JP2010175457A - Radar apparatus - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To consider a change in Doppler frequency, implement a Doppler correction, and improve the accuracy of super-resolution ranging. <P>SOLUTION: A radar apparatus comprises: transmitting/receiving means (1, 2, 3, 5, 6) for generating and transmitting radio waves whose transmit frequency has a stepwise change, and receiving reflection waves as the radio waves reflected by a target (4); target detecting/processing means (7, 8, 9) for outputting a target signal as detected information on the target (4) based on a signal received by the transmitting/receiving means; a Doppler correcting/processing means (10) for inputting the target signal from the target detecting/processing means, and outputting a Doppler correction signal in which a phase of the target signal is corrected based on a change in the Doppler frequency due to a difference between the transmit frequencies; and a super-resolution processing means (11) for implementing the super-resolution ranging of a distance between the target (4) based on the Doppler correction signal from the Doppler correcting/processing means. <P>COPYRIGHT: (C)2010,JPO&INPIT

Description

  The present invention relates to a radar apparatus for detecting a target.

  FIG. 15 shows a configuration example of a conventional super-resolution ranging method as shown in Non-Patent Document 1 below, for example. 1 is a multi-frequency oscillator that generates radio waves by changing the frequency in steps, 2 is a circulator that switches between transmission and reception of radio waves, 3 is a transmission / reception antenna that transmits or receives radio waves, 4 is a target to be detected, and 5 is reception A mixer that mixes a signal and a reference signal, 6 is a receiver that performs band limitation and phase detection of a received signal, 7 is an A / D converter that samples an analog signal to generate a digital signal, and 8 is a fast Fourier transform A pulse hit direction FFT (Fast Fourier Transform) computing unit 23 that calculates the Doppler frequency of the received signal and detects the distance and speed of the target 4 on the assumption that the Doppler frequency of the target signal does not depend on the transmission frequency. Frequency-dependent target detection means 24 is the target of the output signal from the pulse hit direction FFT calculator 8 that has fluctuated by Doppler modulation A non-frequency-dependent Doppler correction unit 11 that corrects the phase and amplitude of the signal component without considering a change in Doppler frequency due to a difference in transmission frequency, and 11 is a super-resolution distance measurement unit that measures a target distance in a super-resolution range.

  FIG. 16 shows the internal configuration of the conventional super-resolution distance measuring means 11. As shown in FIG. 16, the super-resolution ranging means 11 receives a Doppler correction signal from the non-frequency dependent Doppler correction means 24 and generates a correlation matrix using them, There are provided MUSIC (MUltiple SIgnal Classification) eigenvector calculation means 25 for calculating eigenvalues and eigenvectors for the correlation matrix, and MUSIC processing means 26 for performing MUSIC processing using the eigenvectors as noise spaces.

Next, the operation will be described. The multi-frequency oscillator 1 generates a radio wave whose transmission frequency increases stepwise according to a preset time chart. Specifically, for example, in accordance with the time chart shown in FIG. 17, pulses f ₁ to f _N whose transmission frequency increases step by step by Δf at predetermined time intervals are sequentially generated, and the transmitting and receiving antennas are transmitted through the circulator 2. 3 to the outside. The pulse reflected by the target 4 to be detected returns to the transmission / reception antenna 3 and is received there. The received pulse is mixed with a reference signal (the same signal as the transmission signal) output from the multi-frequency oscillator 1 by the mixer 5, and then subjected to band limitation and phase detection by the receiver 6. Since the output signal from the receiver 6 is an analog signal, the A / D converter 7 outputs a digital signal that has been sampled at a preset cycle T _samp and subjected to A / D conversion. Hereinafter, the A / D conversion output signal of the transmission frequency is fn (1 ≦ n ≦ N), the number of pulse hits is n _p (1 ≦ n _p ≦ N _p ), and the range bin n _r (1 ≦ n _r ≦ N _r ). Indicated _{as sn, np, nr} . In the pulse hit direction FFT calculator 8- # n (1 ≦ n ≦ N), the Doppler signals _{pn, nd, nr,} which are the Doppler frequency components of the A / D conversion output signals s _{n, np, nr ,} are expressed by the following equation (1). ). In the following equation (1), w _np represents a weight when performing FFT (Fast Fourier Transform).

The calculated Doppler signals _{pn, nd, and nr} are transmitted to the non-frequency dependent target detection means 23 and the non-frequency dependent Doppler correction means 24- # n. In the non-frequency-dependent target detection means 23, a threshold defined based on the power values of the Doppler signals _{pn, nd, nr} | _{pn, nd, nr} | ² and the false alarm probability (probability that the noise is mistaken as the target signal). (Threshold) and a range bin estimated value _nr chilled in which the target signal exists and a Doppler bin estimated value _nd tilde ( _nd tilde, _nr tilde) are obtained. Further, by the following equation (2) to calculate each set _{(n d} chilled, _{n r} chilled) corresponding target velocity estimate v chilled _{(n d} chilled, _{n r} chilled). Here, a predetermined transmission frequency f _n0 of transmission frequency number n ₀ is used. Further, c represents the speed of light, and T _PRI represents the repetition period of the same transmission frequency.

を求める。なお、ここで、非周波数依存型ドップラー補正手段２４−＃ｎは、送信周波数の違いによるドップラー周波数の変化を考慮しないで、単に、ドップラー補正を行っている。 The set of the range bin estimated value and the speed estimated value ( _nd tilde, n _r tilde) and the corresponding target speed estimated value v tilde ( _nd tilde, n _r tilde) are sent to the non-frequency dependent Doppler correction means 24- # n. introduce. In the non-frequency dependent Doppler correction means 24- # n, the Doppler correction signal is expressed by the following equation (3).

Ask for. Here, the non-frequency dependent Doppler correction means 24- # n simply performs Doppler correction without considering the change in Doppler frequency due to the difference in transmission frequency.

は超分解能測距手段１１に伝達される。超分解能測距手段１１の内部では、図１６に示すように、まず、ドップラー補正信号

は相関行列生成手段１７に伝達される。相関行列生成手段１７では次式（４）により相関行列

を生成する。 The Doppler correction signal obtained in this way

Is transmitted to the super-resolution ranging means 11. In the super-resolution distance measuring means 11, first, as shown in FIG.

