prohibition data NR is “1” (Hi). In the case of signal C = 0), the wake image data Y (n−1) before one sweep rotation is output as it is as the current wake image data Y (n).

  As a result, in the wake image display memory 10, when the wake data W (n) = “1” with the target is detected outside the wake storage prohibited area set for each sweep, the maximum is newly set. The wake image data Y (n) as a level is input. The track image display memory 10 is subtracted even if the track of the target for which the track has already been stored and displayed outside the track storage prohibition area enters the track storage prohibition area due to movement of the ship, etc. The wake image data Y (n) that is gradually lowered in level over the length of time according to the timing is input.

  The wake image display memory 10 is a memory having a capacity for storing wake image data for one rotation (one scan) of the antenna 1, and a wake image of a polar coordinate system that is sequentially input from the display wake data generation unit 9 for each sweep. The data Y (n) is converted into detection image data in an orthogonal coordinate system based on the address generated by the drawing address generator 5 and stored. As a result, an image based on the latest track image data is stored in the track image display memory 10. The initial value of each wake image data in the wake image display memory 10 is set to “0” and is sequentially overwritten by the wake image data Y (n) sequentially input from the display wake data generation unit 9.

The display output combining unit 13 sequentially reads the detection image data of each pixel in the detection image display memory 6 and the wake image data of each pixel of the wake image display memory 10 in accordance with the display timing given from the display unit 14. The display output synthesizer 13 provides the display 14 with light emission intensity information and color information corresponding to the levels of the acquired detection image data and wake image data.
The display 14 is composed of a CRT or LCD, and emits light and colors according to given light emission intensity information and color information.

  By performing such a configuration and processing, a wake storage prohibited area is set for each sweep, that is, for each direction. In the wake storage prohibited area, the detection image is displayed, but the wake to be newly stored is not generated and is not displayed. At this time, wakes that have already been continued from outside the wake memory prohibited area are continuously displayed. On the other hand, outside the wake storage prohibited area, a detected image is displayed, and a wake that starts a new storage also occurs. As a result, it is possible to display only the wakes of other ships and the like that occur farther than these, without displaying the wakes for echoes generated in the vicinity of the ship, such as main bangs and traveling waves. At this time, since the wake storage prohibited area is set for each sweep, that is, for each azimuth, a long wake storage prohibited area is set for the direction in which an unnecessary signal such as a traveling wave is generated, and an unnecessary signal is not generated. Is set to a short wake storage prohibition area. More specifically, FIGS. 3 to 5 will be described as an example.

  When the configuration and processing of the present embodiment are performed on the own ship 500, as shown in FIG. 3C, the direction in which the traveling wave 600 is generated, that is, the region that is applied from the side of the own ship 500 to the rear. Then, in accordance with the length of the traveling wave 600, a wake storage prohibited area 700 that is longer than other directions is set. This will be described with reference to FIG. 4. The sweep directions SWθ2 and SWθ3 generated by the traveling wave 600 are stored in the wake storage with respect to the sweep direction SWθ1 in which unnecessary signals such as the traveling wave 600 are hardly generated. The prohibited area is set longer. Furthermore, among the sweep azimuths SWθ2 and SWθ3, the wake storage prohibited area is set longer for the sweep azimuth SWθ3 that is more influenced by the traveling wave 600.

  On the other hand, when the configuration and processing of the conventional literature are performed, as shown in FIG. 3B, a wake storage prohibited area 701 having the same distance in all directions is set around the ship 500.

  By setting the wake storage prohibited area for each sweep direction in this way, a display screen as shown in FIG. 5C can be obtained. Specifically, by using the configuration and processing of the present embodiment, only the traveling wave echo 610 is displayed in the wake memory display prohibited area 700, and the echo 511 of the other ship 501 is displayed outside the wake memory display prohibited area 700. The wake 521 and the echo 512 and the wake 522 of the other ship 502 are displayed. That is, the radar apparatus does not display the wake of the traveling wave echo 610 in the vicinity of the own ship 500, but the other ship 501 located in a direction near the farthest part of the traveling wave 600 and not affected by the traveling wave 600. The wake 521 can be displayed.

  On the other hand, when the conventional wake storage display prohibition area is not set, the echo 610 and the wake 620 of the traveling wave 600 are displayed in the vicinity of the ship and the screen becomes very difficult to see. When the conventional wake storage display prohibition area is set to be circular, the wake 620 of the traveling wave 600 is not displayed, but the wake 521 of the other ship 501 at the same distance from the own ship 500 is not displayed. In this case, since the track of the observation target in the vicinity of the ship cannot be obtained, the amount of information for safety is reduced.

  As described above, by using the configuration and processing of this embodiment, for directions that are not affected by unnecessary signals such as cruising waves, the wake is displayed from the vicinity of the ship and contributes to more safety. A display image with a large amount of information to be provided can be provided to the operator.

  In addition, by using the configuration and processing of the present embodiment, the track of the target detected and stored outside the track storage prohibition area is included in the track storage prohibition area by the subsequent movement of the ship. Even if it becomes possible, the wake can be continuously displayed for a predetermined time. As a result, information that further contributes to safety can be provided to the operator.

  Next, the configuration of the radar apparatus according to the second embodiment will be described with reference to the drawings. In the present embodiment, unlike the first embodiment, the prohibited area detection data Z (n) generated by the prohibited area detection data generation unit 11 ′ is 4-bit data. However, the processing after the prohibited area detection unit 12 can be considered to have the same configuration as in the first embodiment by determining whether the prohibited area detection data Z (n) is “0” or not. . Hereinafter, only the prohibited area detection data generation unit 11 ′ will be described, and description of other configurations will be omitted.

