JP2009058482A - Weight computing method, weight computing device, adaptive array antenna, and radar device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To reduce the computation amount of weight computation and to suppress the performance degradation of SINR characteristics in a space-time adaptive signal processing system based on weight control. <P>SOLUTION: A target reflection signal of radar pulses obtained by an adaptive array antenna 21 is received and detected by a receiving section 22 and stored in a corresponding cell position conformed to the receiving timing of a data storage section 23. A covariance matrix is computed from data of cells assumed to be only undesired waves to obtain adaptive weight in a weight computing circuit 271 of a space-time adaptive signal processing section 27. In a beam synthesizing circuit 272, weight control is performed to an antenna received signal with the adaptive weight to obtain output data. Post-Doppler processing is adopted to the weight computation to improve SINR characteristics. At this time, weight is computed on all banks selected in this processing to reduce the amount of computation, and the adjacent banks in this selection are overlapped to suppress the degradation of SINR characteristics. <P>COPYRIGHT: (C)2009,JPO&INPIT

Description

  The present invention employs a weight calculation method suitable for a radar apparatus that detects a reflected signal from a target by suppressing unnecessary waves by weight control, a weight calculation apparatus using the weight calculation method, and the weight calculation apparatus. The present invention relates to an adaptive array antenna and a radar apparatus incorporating the adaptive array antenna.

  In recent years, in order to further improve the target detection accuracy, pulse radar apparatuses have incorporated an adaptive array antenna to perform so-called adaptive null steering. This adaptive null steering performs weight control on the phase and amplitude of the received signal at the adaptive array antenna, and the received combined beam is made so that the directivity in the direction in which an unwanted wave such as an interference wave arrives becomes zero (null). It is a process to form. The adaptive array antenna used for such applications properly forms the received combined beam even in an environment where a large number of delayed signals arrive or an environment where unnecessary waves such as clutter and jamming waves exist. Therefore, it is required to perform weight control.

  Therefore, a weight control method that employs a space-time adaptive signal processing (STAP) method is attracting attention in an adaptive array antenna. This spatio-temporal adaptive signal processing system has the characteristics that SINR (Signal to Interference plus Noise Ratio) is further improved and the directivity in the direction of arrival of unwanted waves can be good near zero (null). .

  In the spatio-temporal adaptive signal processing method, the following processing is performed. First, a reflected signal of a radar pulse is received by a plurality (N) of antennas (element antennas, that is, channels) arranged in an array, and the received signal is a range (distance) cell having a width corresponding to the received pulse width. (Range cells) are stored in the corresponding cell positions of all the processing range cells formed so as to be continuous with a predetermined length on the time axis. Then, from the stored data, the covariance matrix is calculated from the data of the range cell excluding the range cell that is assumed to contain the target signal (referred to as the processing applied range cell), that is, the cell that is assumed to be formed only from unnecessary waves. To do. Finally, the beam combining circuit performs weight control on the antenna reception signal using the adaptive weight calculated based on the covariance matrix.

  In weight control in this space-time adaptive signal processing method, weight calculation for each range cell is performed in the weight calculation circuit. As a process for reducing the processing time of the weight calculation, Non-Patent Document 1 proposes a process for reducing the rank (order) of a matrix. This proposal includes post-Doppler processing that performs weight calculation after selecting m banks after Doppler filter, beamspace processing that performs weight calculation after performing beam space processing, A beamspace post-doppler process is introduced.

However, although Non-Patent Document 1 describes a processing method for reducing the rank of a matrix, there is no description regarding a bank selection method for a target Doppler frequency. For this reason, when applying post-Doppler processing, a bank has to be selected by trial and error.
JR Guerci, Space-Time Adaptive Processing for Radar, Artech House, Norwood, MA, 2003.

  As described above, in the spatio-temporal adaptive signal processing method based on the weight control of the adaptive array antenna used in the conventional radar apparatus, when applying the post-Doppler processing when calculating the weight for zero unnecessary wave direction, The bank selection method for obtaining good SINR characteristics with respect to the Doppler frequency is unknown.