Is transmitted to the correlation matrix generation means 17. The correlation matrix generation means 17 uses the following equation (4) to calculate the correlation matrix.

Is generated.

はベクトル

の共役転置を表している。相関行列

はＭＵＳＩＣ用固有ベクトル算出手段２５に伝達される。ＭＵＳＩＣ用固有ベクトル算出手段２５では、相関行列

の固有値

と、固有値

に対応する固有ベクトル

を求める。固有値

の大きさ等から目標数Kを推定する。そして、固有ベクトル

を出力する。固有ベクトル

はＭＵＳＩＣ処理手段２６に伝達される。ＭＵＳＩＣ処理手段２６では、固有ベクトル

を雑音空間としてＭＵＳＩＣ（MUltiple SIgnal Classification）処理を行う。具体的には、目標距離をｒとして、次式（５）によりステアリングベクトルａ（ｒ）を生成する。 Where M is the number of dimensions of the correlation matrix,

Is a vector

Represents the conjugate transpose of. Correlation matrix

Is transmitted to the MUSIC eigenvector calculation means 25. In the MUSIC eigenvector calculation means 25, the correlation matrix

Eigenvalues of

And eigenvalues

The eigenvector corresponding to

Ask for. eigenvalue

The target number K is estimated from the size of. And the eigenvector

Is output. Eigenvector

Is transmitted to the MUSIC processing means 26. In the MUSIC processing means 26, the eigenvector

MUSIC (MUltiple SIgnal Classification) processing is performed with the noise space as a noise space. Specifically, the steering distance a (r) is generated by the following equation (5), where r is the target distance.

の全てに直交するＫ種類のステアリングａ（ｒ）を求める。このときのｒを

とする。

は、ｋ番目の目標の距離を表している（１≦ｋ≦Ｋ）。以上の処理により、ドップラー分解能およびレンジ分解能よりも近接した、Ｋ種類の目標について距離が求まる。 Eigenvector

K types of steerings a (r) orthogonal to all of the above are obtained. R at this time

And

Represents the distance of the kth target (1 ≦ k ≦ K). With the above processing, distances are obtained for K types of targets closer to the Doppler resolution and range resolution.

Takayuki Inaba, “Multi-target separation method using multi-frequency step ICW radar”, IEICE Transactions B, Vol. J89-B, No.3, pp.373-383, IEICE

  Since the conventional radar apparatus is configured as described above, the change in the Doppler frequency caused by the change in the transmission frequency is not taken into consideration. Therefore, there is a problem that the super-resolution ranging accuracy is deteriorated.

  The present invention has been made to solve such a problem, and an object of the present invention is to obtain a radar apparatus that performs Doppler correction in consideration of a change in Doppler frequency and improves super-resolution ranging accuracy.

  The present invention generates and transmits a radio wave whose transmission frequency is changed in steps, and transmits / receives a reflected wave reflected by the target to be detected, and a reception signal by the transmission / reception means. A target detection processing means for outputting the target detection information as a target signal; and the target signal from the target detection processing means is input, and based on a change in Doppler frequency due to a difference in the transmission frequency, the target signal A Doppler correction processing means for outputting a Doppler correction signal in which the phase of the signal is corrected, and a super-resolution processing means for measuring a distance to the target based on the Doppler correction signal from the Doppler correction processing means. Radar equipment.

  The present invention generates and transmits a radio wave whose transmission frequency is changed in steps, and transmits / receives a reflected wave reflected by the target to be detected, and a reception signal by the transmission / reception means. A target detection processing means for outputting the target detection information as a target signal; and the target signal from the target detection processing means is input, and based on a change in Doppler frequency due to a difference in the transmission frequency, the target signal A Doppler correction processing means for outputting a Doppler correction signal in which the phase of the signal is corrected, and a super-resolution processing means for measuring a distance to the target based on the Doppler correction signal from the Doppler correction processing means. Since this is a radar device, Doppler correction is performed in consideration of changes in the Doppler frequency to improve super-resolution ranging accuracy. Rukoto can.

It is the block diagram which showed the structure of the radar apparatus which concerns on Embodiment 1 of this invention. It is the block diagram which showed the structure of the radar apparatus which concerns on Embodiment 2 of this invention. It is the block diagram which showed the structure of the radar apparatus which concerns on Embodiment 3 of this invention. It is a time chart which showed operation | movement of the radar apparatus which concerns on Embodiment 3 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 4 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 5 of this invention. It is the block diagram which showed the structure of the high-speed super-resolution ranging means provided in the radar apparatus which concerns on Embodiment 5 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 6 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 7 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 8 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 9 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 10 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 11 of this invention. It is the block diagram which showed the structure of the radar apparatus based on Embodiment 12 of this invention. It is the block diagram which showed the structure of the conventional radar apparatus. It is the block diagram which showed the structure of the super-resolution ranging means provided in the conventional radar apparatus. It is the time chart which showed the operation | movement of the conventional radar apparatus.

Embodiment 1 FIG.
A radar apparatus according to Embodiment 1 of the present invention will be described. FIG. 1 shows the configuration of the radar apparatus according to the first embodiment. In FIG. 1, a multi-frequency oscillator 1, a circulator 2, a transmission / reception antenna 3, a target 4, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT calculator 8, and a super-resolution ranging means 11 are shown in FIG. Since it is the same as the conventional apparatus shown in FIG. 15, description is abbreviate | omitted here. 9 is a target detection unit that performs target detection processing and outputs a Doppler frequency estimated value and a range bin estimated value for each transmission frequency. 10 is a pulse hit direction FFT output in consideration of a change in Doppler frequency due to a difference in transmission frequency. Post-FFT Doppler correction means for performing Doppler correction on the signal. In the first embodiment, the internal configuration of the super-resolution ranging means 11 is the same as that shown in FIG.