  FIG. 6 is a block diagram showing the configuration of the prohibited area detection data generation unit 11 ′ and the prohibited area detection data storage memory 15.

  The prohibited area detection data generation unit 11 'generates prohibited area detection data Z (n) having a preset predetermined value if the received data X (n) is equal to or greater than the target detection threshold. At this time, the predetermined value to be set is given a maximum value that can be expressed by the set number of bits. For example, if it is 4 bits (0 to 15), “15” is given. On the other hand, if the received data X (n) is less than the target detection threshold value, the prohibited area detection data Z (n−1) before one sweep rotation read from the prohibited area detection data storage memory 15 is subtracted by one step, The current prohibited area detection data Z (n) is generated. The prohibited area detection data Z (n) generated in this way is updated and stored in the prohibited area detection data storage memory 15 and is given to the prohibited area detection unit 12.

  The prohibited area detection data storage memory 15 has a capacity for storing prohibited area detection data Z (n) for one sweep (one scan). The prohibited area detection data storage memory 15 updates and stores the given prohibited area detection data Z (n) in the corresponding memory address, and also stores it in the memory address designated by the prohibited area detection data generation unit 11 ′. The prohibited area detection data Z (n−1) before one sweep rotation is returned to the prohibited area detection data generation unit 11 ′.

  By performing such a track and processing, the prohibited area detection data Z (n) becomes “0” only when the target has never existed at the corresponding position for the past number of antenna rotations. That is, if an unnecessary signal has been detected even before the number of sweeps at the corresponding position is rotated, a wake storage prohibited area is set. As a result, even if an unnecessary signal with flickering occurs, such as a traveling wave or sea surface reflection, it is possible to set a sufficient range of a wake storage display prohibition region with higher accuracy.

It is a block diagram which shows the main structures of the radar apparatus of the 1st Embodiment of this invention. FIG. 2 is a block diagram showing a main configuration of a prohibited area detecting unit 12 shown in FIG. 1 and a timing chart for explaining a method of generating wake storage prohibited data NR. The figure which shows the running condition of the own ship 500, the figure which shows the setting concept of the conventional wake memory | storage prohibition area | region 701 shown in patent document 1, and the setting concept of the wake storage prohibition area | region 700 by the radar apparatus of this embodiment are shown. FIG. It is the figure which showed the wake memory | storage prohibition area | region for every sweep. It is a figure which shows an example of the display image displayed on a display. It is a block diagram which shows the structure of the prohibition area | region detection data generation part 11 'and prohibition area | region detection data storage memory 15 which concern on 2nd Embodiment.

Explanation of symbols

1-radar antenna, 2-reception unit, 3-AD conversion unit, 4-sweep memory, 5-drawing address generation unit, 6-detected image display memory, 7-track data generation unit, 8-subtraction timing generation unit, 9-display track data generation unit, 10-track image display memory, 11, 11'-prohibited region detection data generation unit, 12-prohibited region detection unit, 13-display output composition unit, 14-display, 15-prohibited region Detection data storage memory, 121—prohibition determination data generation unit, 122—track record prohibition data generation unit, 500—own ship, 501, 502—other ship, 600—cruising wave, 610—cruising wave echo, 700, 701-Track memory prohibition area, 511, 512-Echo, 521, 522, 620-Track

Claims (4)

In a radar device and a similar device for displaying a target and a track of the target,
Received data storage means for storing received data X for at least one sweep;
Wake data generating means for generating wake data W indicating the presence or absence of a target based on the level of the received data X for each sweep;
Wake storage prohibited area setting means for setting a wake storage prohibited area based on the level of the received data X;
A wake storage data generating means for generating wake storage data Y having a predetermined level only when the wake data W outside the wake storage prohibited area and having a target is detected;
Wake image data generating means for generating wake image data in which the wake storage data Y is updated and stored at least every rotation of the sweep;
Display means for reading and displaying the wake image data;
Radar apparatus and similar apparatus. The radar apparatus and the similar apparatus according to claim 1,
Forbidden area detection data generating means for generating prohibited area detection data Z based on the level of the received data X;
The wake storage prohibited area setting means includes:
The timing at which the level of the prohibited area detection data Z becomes less than the prohibition detection threshold for a predetermined time is set as an end timing, and from the reception start timing to the end timing in the sweep is set as the wake storage prohibited area.
Radar equipment and similar equipment. The radar apparatus and the similar apparatus according to claim 2,
The wake storage prohibited area setting means includes:
Generate wake prohibition setting data Value of a predetermined level Vm at the reception start timing,
When detecting that the level of the prohibition area detection data Z is less than the prohibition detection threshold, the track prohibition setting data Value is subtracted by a predetermined value,
When it is detected that the level of the prohibited area detection data Z is not less than the prohibition detection threshold when the level of the wake prohibition setting data is other than 0 level, the wake prohibition setting data Value having a predetermined level Vm is generated,
The timing when the level of the wake prohibition setting data becomes 0 level is set as the end timing.
Radar equipment and similar equipment. The radar apparatus and similar apparatus according to claim 2 or 3,
The prohibited area detection data generation means includes:
If the received data X is greater than or equal to the target detection threshold, the prohibited area detection data Z (n) having a predetermined level is generated,
If the received data X is less than the target detection threshold value, the forbidden area detection data Z (n) is generated by subtracting a predetermined value from the forbidden area detection data Z (n−1) corresponding to one rotation before the sweep. To
Radar equipment and similar equipment.

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