  The present invention has been made in view of the above problems, and in the spatio-temporal adaptive signal processing method based on weight control, the amount of calculation is reduced when applying post-Doppler processing when calculating weights for zero unnecessary wave direction. Furthermore, an object of the present invention is to provide a weight calculation method, a weight calculation device, an adaptive array antenna, and a radar device that can obtain a good SINR characteristic with respect to a target Doppler frequency.

  In order to solve the above-described problem, the weight calculation method according to the present invention provides a target reflected signal of a radar pulse received via an antenna for a plurality of processing range cells having a length corresponding to a predetermined distance on the time axis. And storing the corresponding cell position in accordance with the reception timing, performing post-Doppler processing for selecting m (m <M) banks after performing filtering processing by the Doppler filter on the M pulses of the target reflected signal, Weights for the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the arrival direction of the target reflected signal using values stored in a plurality of processing range cells Is calculated for all m banks selected by the post-Doppler processing, and the post-Doppler processing is further calculated. Stage, upon selection of the m banks, and wherein m '(m' <m) be overlap each other bank of neighboring bank min.

  Further, the weight calculation apparatus according to the present invention provides a target reflected signal of a radar pulse received via an antenna in accordance with a reception timing with respect to a plurality of processing range cells having a length corresponding to a predetermined distance on the time axis. Storage means for storing in corresponding cell positions; post-Doppler processing means for selecting m (m <M) banks after filtering the M pulses of the target reflected signal by a Doppler filter; and the plurality of processes Using the value stored in the range cell, the weight for the phase and amplitude of the received signal for forming the received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the arrival direction of the target reflected signal is set to the post A calculation unit for calculating all the m banks selected by the Doppler processing; Error processing means, upon selection of the m banks, and wherein m '(m' <m) be overlap each other bank of neighboring bank min.

  An adaptive array antenna according to the present invention is an adaptive array antenna in which a plurality of element antennas are arranged in an array, and the target reflected signal of a radar pulse is received by being directed in an arbitrary direction. Storage means for storing a plurality of processing range cells having a length corresponding to a predetermined distance on the time axis at corresponding cell positions in accordance with reception timing, and filtering with M pulse of the target reflected signal by a Doppler filter Post-Doppler processing means for selecting m (m <M) banks after processing, and arrival directions of unnecessary waves with respect to the arrival directions of the target reflected signals using values stored in the plurality of processing range cells Weights for the phase and amplitude of the received signal to form a received combined beam so that is zero A calculation unit that calculates all m banks selected by Doppler processing, and a beam forming unit that takes in the weight calculated by the calculation unit as an application weight and performs weight control on the target reflected signal to form a received combined beam; Further, the post-Doppler processing means is characterized in that, when selecting the m banks, the banks adjacent to each other by m ′ (m ′ <m) are overlapped.

  The radar apparatus according to the present invention includes a plurality of element antennas arranged in an array, receives a target reflection signal of a radar pulse by being directed in an arbitrary direction, and applies the given adaptive weight to the target reflection signal. To form a received combined beam from an adaptive array antenna that performs weight control to form a received combined beam and the target reflected signal so that the arrival direction of unnecessary waves is zero with respect to the direction of arrival of the target reflected signal A weight calculation device that calculates a weight for the phase and amplitude of the received signal and supplies the weight to the adaptive array antenna, and a signal processing device that detects a target from a target reflected signal weight-controlled by the adaptive array antenna. And the weight calculation device is received via the adaptive array antenna. A storage means for storing a target reflection signal of a radar pulse at a corresponding cell position along a reception timing for a plurality of processing range cells having a length corresponding to a predetermined distance on a time axis, and an M pulse of the target reflection signal Post-Doppler processing means for selecting an m (m <M) bank after performing filtering processing by a Doppler filter, and the arrival direction of the target reflected signal using values stored in the plurality of processing range cells A calculation unit for calculating weights for the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of unnecessary waves becomes zero, for all m banks selected by the post-Doppler processing; The post-Doppler processing means further includes an m ′ (m ′ <m) buffer when selecting the m bank. Characterized in that to overlap each other bank of neighboring Classification.

  That is, in the weight calculation method according to the present invention, the weight calculation is performed for all banks selected by the post-Doppler processing in the weight calculation for making the arrival direction of the unnecessary wave zero with respect to the arrival direction of the target reflected signal. By doing so, the amount of calculation is reduced, and further, adjacent SI banks used for weight calculation are overlapped to obtain a good SINR characteristic with respect to the target Doppler frequency.