Next, the operation will be described. First, similarly to the above-described conventional example, pulses whose transmission frequency changes stepwise from f ₁ to f _N are sequentially generated from the multi-frequency oscillator 1 according to the time chart shown in FIG. Is output to the outside. The pulse reflected by the target 4 is received by the transmitting / receiving antenna 3 again. The received pulse is mixed with a reference signal (the same signal as the transmission signal) output from the multi-frequency oscillator 1 by the mixer 5, and then subjected to band limitation and phase detection by the receiver 6. The output signal from the receiver 6 is sampled by the A / D converter 7 with a period T _samp and a digital signal subjected to A / D conversion is output. An A / D conversion output signal having a transmission frequency of fn (1 ≦ n ≦ N), a pulse hit number of n _p (1 ≦ n _p ≦ N _p ), and a range bin of n _r (1 ≦ n _r ≦ N _r ) Indicated as _{n, np, nr} . In the pulse hit direction FFT calculator 8- # n, the Doppler signals _{pn, nd, nr,} which are Doppler frequency components of the A / D conversion output signals s _{n, np, nr} , are calculated by the above equation (1).

とする。また、上記（２）式により、各組（ｎ，ｎ_ｄチルド，ｎ_ｒチルド）に対応する目標４の速度推定値を算出する。次に、送信周波数番号とレンジビン推定値及びドップラービン推定値の組

と式（２）により求めた上記速度推定値

とを、ＦＦＴ後ドップラー補正手段１０−＃ｎに伝達する。ＦＦＴ後ドップラー補正手段１０−＃ｎでは、次式（６）によりドップラー補正信号

を生成する。なお、このとき、次式（６）から明らかなように、ＦＦＴ後ドップラー補正手段１０−＃ｎは、送信周波数ｆ_ｎ（１≦ｎ≦Ｎ）の違いによるドップラー周波数の変化に基づいてパルスヒット方向ＦＦＴ出力信号に関してドップラー補正を行っている。 The operation so far is the same as the conventional example described above, but in the first embodiment, the Doppler signals _{pn, nd, nr} output from the pulse hit direction FFT calculator 8- # n are This is transmitted to the target detection means 9 and the post-FFT Doppler correction means 10. In the target detection means 9, first, a threshold (based on the power value | _{pn, nd, nr} | ^{2 of} the Doppler signals _{pn, nd, nr} and false alarm probability (probability that noise is mistaken as the target signal) ( threshold) are compared to determine the existing range bin estimate n _r chilled and Doppler bin estimate n _d chilled set of transmission frequency number n and the target signal (n, n _d chilled, n _r chilled). Next, a set of sets in which the Doppler bin estimated value _nd tilde continuously changes when the transmission frequency number n is changed from 1 to N is detected. This set of pairs

And Moreover, the above (2), and calculates each set (n, _{n d} chilled, _{n r} chilled) speed estimation value to the target 4 corresponding to. Next, a set of transmission frequency number, range bin estimate, and Doppler bin estimate

And the estimated speed obtained from the equation (2)

Is transmitted to the post-FFT Doppler correction means 10- # n. In the post-FFT Doppler correction means 10- # n, the Doppler correction signal is expressed by the following equation (6).

Is generated. At this time, as is clear from the following equation (6), the post-FFT Doppler correction means 10- # n performs the pulse hit based on the change in the Doppler frequency due to the difference in the transmission frequency f _n (1 ≦ n ≦ N). Doppler correction is performed on the direction FFT output signal.

は超分解能測距手段１１に伝達される。超分解能測距手段１１は、従来例と同様に動作し、Ｋ種類の測距値

が求まる。 The Doppler correction signal generated in this way

Is transmitted to the super-resolution ranging means 11. The super-resolution ranging means 11 operates in the same manner as the conventional example, and K types of ranging values.

Is obtained.

  As described above, according to the radar device according to the first embodiment of the present invention, the transmission frequency is generated in a step shape, the radio wave is generated, the transmission / reception system that receives the radio wave reflected and returned by the target, and the target information The target detection processing system that detects the difference between the target frequency and the Doppler correction processing system that corrects the phase of the target signal that rotates due to Doppler in consideration of the change in the Doppler frequency due to the transmission frequency being different from the target distance. A super-resolution processing system that performs resolution ranging is provided, and Doppler correction can be performed in consideration of a change in Doppler frequency, so that an effect of improving the super-resolution ranging accuracy can be obtained.

Embodiment 2. FIG.
A radar apparatus according to Embodiment 2 of the present invention will be described. FIG. 2 shows the configuration of the radar apparatus according to the second embodiment. In FIG. 2, a multi-frequency oscillator 1, a circulator 2, a transmission / reception antenna 3, a target 4, a mixer 5, a receiver 6, an A / D converter 7, a target detection means 9, a post-FFT Doppler correction means 10, and a super-resolution distance measurement means. 11 is the same as the first embodiment. A high-precision pulse hit direction FFT calculator 12 estimates the Doppler frequency with high accuracy. The difference from the first embodiment shown in FIG. 1 is that, in the second embodiment, a high-precision pulse hit direction FFT calculator is used instead of the pulse hit direction FFT calculator 8 shown in FIG. 12 is provided.

Next, the operation will be described. First, the same operation as in the first embodiment is performed, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the signals _{sn, np, nr} are output from the A / D converter 7. In the second embodiment, the output signals _{sn, np, nr} from the A / D converter 7 are input to the high-precision pulse hit direction FFT calculator 12- # n. The high precision pulse hit direction FFT calculator 12- # n calculates the Doppler signals _{pn, nd, and nr} by the following equation (7). In the following equation (7), it is assumed that the Doppler frequency is estimated with high accuracy of L times.

が求まる。 The Doppler signals _{pn, nd and nr} thus calculated are transmitted to the target detection means 9 and the post-FFT Doppler correction means 10- # n. The subsequent operation is the same as in the first embodiment, and the distance measurement value

Is obtained.

As described above, in the second embodiment, the same effect as in the first embodiment is obtained, and furthermore, a high-precision pulse hit direction FFT calculator 12 is provided to accurately estimate the Doppler frequency of the target signal. By doing so, the target speed estimated value v tilde ( _nd tilde, _nd tilde) is obtained with high accuracy, and the effect that Doppler correction can be performed with high accuracy is obtained.

Embodiment 3 FIG.
A radar apparatus according to Embodiment 3 of the present invention will be described. FIG. 3 shows the configuration of the radar apparatus according to the third embodiment. In FIG. 3, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT calculator 8, target detection means 9, post-FFT Doppler correction means 10, super resolution The distance measuring means 11 is the same as that in the first embodiment. 13 is a code modulation type multi-frequency oscillator for generating a code-modulated pulse whose transmission frequency changes stepwise, and 14 is a pulse compression means for compressing the code-modulated pulse. The difference from the first embodiment shown in FIG. 1 is that the third embodiment is provided with a code modulation type multi-frequency oscillator 13 instead of the multi-frequency oscillator 1 shown in FIG. The difference is that a pulse compression means 14 is provided between the / D converter 7 and the pulse hit direction FFT calculator 8.

Next, the operation will be described. The code modulation type multi-frequency oscillator 13 rotates the phase by 0 ° or 180 ° for each chip width T _chip according to the value of the random code string (either +1 or −1) generated in advance. Next, in accordance with the time chart shown in FIG. 4, pulses of f ₁ to f _N whose transmission frequency increases step by step by Δf at predetermined time intervals are sequentially generated and output from the transmission / reception antenna 3 through the circulator 2. The Thereafter, the same operation as in the first embodiment is performed, and output signals _{sn, np, nr} are output from the A / D converter 7. In the present embodiment, the output signals _{sn, np, nr} are input to the pulse compression means 14- # n. Note that when the sampling pulse at a sampling period T _samp of the A / D conversion, it is assumed that the pulse is sampled at a range of N _g sample. The pulse compression unit 14- # n, the reference signal _{h n} simulating the output signal from the A / D converter 7 when first there are still target the 1 range _{bin, ng} a _{(1 ≦ n g ≦ N g} ) using, n _r range bin correlation signal _{y n} of the _{calculated np, nr,} the following equation _ng (8). In the following formula (8), h ^* _{n, ng} represents a complex conjugate of the reference signal h _{n, ng} .

Next, the calculated correlation signals yn _{, np, nr, 1} ,... _{, Yn, np, nr, Ng} are subjected to an FFT operation, and the correlation signal frequency components fy _{n, np, nr, 1} ,. _{·, fy n,} determined _{np, nr,} the ^{_{Ng, | fy n, np,}} nr, 1 | 2, ···, | fy n, np, nr, Ng | a correlation signal frequency components ² to maximize fy _{As n, np, nr, and nd (),} as shown in the following equation (9), this is set as a pulse compression signal s ′ _{n, np, nr} .

が求まる。 The pulse compression signal s ′ _{n, np, nr} is transmitted to the pulse hit direction FFT8- # n, and thereafter operates in the same manner as in the first embodiment. The target detection means 9, the post-FFT Doppler correction means 10- # n, and Ranging value by super-resolution ranging means 11

Is obtained.

  As described above, in the third embodiment, the same effect as in the first embodiment can be obtained. Further, the code modulation type multi-frequency oscillator 13 that generates a code-modulated pulse, Since the pulse compression means 14 for compressing the applied pulse is provided, even when the target signal power of the long-distance target is small, the S / N (signal to noise) is obtained by the effect of integrating the target signal power by the pulse compression processing. The power ratio) can be increased, and the effect of improving the super-resolution ranging accuracy can be obtained.

Embodiment 4 FIG.
A radar apparatus according to Embodiment 4 of the present invention will be described. FIG. 5 shows the configuration of the radar apparatus according to the fourth embodiment. Multifrequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT calculator 8, post-FFT Doppler correction means 10, super-resolution distance measurement means 11 Is the same as in the first embodiment. Reference numeral 16 denotes a speed average value output type target detection unit that receives the Doppler signal output from the pulse hit direction FFT calculator 8 and outputs an average value of speed estimated values calculated at each transmission frequency. The difference from the configuration of the first embodiment is that the speed average value output type target detection means 16 is provided in the fourth embodiment instead of the target detection means 9 shown in the first embodiment. Different.

を求めた後、次式（１０）により目標速度の平均値ｖバーを求める。この平均値を求める点が、実施の形態１における目標検出手段９と動作が異なる点である。 Next, the operation will be described. First, the operation is the same as in the first embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the pulse hit direction FFT output signal _{pn, nd} from the pulse hit direction FFT calculator 8- # n. _{, Nr} are output. In this embodiment, the pulse hit direction FFT output signal _{pn, nd, nr} is then input to the speed average value output type target detection means 16. The speed average value output type target detection means 16 is a set of sets of transmission frequency numbers, speed estimation values, and range bin estimation values in the same manner as the target detection means 9 of the first embodiment.

Then, the average value v bar of the target speed is obtained by the following equation (10). The point of obtaining this average value is that the operation differs from that of the target detection means 9 in the first embodiment.

が求まる。 Thus determined transmission frequency number, velocity estimates and range bin estimate of the set (n, _{n d} chilled (n), _{n r} chilled), and the target speed average value v bar, FFT after Doppler compensation unit 10- # n To communicate. Thereafter, the same operation as in the first embodiment is performed, and the measured value is measured by the post-FFT Doppler correcting unit 10- # n and the super-resolution ranging unit 11.

Is obtained.

  As described above, in the fourth embodiment, the same effect as in the first embodiment can be obtained, and furthermore, the target speed estimated at each transmission frequency by providing the speed average value output type target detection means 17. Is averaged, so that the speed estimation error can be reduced.

Embodiment 5 FIG.
A radar apparatus according to Embodiment 5 of the present invention will be described. FIG. 6 shows the configuration of the radar apparatus according to the fifth embodiment. In FIG. 6, the multi-frequency oscillator 1, the circulator 2, the transmission / reception antenna 3, the target 4, the mixer 5, the receiver 6, the A / D converter 7, the pulse hit direction FFT calculator 8, the target detection means 9, and post-FFT Doppler correction. The means 10 is the same as that in the first embodiment. Reference numeral 15 denotes high-speed super-resolution ranging means that performs super-resolution ranging processing at high speed by using an ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques) method. The difference from the first embodiment is that a high-speed super-resolution ranging means 15 is provided instead of the super-resolution ranging means 11 shown in FIG.

  FIG. 7 shows the internal configuration of the high-speed super-resolution distance measuring means 15. As shown in FIG. 7, the high-speed super-resolution distance measuring unit 15 includes a correlation matrix generating unit 17, an eigenvector calculating unit 18, and an ESPRIT processing unit 19.

が出力される。ここまでの動作は実施の形態１と同じである。当該信号は、本実施の形態５においては、高速型超分解能測距手段１５に入力される。 Next, the operation will be described. The operation is the same as in the first embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3.