  In the weight calculation apparatus according to the present invention, as described above, the calculation amount is reduced by calculating weights for all banks selected by the post-Doppler processing, and moreover, adjacent banks used for weight calculation are overwritten. Using the weight calculation method for wrapping, a good SINR characteristic for the target is obtained.

  Further, as described above, the adaptive array antenna according to the present invention employs the weight calculation method device capable of reducing the time for weight calculation, and forms a good combined beam in a short time.

  Further, in the radar apparatus according to the present invention, as described above, a target is quickly captured by incorporating an adaptive array antenna that can form a combined beam in a short time.

  As described above, according to the present invention, the calculation amount is reduced by calculating weights for all banks selected in the post-Doppler process, and further, adjacent banks used for weight calculation are overlapped. Therefore, in the spatio-temporal adaptive signal processing method by weight control, it is possible to reduce the amount of calculation and obtain a good SINR characteristic with respect to the target when calculating the weight for making the unnecessary wave direction zero. A weight calculation method, a weight calculation device, an adaptive array antenna, and a radar device can be provided.

  Embodiments of the present invention will be described below with reference to the drawings.

  First, post-Doppler (hereinafter referred to as Post-Doppler) processing as one method of weight calculation described in Non-Patent Document 1 will be described.

When the direction matrix in the direction of arrival of the received signal X is A, the complex amplitude vector is S, the average is 0, and the thermal noise given by the variance σ ² is n, the received signal X is expressed by the following equation (1). .

Further, when a target signal is received by N element antennas #n (n: 1 to N) arranged in an array with an interval dx, the wavelength of the reception frequency signal is λ (Λ) and D arrivals A steering vector a (θ _d ) that determines the arrival direction of the target signal d (d: 1 to _D ) is expressed by the following equation (2).

Further, the direction matrix A _θ for the spatial sequence is expressed by the following equation (3).

Therefore, the steering vector a (f _d ) that determines the arrival direction of the target signal d is expressed by the following equation (4).

From this, the direction matrix A _f for the time series is expressed by the following equation (5).

Here, the direction matrix A (θ, f) is expressed by the following equation (6) by the spatio-temporal steering vector a (θ _d , f _d )

Using the spatio-temporal steering vector a (θ _d , f _d ) expressed by

Here, the Post-Doppler process is a process of performing a weight calculation after filtering the received data of M pulses by a Doppler filter. At this time, the (M × 1) -dimensional conversion vector f _{m, l} for outputting bank #l (l: 0,..., M−1) is defined by the following equation (8).

In the case of N elements, since it is necessary to apply a Doppler filter for each element, (N × NM) shown in the following equation (9) using an (N × N) -dimensional unit matrix I _{N × N} Extended to a dimensional transformation matrix Ω _i .

In equation (9), (x) represents the Kronecker product and ^* represents the complex conjugate.

As described in Non-Patent Document 1, the transformation matrix Ω _i is multi-bind (multi-dimensional) in order to improve performance. That is, a method of calculating a covariance matrix using a transformation matrix Ω obtained by combining transformation matrices Ω _i from a plurality of banks in the row direction (hereinafter referred to as multi-bin Post-Doppler) is adopted.

For example, the (3N × NM) -dimensional transformation matrix Ω in 3-bin Post-Doppler (that is, the number of banks 3) is defined as the following equation (10).

Here, if the (NM × 1) -dimensional input vector at time k is x _k , the (3N × 1) -dimensional input vector x _Ωk after conversion is expressed by the following equation (11) using the conversion matrix Ω. Defined in

In multi-bin Post-Doppler, the covariance matrix R _k is calculated using the input vector x _Ωk after conversion as shown in the following equation (12).

For example, the weight w of the Wiener Filter is calculated by the following equation (13) using the steering vector s.

  As an example, Fig. 1 shows a conceptual diagram of a conventional 3-bin Post-Doppler, and Fig. 2 shows the SINR characteristics with respect to the Doppler frequency when applying the Winner Filter and the SINR characteristics when 3-bin Post-Doppler processing is applied. Shown in comparison.