Is output. The operation so far is the same as in the first embodiment. In the fifth embodiment, the signal is input to the high-speed super-resolution ranging means 15.

は、相関行列生成手段１７に伝達される。相関行列生成手段１７は、図１６に示した従来例の相関行列算出手段１７と同様に動作し、相関行列

を生成する。ここで、ｎ_ｄチルドは次式（１１）で表されるものとする。 Inside the high-speed super-resolution ranging means 15, as shown in FIG. 7, first, a Doppler correction signal from the post-FFT Doppler correction means 10- # n.

Is transmitted to the correlation matrix generation means 17. The correlation matrix generation means 17 operates in the same manner as the conventional correlation matrix calculation means 17 shown in FIG.

Is generated. Here, the _nd tilde is expressed by the following equation (11).

が、固有ベクトル算出手段１８に伝達される。固有ベクトル算出手段１８では、まず、相関行列

の固有値

と、固有値

に対応する固有ベクトル

を求める。また、固有値

の大きさ等から目標数Kを推定する。そして、固有ベクトル

を出力する。固有ベクトル

はＥＳＰＲＩＴ処理手段１９に伝達される。ＥＳＰＲＩＴ処理手段１９では、まず、次式（１２）の行列

を算出する。 Next, the generated correlation matrix

Is transmitted to the eigenvector calculating means 18. In the eigenvector calculation means 18, first, the correlation matrix.

Eigenvalues of

And eigenvalues

The eigenvector corresponding to

Ask for. Also, eigenvalue

The target number K is estimated from the size of. And the eigenvector

Is output. Eigenvector

Is transmitted to the ESPRIT processing means 19. In the ESPRIT processing means 19, first, the matrix of the following equation (12)

Is calculated.

を算出する。なお、次式（１３）で行列

は行列

のエルミート共役を表している。また、行列Ｊ_１、行列Ｊ_２は、それぞれ、（Ｍ−１）行Ｍ列の行列で、Ｊ_１（ｉ，ｋ）は、行列Ｊ_１のｉ行ｋ列の成分を示し、Ｊ_２（ｉ，ｋ）は、行列Ｊ_２のｉ行ｋ列の成分をそれぞれ表している。 Next, the matrix

Is calculated. In the following equation (13), the matrix

Is a matrix

Represents the Hermitian conjugate. Further, the matrix J ₁ and the matrix J ₂ are respectively (M−1) rows and M columns matrix, J ₁ (i, k) indicates the i row and k column components of the matrix J ₁ , and J ₂ ( i, k) denotes the matrix _{J 2} i rows and k columns of the component respectively.

を求める。なお、次式（１４）において、

は行列

のk番目の固有値、

は固有値

の偏角をそれぞれ表している。また、ｃは光速を表している。 Next, the distance measurement value of each target by the following equation (14)

Ask for. In the following formula (14),

Is a matrix

The k-th eigenvalue of

Is the eigenvalue

Represents the declination of. C represents the speed of light.

  As described above, in the fifth embodiment, the same effect as in the first embodiment can be obtained, and furthermore, the high-speed super-resolution ranging means 15 having the ESPRIT processing means 19 is provided to perform super-resolution processing. Since the ESPRIT processing is used, the distance measurement value can be calculated at a higher speed.

Embodiment 6 FIG.
A radar apparatus according to Embodiment 6 of the present invention will be described. FIG. 8 shows the configuration of the radar apparatus according to the sixth embodiment. In FIG. 8, multifrequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT calculator 8, post-FFT Doppler correction means 10, super-resolution The distance measuring means 11 is the same as that in the first embodiment. Reference numeral 20 denotes a tracking speed estimated value combined type target detection unit that receives a signal from the pulse hit direction FFT calculator 8 and performs speed estimation using the target speed estimated by the tracking process. The difference from the first embodiment is that a tracking speed estimated value combined type target detection means 20 is provided instead of the target detection means 9 of FIG.

を算出する。追尾速度推定値併用型目標検出手段２０では、一方、追尾処理によりある時間間隔における移動距離等から推定した目標速度ｖ’チルドも求めており、目標速度ｖ’チルドとの差

を最小にする整数ｌ_０より速度推定値を次式（１５）により更新する。 Next, the operation will be described. First, the operation is the same as in the first embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the pulse hit direction FFT output signal _{pn, nd} from the pulse hit direction FFT calculator 8- # n. _{, Nr} are output. In the present embodiment, the pulse hit direction FFT output signal _{pn, nd, nr} is transmitted to the tracking speed estimated value combined type target detection means 20 and the post-FFT Doppler correction means 10- # n. The tracking speed estimated value combined type target detection means 20 first operates in the same manner as the target detection means 9 in FIG. 1, and the speed estimated value is obtained from the above equation (2).

Is calculated. On the other hand, the tracking speed estimated value combined type target detection means 20 also obtains a target speed v ′ tilde estimated from a moving distance or the like at a certain time interval by tracking processing, and the difference from the target speed v ′ tilde.

The speed estimated value is updated by the following equation (15) from the integer l ₀ that minimizes

及び、更新された目標の速度推定値

を、ＦＦＴ後ドップラー補正手段１０−＃ｎに入力する。以降は、実施の形態１と同様に動作し、ＦＦＴ後ドップラー補正手段１０−＃ｎおよび超分解能測距手段１１により、測距値

が求まる。 Thus, the set of the transmission frequency number, the speed estimated value, and the range bin estimated value obtained by the tracking speed estimated value combined type target detecting means 20 is obtained.

And updated target speed estimates

Is input to the post-FFT Doppler correction means 10- # n. Thereafter, the same operation as in the first embodiment is performed, and the measured value is measured by the post-FFT Doppler correcting unit 10- # n and the super-resolution ranging unit 11.

Is obtained.

  As described above, the sixth embodiment can obtain the same effects as those of the first embodiment, and further includes the tracking speed estimated value combined type target detection means 20 to provide the speed shown in the first embodiment. In addition to the estimated value, the speed estimated value estimated based on the moving distance by the tracking process is used together, so that the effect of preventing the speed estimation accuracy from being deteriorated due to the speed ambiguity can be obtained.

Embodiment 7 FIG.
A radar apparatus according to Embodiment 7 of the present invention will be described. FIG. 9 shows the configuration of the radar apparatus according to the seventh embodiment. Multi-frequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT calculator 8, target detection means 9, super-resolution ranging means 11 This is the same as the first embodiment. 21 denotes a pre-FFT Doppler correction unit that receives the digital signal from the A / D converter 7 and the output signal from the target detection unit 9 and applies Doppler correction to the output signal of the A / D converter 7. The coherent integration means for obtaining a specific Doppler frequency component by receiving the output signal from the pre-FFT Doppler correction means 21 and the output signal from the target detection means 9. The difference from the first embodiment is that a post-FFT Doppler correction unit 21 and a coherent integration unit 22 are provided instead of the post-FFT Doppler correction unit 10 of FIG.

を求める。 Next, the operation will be described. First, it operates in the same manner as in the first embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the A / D converter 7 outputs the A / D conversion output signal _{sn, np, nr.} Is output. In the seventh embodiment, the A / D conversion output signals _{sn, np, nr} from the A / D converter 7 are used as the pulse hit direction FFT calculator 8- # n and the pre-FFT Doppler correction means 21- # n. Is transmitted to. Operates in the same manner as the target detection means Embodiment 1 In 9, the target detection unit 9, the set of transmission frequency number and the speed estimated value and the range bin estimate (n, n _d chilled (n), n _r tilde) and The target speed estimation value v tilde ( _nd tilde (n ₀ ), n _r tilde) is output and transmitted to the pre-FFT Doppler correction means 21- # n and the coherent integration means 22- # n. In the pre-FFT Doppler correction means 21- # n, the Doppler correction signal is expressed by the following equation (16).

Ask for.

が、コヒーレント積分手段２２−＃ｎに伝達される。コヒーレント積分手段２２−＃ｎでは、ドップラー補正信号

に、特定のドップラー周波数成分を求めるためのコヒーレント積分処理を施し、次式（１７）により、コヒーレント積分信号

を求める。 Doppler correction signal from Doppler correction means 21- # n

Is transmitted to the coherent integrating means 22- # n. In the coherent integration means 22- # n, the Doppler correction signal

Is subjected to coherent integration processing for obtaining a specific Doppler frequency component, and a coherent integration signal is obtained by the following equation (17).

Ask for.

は超分解能測距手段１１に伝達され、以降は実施の形態１と同様に動作し、測距値

が求まる。 Calculated coherent integration signal

Is transmitted to the super-resolution distance measuring means 11 and thereafter operates in the same manner as in the first embodiment to determine the distance value.

Is obtained.

  As described above, the seventh embodiment can obtain the same effects as those of the first embodiment. Further, instead of the post-FFT Doppler correction means 10, the pre-FFT Doppler correction means 21 and the coherent integration means 22 are provided. Therefore, the Doppler correction is performed in consideration of the change of the Doppler frequency to improve the super-resolution ranging accuracy, and the Doppler correction is performed before the pulse hit direction FFT to reduce the speed estimation error. The frequency dependency is reduced, and the effect that the super-resolution ranging accuracy is further improved can be obtained.

Embodiment 8 FIG.
A radar apparatus according to Embodiment 8 of the present invention will be described. FIG. 10 shows the configuration of the radar apparatus according to the eighth embodiment. Multi-frequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, target detection means 9, pre-FFT Doppler correction means 21, coherent integration means 22, super-resolution ranging The means 11 is the same as that in the seventh embodiment. The high-precision pulse hit direction FFT calculator 12 is the same as that of the second embodiment. That is, in the configuration of the eighth embodiment, the high-precision pulse hit direction FFT12- # n of the second embodiment is provided instead of the pulse hit direction FFT calculator 8 of the seventh embodiment.

が求まる。なお、コヒーレント積分手段２２−＃ｎに伝達されたドップラービン（速度推定値）ｎ_ｄチルド（ｎ）は、ＬＮ_ｐ点のＦＦＴで行われたものなので、ｎ_ｄチルド（ｎ）／Ｌを小数点以下１位で四捨五入した整数値を、改めてｎ_ｄチルド（ｎ）とおき、それ以外は、実施の形態７と同様に処理する。 Next, the operation will be described. First, it operates in the same manner as in the first embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the A / D converter 7 outputs the A / D conversion output signal _{sn, np, nr.} Is output. In the eighth embodiment, the A / D conversion output signals _{sn, np, nr} from the A / D converter 7 are used as the high-precision pulse hit direction FFT calculator 12- # n and the pre-FFT Doppler correction means 21-. #N. The A / D converter output signals sn _{, np, nr} transmitted to the high-precision pulse hit direction FFT12- # n are processed in the same manner as in the second embodiment, and target detection is performed from the high-precision pulse hit direction FFT12- # n. The means 9 receives the Doppler signals _{pn, nd and nr} . The target detection unit 9 operates in the same manner as the first and second embodiments, the set of transmission frequency number and the speed estimated value and the range bin estimate (n, n _d chilled (n), n _r chilled), the formula ( 2) than the target velocity estimate v chilled _{(n d} chilled _(n 0), _{n r} chilled) and is calculated, FFT pre Doppler compensation unit 21- # n and coherent integration unit 22- # they transmitted to the n Is done. Thereafter, the operation is the same as in the seventh embodiment, and the distance measurement value

Is obtained. Incidentally, the Doppler bin (velocity estimates) transmitted to the coherent integration unit 22- # n _{n d} chilled (n) is because they are made in the FFT of LN _p points, _{n d} chilled (n) / L to point an integer value obtained by rounding off at the 1-position or less, again n _d chilled (n) Distant, otherwise, treated in the same manner as the seventh embodiment.

As described above, the eighth embodiment provides the same effects as the seventh embodiment, and further provides a high-precision pulse hit direction FFT12- # n to accurately estimate the Doppler frequency of the target signal. By doing so, the target speed estimated value v tilde ( _nd tilde (n), _rn tilde) is obtained with high accuracy, and the effect that Doppler correction can be performed with high accuracy is obtained.