  In FIG. 1, a received signal (target reflected signal) received by N antenna elements is divided into M signals for each range cell by a delay unit (T), and a filtering process is performed on each antenna element by an M-pulse Doppler filter. After that, the 3-bin Post-Doppler processing unit selects M groups for every three banks, and the M weight calculation units perform weight calculation for each group. FIG. 2 shows the characteristics when N = 8, M = 16, and 128 sample data. As can be seen from the figure, by applying the conventional Post-Doppler process to the weight calculation, the inverse matrix operation is required for each bank, that is, (M−1) times (= 16 times) in the above example. It can be seen that good SINR characteristics can be obtained.

  Next, in Post-Doppler processing, a conceptual diagram of the proposed method for outputting all banks used for weight calculation is shown in FIG. 3, and the SINR characteristics when the Wiener Filter is applied and the Post-Doppler to which the present method is applied. The SINR characteristics of the processing are shown in comparison with FIG. As can be seen from the figure, the number of inverse matrix operations is reduced to (int [(M−1) / 3] +1) times (= 6 times) in the same example as described above, and the calculation time can be greatly reduced. . However, in this case, the SINR characteristic deteriorates at a specific Doppler frequency.

  Therefore, in the present invention, the amount of calculation is reduced by outputting all banks used for weight calculation in the post-Doppler processing, and further, adjacent banks used for weight calculation are overlapped. Here, FIG. 5 shows a conceptual diagram when one bank is overlapped, and FIG. 6 shows the SINR characteristics at that time. As can be seen from the figure, by using the proposed method of the present invention that overlaps adjacent banks used for weight calculation, while outputting all banks used for weight calculation in Post-Doppler processing, inverse matrix calculation In the example similar to the above, the number of times is reduced to (int [(M−1) / 2] +1) times (= 9 times), and the calculation time can be greatly shortened. At the same time, the SINR characteristic is improved and a good SINR characteristic is obtained.

  In addition, the conventional Post-Doppler process and the Post-Doppler process using the present invention that overlaps adjacent banks used for weight calculation and outputting all the banks used for weight calculation in the Post-Doppler process are also output. The SINR characteristics are shown in comparison with FIG. As can be seen from the figure, the Post-Doppler processing method to which the present invention is applied can obtain substantially the same SINR characteristics as the conventional Post-Doppler processing while greatly reducing the amount of calculation.

  Therefore, according to the weight calculation method of the present invention, it is possible to reduce the amount of calculation by outputting all banks used for weight calculation in the post-Doppler processing, and moreover, it is possible to overrun adjacent banks used for weight calculation. By wrapping, a favorable SINR characteristic can be obtained with respect to the target Doppler frequency.

  FIG. 8 is a block diagram showing an embodiment of a weight calculation apparatus according to the present invention. In FIG. 8, 11 is a CPU (arithmetic processing unit). The CPU 11 is connected to a program storage ROM 13, a data input / output interface (I / O) 14, and a data temporary storage RAM 15 through a bus 12. The ROM 13 stores a weight calculation program based on the above-described weight calculation method according to the present invention. When an instruction to start processing is given, the CPU 11 loads the program from the ROM 13 and transmits data via the data input / output interface 14. Is temporarily stored in the RAM 15, data is read from the RAM 15 as appropriate, weight calculation processing is executed, and the obtained weight calculation result is output from the interface.

  Since the weight calculation apparatus having the above configuration uses the weight calculation method according to the present invention that suppresses SINR deterioration with respect to the target Doppler frequency, it is possible to obtain good SINR characteristics while reducing the amount of calculation. . Therefore, this weight calculation device is employed in an adaptive array antenna to calculate weights for input / output of individual antenna elements. According to this, it is possible to form a combined beam having good SINR characteristics in a short time.

  Incidentally, adaptive array antennas are employed in radar devices such as a synthetic aperture radar device for capturing a target. Therefore, by adopting the weight calculation device of the present invention for the adaptive array antenna as described above, it becomes possible to form a composite beam having a good SINR characteristic in a short time. Then, the target can be captured better and more quickly.

  As an example of the radar apparatus, FIG. 9 shows a schematic block configuration diagram of a radar apparatus in which a weight calculation apparatus in space-time adaptive signal processing to which the present invention is applied is incorporated. In FIG. 9, reference numeral 21 denotes an adaptive array antenna that receives a reflected signal of a radar pulse with N antenna elements. Each element output of the antenna 21 is received and detected by the receiving unit 22 and sent to the data storage unit 23. In the data storage unit 23, a storage area corresponding to a processing range cell having a length corresponding to a predetermined distance is prepared in advance, and input data is sequentially stored in a storage area at a corresponding cell position according to the reception timing.

  Here, a part of the antenna element output is sent to the reference signal estimation unit 24 and used as a reference for the amplitude and phase of the received signal. The excitation unit 26 periodically excites the reference signal estimation unit 24 and the reference signal generation unit 25 to estimate and generate a reference signal for weight calculation of each range cell corresponding to a predetermined distance.

  The accumulated data in the data accumulation unit 23 is sent to the spatiotemporal adaptive signal processing unit 27. The spatio-temporal adaptive signal processing unit 27 uses the weight calculation circuit 271 to generate a covariance matrix from data of a range cell excluding a range cell that is assumed to include a target signal, that is, a cell that is assumed to be formed only from unnecessary waves. Calculate. Finally, the beam combining circuit 272 performs weight control on the antenna reception signal with the adaptive weight calculated based on the covariance matrix to obtain output data.

  In the weight control in the spatio-temporal adaptive signal processing system having the above configuration, the weight calculation circuit 271 performs weight calculation for each range cell in order to calculate the adaptive weight. This weight calculation circuit 271 reduces the calculation amount by outputting all banks used for weight calculation in the post-Doppler processing described above, that is, post-Doppler processing, and further overloads adjacent banks used for weight calculation. A method of calculating the weight by wrapping is adopted. This makes it possible to obtain good SINR characteristics.

  Note that the present invention is not limited to the above-described embodiment as it is, and can be embodied by modifying the constituent elements without departing from the scope of the invention in the implementation stage. In addition, various inventions can be formed by appropriately combining a plurality of components disclosed in the embodiment. For example, some components may be deleted from all the components shown in the embodiment. Furthermore, constituent elements over different embodiments may be appropriately combined.

The conceptual diagram which shows the flow of a process at the time of applying the Post-Doppler process (3-bin) of a nonpatent literature 1 as a conventional weight calculation method. The characteristic view which shows the SINR characteristic at the time of applying the Post-Doppler process (3-bin) of the nonpatent literature 1 shown in FIG. 1 compared with the SINR characteristic of Wiener Filter. The conceptual diagram which shows the flow of a process in the case of outputting for 3 banks in Post-Doppler process (3-bin) as one Embodiment of the weight calculation method concerning this invention. The characteristic view which shows the SINR characteristic at the time of applying the Post-Doppler process (3-bin) concerning this invention shown in FIG. 3 compared with the SINR characteristic of Wiener Filter. The conceptual diagram which shows the flow of a process in the case of making it overlap by 1 bank by the system made to output for 3 banks in the Post-Doppler process (3-bin) concerning this invention. Comparison of the SINR characteristics of Wiener Filter and Post-Doppler processing (3-bin) when 1 bank is overlapped by the method of outputting 3 banks in the Post-Doppler processing (3-bin) according to the present invention shown in FIG. FIG. In the Post-Doppler processing (3-bin) according to the present invention shown in FIG. 5, the Wiener Filter and the Post-Doppler processing (3-bin) are compared with the conventional method when one bank is overlapped by the method of outputting three banks. The figure which compares and shows a SINR characteristic. The block diagram which shows one Embodiment of the weight calculation apparatus which concerns on this invention. The block diagram which shows schematic structure of the radar apparatus incorporating the weight calculation apparatus in the space-time adaptive signal processing to which this invention is applied.