Embodiment 9 FIG.
A radar apparatus according to Embodiment 9 of the present invention will be described. FIG. 11 shows the configuration of the radar apparatus according to the ninth embodiment. Circulator 2, Transmission / reception antenna 3, Target 4, Mixer 5, Receiver 6, A / D converter 7, Pulse hit direction FFT 8, Target detection means 9, Pre-FFT Doppler correction means 21, Coherent integration means 22, Super-resolution ranging The means 11 is the same as that in the seventh embodiment. The code modulation type multi-frequency oscillator 13 and the pulse compression means 14 are the same as those in the third embodiment. That is, in the configuration of the ninth embodiment, the code modulation type multi-frequency oscillator 13 of the third embodiment is provided instead of the multi-frequency oscillator 1 of the seventh embodiment, and the A / D converter 7 and the pulse hit are further provided. The pulse compression means 14- # n of the third embodiment is provided between the direction FFT calculator 8 and the direction FFT calculator 8.

が求まる。 Next, the operation will be described. First, the code modulation type multi-frequency oscillator 13 operates to output a pulse subjected to code modulation as in the third embodiment, and thereafter operates in the same manner as in the third embodiment to perform A / D conversion. An A / D converter output signal _{sn, np, nr} is output from the generator 7. In the present embodiment, the A / D converter output signals _{sn, np, nr} are transmitted to the pulse compression means 14- # n and the pre-FFT Doppler correction means 21- # n. Thereafter, the pulse compression means 14, the pulse hit direction FFT8- # n, and the target detection means 9 operate in the same manner as in the third embodiment, and from the target detection means 9, the transmission frequency number, the speed estimated value, A set of range bin estimated values (n, n _d tilde (n), n _r tilde) and a speed estimated value v tilde (nd _d tilde (n ₀ ), n _r tilde) obtained by equation (2) are output. Are transmitted to the pre-FFT Doppler correction means 21- # n and the coherent integration means 22- # n. Thereafter, the operation is the same as in the seventh embodiment, and the distance measurement value

Is obtained.

  As described above, in the ninth embodiment, the same effect as in the seventh embodiment can be obtained, and furthermore, similarly to the third embodiment, the code modulation type multi-frequency oscillator 13 and the pulse compression means 14 are provided. As a result, even when the target signal power of a long-distance target is small, the S / N (signal-to-noise power ratio) can be increased by the effect of integrating the target signal power by pulse compression processing, and the super-resolution ranging accuracy is improved. The effect that it is done is acquired.

Embodiment 10 FIG.
A radar apparatus according to Embodiment 10 of the present invention will be described. FIG. 12 shows the configuration of the radar apparatus according to the tenth embodiment. Multi-frequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT8, pre-FFT Doppler correction means 21, coherent integration means 22, super-resolution ranging The means 11 is the same as that in the seventh embodiment. The speed average value output type target detection means 16 is the same as that of the fourth embodiment. That is, the configuration of the tenth embodiment includes the speed average value output type target detection means 16 of the fourth embodiment instead of the target detection means 9 of the seventh embodiment.

が求まる。 Next, the operation will be described. First, similarly to the seventh embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the Doppler signals _{pn, nd, and nr} are output from the pulse hit direction FFT calculator 8- # n. . Next, in the present embodiment, the Doppler signals _{pn, nd and nr} output from the pulse hit direction FFT8- # n are transmitted to the speed average value output type target detection means 16. In speed average value output type target detecting unit 16 operates as in the fourth embodiment, the set of transmission frequency number and the speed estimated value and the range bin estimate (n, n _d chilled (n), n _r chilled) and, The target speed average value v bar is output and transmitted to the pre-FFT Doppler correction means 21- # n and the coherent integration means 22- # n. Thereafter, the operation is the same as in the seventh embodiment, and the distance measurement value

Is obtained.

  As described above, in the tenth embodiment, the same effect as in the seventh embodiment can be obtained, and, as in the third embodiment, the speed average value output type target detection means 16 is provided. The effect that the speed estimation error can be reduced by the effect of averaging the target speed estimated at each transmission frequency is obtained.

Embodiment 11 FIG.
A radar apparatus according to Embodiment 11 of the present invention will be described. FIG. 13 shows the configuration of the radar apparatus according to the eleventh embodiment. Multi-frequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT calculator 8, target detection means 9, pre-FFT Doppler correction means 21, coherent The integrating means 22 is the same as that in the seventh embodiment. The high-speed super-resolution distance measuring means 15 is the same as that of the fifth embodiment. That is, the configuration of the eleventh embodiment is provided with the high-speed super-resolution distance measuring means 15 of the fifth embodiment instead of the super-resolution distance measuring means 11 of the seventh embodiment.

が高速型超分解能測距手段１５に伝達される。以降は、実施の形態５の高速型超分解能測距手段１５と同様に動作し、測距値

が求まる。 Next, the operation will be described. Radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3. Thereafter, the operation is the same as in the seventh embodiment, and the coherent integration signal from the coherent integration means 22 is obtained.

Is transmitted to the high-speed super-resolution ranging means 15. Thereafter, it operates in the same manner as the high-speed super-resolution ranging means 15 of the fifth embodiment, and the ranging value

Is obtained.

  As described above, in the eleventh embodiment, the same effect as in the seventh embodiment is obtained, and furthermore, the high-speed super-resolution distance measuring means 15 is provided, so that the effect of using ESPRIT for the super-resolution processing is obtained. As a result, the distance measurement value can be calculated at high speed.

Embodiment 12 FIG.
A radar apparatus according to Embodiment 12 of the present invention will be described. FIG. 14 shows the configuration of the radar apparatus according to the twelfth embodiment. Multifrequency oscillator 1, circulator 2, transmission / reception antenna 3, target 4, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT calculator 8, pre-FFT Doppler correction means 21, coherent integration means 22, This is the same as the seventh embodiment. The tracking speed estimated value combined type target detection means 20 is the same as that of the sixth embodiment. That is, the configuration of the twelfth embodiment includes the tracking speed estimated value combined type target detection unit 20 of the sixth embodiment instead of the target detection unit 9 of the seventh embodiment.

が求まる。 Next, the operation will be described. Similarly to the seventh embodiment, radio waves are transmitted from the multi-frequency oscillator 1, the circulator 2, and the transmission / reception antenna 3, and the Doppler signals _{pn, np, nr} are output from the pulse hit direction FFT calculation unit 8- # n. In the present embodiment, the Doppler signals _{pn, np, nr} are transmitted to the tracking speed estimated value combined type target detection means 20. The tracking speed estimation value combined type target detection unit 20 operates in the same manner as in the sixth embodiment. From the tracking speed estimation value combined type target detection unit 20, a set of transmission frequency numbers, speed estimation values, and range bin estimation values (n, n _d tilde (n), n _r tilde) and target speed estimated value v tilde ( _nd tilde (n ₀ ), n _r tilde) updated using the target speed estimated value estimated by the tracking process. And output to the pre-FFT Doppler correction means 21- # n and the coherent integration means 22- # n. The subsequent operation is the same as in the seventh embodiment, and the distance measurement value

Is obtained.