Explanation of symbols

  11 ... CPU, 12 ... bus, 13 ... ROM for program storage, 14 ... data input / output interface, 15 ... RAM for temporary storage of data, 21 ... adaptive array antenna, 22 ... receiver, 23 ... data storage, 24 ... reference Signal estimation unit 25. Reference signal generation unit 26. Excitation unit 27 27 Spatio-temporal adaptive signal processing unit 271 Weight calculation circuit 272 Beam synthesis circuit

Claims (12)

A target reflected signal of a radar pulse received via an antenna is stored in a corresponding cell position along a reception timing with respect to a plurality of processing range cells having a length corresponding to a predetermined distance on the time axis,
Applying a post-Doppler process for selecting m (m <M) banks after performing a filtering process using a Doppler filter on the M pulses of the target reflected signal;
Using the values stored in the plurality of processing range cells, with respect to the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the arrival direction of the target reflected signal A weight calculation method comprising calculating weights for all m banks selected by the post-Doppler processing.   The weight calculation method according to claim 1, wherein the post-Doppler processing overlaps m ′ (m ′ <m) adjacent banks when selecting the m banks.   3. The weight calculation method according to claim 1, further comprising using beam space processing for selecting n (n <N) beams after beam space processing for the number N of elements of the antenna. Storage means for storing a target reflected signal of a radar pulse received via an antenna at a corresponding cell position along a reception timing with respect to a plurality of processing range cells having a length corresponding to a predetermined distance on a time axis;
Post-Doppler processing means for selecting an m (m <M) bank after subjecting the M pulse of the target reflected signal to filtering by a Doppler filter;
Using the values stored in the plurality of processing range cells, with respect to the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the arrival direction of the target reflected signal A weight calculation apparatus comprising: a calculation unit that calculates weights for all m banks selected by the post-Doppler processing.   5. The weight calculation apparatus according to claim 4, wherein the post-Doppler processing means overlaps m ′ (m ′ <m) banks adjacent to each other when selecting the m banks.   6. The post-Doppler processing means uses beam space processing for selecting n (n <N) beams after beam space processing for the number N of elements of the antenna. Weight calculation device. An adaptive array antenna in which a plurality of element antennas are arranged in an array, the direction of which is controlled in an arbitrary direction and a target reflected signal of a radar pulse is received,
Storage means for storing the target reflection signal in a corresponding cell position along the reception timing for a plurality of processing range cells having a length corresponding to a predetermined distance on the time axis;
Post-Doppler processing means for selecting an m (m <M) bank after subjecting the M pulse of the target reflected signal to filtering by a Doppler filter;
Using the values stored in the plurality of processing range cells, with respect to the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the arrival direction of the target reflected signal A calculation unit for calculating weights for all m banks selected by the post-Doppler processing;
An adaptive array antenna, comprising: a beam forming unit that takes in the weight calculated by the calculation unit as an applied weight and performs weight control on the target reflected signal to form a received combined beam.   8. The adaptive array antenna according to claim 7, wherein the post-Doppler processing means overlaps m '(m' <m) banks adjacent to each other when selecting the m banks.   9. The post-Doppler processing means uses beam space processing for selecting n (n <N) beams after beam space processing for the number N of elements of the antenna. Adaptive array antenna. A plurality of element antennas are arranged in an array, the target reflection signal of the radar pulse is received by being controlled in an arbitrary direction, and a weighted control is performed on the target reflection signal with a given adaptive weight to form a reception combined beam An adaptive array antenna,
From the target reflected signal, the adaptive signal is calculated by calculating a weight with respect to the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the direction of arrival of the target reflected signal. A weight calculation device to be supplied to the array antenna;
A signal processing device for detecting a target from a target reflection signal subjected to weight control by the adaptive array antenna,
The weight calculation device includes:
Storage means for storing a target reflected signal of a radar pulse received via the adaptive array antenna at a corresponding cell position according to a reception timing for a plurality of processing range cells having a length corresponding to a predetermined distance on the time axis When,
Post-Doppler processing means for selecting an m (m <M) bank after subjecting the M pulse of the target reflected signal to filtering by a Doppler filter;
Using the values stored in the plurality of processing range cells, with respect to the phase and amplitude of the received signal for forming a received combined beam so that the arrival direction of the unwanted wave becomes zero with respect to the arrival direction of the target reflected signal A radar apparatus comprising: a calculation unit that calculates weights for all m banks selected by the post-Doppler processing.   The radar apparatus according to claim 10, wherein the post-Doppler processing unit overlaps m ′ (m ′ <m) banks adjacent to each other when selecting the m banks.   12. The post-Doppler processing means uses beam space processing for selecting n (n <N) beams after beam space processing for the number N of elements of the antenna. Radar device.

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