  As described above, according to the twelfth embodiment, the same effect as the seventh embodiment can be obtained, and the tracking speed estimation value combined type target detection means 20 is further provided to estimate the speed based on the moving distance. Since the values are used together, it is possible to prevent the deterioration of the speed estimation accuracy due to the speed ambiguity.

  In the above description, the second to seventh embodiments have been described as modifications of the first embodiment, and the eighth to twelfth embodiments have been described as modifications of the seventh embodiment. Needless to say, the radar apparatus may be configured by combining the second to twelfth embodiments. Even in that case, the above-described effects can be obtained.

  1 multi-frequency oscillator, 2 circulator, 3 transmit / receive antenna, 4 target, 5 mixer, 6 receiver, 7 A / D converter, 8 pulse hit direction FFT calculator, 9 target detection means, 10 post-FFT Doppler correction means, 11 Super-resolution ranging means, 12 High-precision pulse hit direction FFT calculator, 13 Code modulation type multi-frequency oscillator, 14 Pulse compression means, 15 High-speed type super-resolution ranging means, 16 Speed average value output type target detection means, 17 Correlation Matrix generation means, 18 eigenvector calculation means, 19 ESPRIT processing means, 20 tracking speed estimated value combined type target detection means, 21 pre-FFT Doppler correction means, 22 coherent integration means, 23 non-frequency dependent target detection means, 24 non-frequency dependent Mold Doppler correction means, 25 eigenvector calculation means for MUSIC, 26 MUSIC processing means.

Claims (11)

Transmitting / receiving means for generating and transmitting a radio wave having a stepwise change in transmission frequency, and receiving a reflected wave reflected by the target to be detected;
Target detection processing means for outputting the target detection information as a target signal based on a received signal by the transmitting / receiving means;
The target signal from the target detection processing means is input, and based on a change in Doppler frequency due to the difference in the transmission frequency, a Doppler correction processing means for outputting a Doppler correction signal obtained by correcting the phase of the target signal;
A radar apparatus comprising: super-resolution processing means for measuring the distance to the target in super-resolution based on the Doppler correction signal from the Doppler correction processing means. The target detection processing means includes
An A / D converter that samples the analog signal received by the transmission / reception means to generate a digital signal;
A pulse hit direction fast Fourier transform means for receiving a digital signal from the A / D converter, performing a fast Fourier transform using the digital signal, and obtaining a Doppler frequency of the received signal;
Target detection means for detecting and outputting estimated values of the transmission frequency of the received signal and the target distance and speed based on the Doppler frequency from the pulse hit direction fast Fourier transform means The radar apparatus according to claim 1. The Doppler correction processing means includes
The Doppler frequency output from the pulse hit direction fast Fourier transform means, the transmission frequency of the received signal from the target detection means, and the estimated distance and speed of the target are inputted, and the Doppler due to the difference in transmission frequency The radar apparatus according to claim 2, further comprising post-FFT Doppler correction means for correcting the Doppler frequency based on a change in frequency. The Doppler correction processing means includes
The digital signal from the A / D converter, the transmission frequency of the received signal from the target detection means, and the target distance and speed estimation values are input, and based on the change in Doppler frequency due to the difference in transmission frequency A pre-FFT Doppler correction means for performing Doppler correction of the received signal;
The Doppler correction signal from the pre-FFT Doppler correction means, the transmission frequency of the received signal from the target detection means and the estimated value of the target speed are inputted, and the Doppler is estimated using the estimated value of the target speed. The radar apparatus according to claim 2, further comprising: coherent integration means that performs coherent integration processing on the correction signal, obtains a coherent integration signal, and outputs the signal as a Doppler correction signal. The transmitting / receiving means includes
A multi-frequency oscillator that generates radio waves with the transmission frequency changed in steps;
A transmitting / receiving antenna for transmitting the radio wave or receiving a reflected wave of the radio wave;
A circulator for switching between transmission and reception of the transmission / reception antenna;
A mixer for mixing a received signal and a reference signal received by the transmitting / receiving antenna;
The radar apparatus according to claim 1, further comprising: a receiver that receives a signal from the mixer and performs band limitation and phase detection of the received signal. The super-resolution processing means includes
Correlation matrix generation means for receiving a Doppler correction signal from the Doppler correction processing means and generating a correlation matrix representing a correlation between received signals;
Eigenvector calculating means for calculating an eigenvector of the correlation matrix generated by the correlation matrix generating means;
6. A MUSIC processing unit that performs MUSIC processing using the eigenvector calculated by the eigenvector calculation unit and performs super-resolution ranging on the target distance. 6. The radar device described in 1. The super-resolution processing means includes
Correlation matrix generation means for receiving a Doppler correction signal from the Doppler correction processing means and generating a correlation matrix representing a correlation between received signals;
Eigenvector calculating means for calculating an eigenvector of the correlation matrix generated by the correlation matrix generating means;
6. ESPRIT processing means for performing ESPRIT processing using the eigenvector calculated by the eigenvector calculating means and performing super-resolution ranging processing on the target distance. The radar apparatus according to item 1.   The radar according to any one of claims 2 to 7, wherein the pulse hit direction fast Fourier transform means comprises a high precision pulse hit direction FFT calculator for estimating the Doppler frequency with high precision. apparatus. The transmission / reception means includes a code modulation type multi-frequency oscillator that generates a code-modulated pulse in which the transmission frequency is changed stepwise,
The Doppler correction processing means includes
The pulse compression means for compressing the pulse subjected to the code modulation is further provided between the A / D converter and the pulse hit direction fast Fourier transform calculator. The radar device according to any one of the above.   The radar apparatus according to claim 2, wherein the target detection unit further outputs an average value of speed estimation values calculated at each transmission frequency.   The radar apparatus according to claim 2, wherein the target detection unit further performs speed estimation using a target speed estimated by tracking processing.

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