JP2010281605A - Radar system - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To obtain a radar system which can perform high-accuracy Doppler correction and improving the accuracy of high-resolution distance measurement even when ambiguity occurs. <P>SOLUTION: The radar system includes: a transceiving system (10, 2-6) for generating a radio wave changing its frequency stepwise, and receiving a radio wave reflected by a target; a target detection processing system (7, 20, 30) for detecting the target on the basis of the received radio wave; and a super-resolution processing system (40, 50) which corrects phase rotation of a target signal due to the Doppler effect, while considering velocity ambiguities generated by the matter that Doppler frequencies of the target signal are outside the range of the Doppler bandwidth, and resolves the velocity ambiguities on the basis of phase changes with respect to the directions of the transmission frequencies of the target signal after the correction, to perform high-resolution distance measurement of the target. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a radar apparatus for detecting a target, and more particularly to a radar apparatus for detecting a target moving at a high speed.

  FIG. 22 is a block diagram of a conventional radar apparatus using a super-resolution ranging method. This conventional radar apparatus includes a multi-frequency transmitter 10, a circulator 2, a transmitting / receiving antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT (Fast Fourier Transform) 20, The ambiguity-considered target detection means 130, the non-ambiguity-considered Doppler correction means 140, and the non-ambiguity-considered super-resolution distance measuring means 150 are used to measure the target 4 (for example, non-patent literature) 1).

  Each component has the following functions. The multi-frequency transmitter 10 is a transmitter that generates radio waves by changing the frequency in steps. The circulator 2 switches between transmission and reception of radio waves. The transmission / reception antenna 3 transmits or receives radio waves. The mixer 5 mixes the received signal and the reference signal. The receiver 6 performs band limitation and phase detection of the received signal. The A / D converter 7 samples the analog signal and generates a digital signal.

  The pulse hit direction FFT 20 determines the Doppler frequency of the received signal. The non-ambiguity-considered target detection means 130 does not consider the uncertainty of only the integral multiple of the maximum speed value determined from the Doppler frequency bandwidth regarding the speed estimation value (without considering the ambiguity). Detect distance and speed. The non-ambiguity consideration type Doppler correction unit 140 corrects the phase rotation of the target signal component of the pulse hit direction FFT output signal. Further, the non-ambiguity-considered super-resolution distance measuring means 150 measures the target distance by super-resolution.

Next, the operation of the conventional radar apparatus shown in FIG. 22 will be described.
FIG. 23 is an explanatory diagram showing a time chart of transmission / reception pulses in a conventional radar apparatus. From the multi-frequency transmitter 10, pulses having transmission frequencies f ₁ to f _N are sequentially generated according to the time chart of FIG. 23 and output from the transmission / reception antenna 3 through the circulator 2.

The pulse reflected by the target 4 is received by the transmission / reception antenna 3 again. The received pulse is mixed with the reference signal by the mixer 5 and then subjected to band limitation and phase detection by the receiver 6. The output signal of the receiver 6 is sampled by the A / D converter 7 with a period T _samp and a digital signal is output.

Here, the A / D conversion output signal of the transmission frequency f _n (1 ≦ n ≦ N), the number of pulse hits n _p (1 ≦ n _p ≦ N _p ), and the range bin n _r (1 ≦ n _r ≦ N _r ) s _{n, np,} referred to as _nr. In the pulse hit direction FFT20- # n, the Doppler signals _{pn, nd, nr} (0 ≦ n _d ≦ N _p −1), which are the Doppler frequency components of the A / D conversion output signals sn _{, np, nr} , are expressed by the following equations: Calculated according to (1). In addition, w _np in the following formula (1) represents a weight when performing FFT.

と、ドップラービンの推定値

の組

を求める。 The Doppler signals p1 _{, nd, nr} ,..., _{PN, nd, nr} are transmitted to the non-ambiguity consideration type target detection means 130 and the non-ambiguity consideration type Doppler correction means 140- # n. . The non-ambiguity-considered target detection means 130 determines the power values of the Doppler signals _{pn, nd, nr} | _{pn, nd, nr} | ² and the false alarm probability (probability that noise will be mistaken as the target signal). The estimated range bin where the target signal exists.

And the estimated Doppler bin

Set of

Ask for.

に対応する目標の速度推定値

を算出する。このとき、あらかじめ定められた番号ｎ_０の送信周波数ｆ_ｎ０を用いる。また、下式（２）において、ｃは光速、Ｔ_ＰＲＩはパルス繰り返し周期を表している。 Each set according to the following formula (2)

Target speed estimate corresponding to

Is calculated. At this time, a transmission frequency f _n0 having a predetermined number n ₀ is used. In the following formula (2), c represents the speed of light and T _PRI represents the pulse repetition period.

と、対応する目標の速度推定値

は、非アンビギュイティ考慮型ドップラー補正手段１４０−＃ｎに伝達される。非アンビギュイティ考慮型ドップラー補正手段１４０−＃ｎでは、次式（３）によりドップラー補正信号

を求める。 Range bin and velocity estimate pairs

And the corresponding target speed estimate

Is transmitted to the non-ambiguity consideration type Doppler correction means 140- # n. In the non-ambiguity consideration type Doppler correction means 140- # n, the Doppler correction signal is expressed by the following equation (3).

Ask for.

は、非アンビギュイティ考慮型超分解能測距手段１５０に伝達される。図２４は、従来のレーダ装置における非アンビギュイティ考慮型超分解能測距手段１５０の内部構成を示した図である。この非アンビギュイティ考慮型超分解能測距手段１５０は、相関行列生成手段６１、ＭＵＳＩＣ用固有ベクトル算出手段６２、ＭＵＳＩＣ処理手段６３で構成されている。ドップラー補正信号

は、相関行列生成手段６１に伝達される。相関行列生成手段６１では、下式（４）により相関行列

を生成する。 Doppler correction signal

Is transmitted to the non-ambiguity-considered super-resolution ranging means 150. FIG. 24 is a diagram showing an internal configuration of the non-ambiguity-considered super-resolution ranging means 150 in the conventional radar apparatus. The non-ambiguity-considering super-resolution ranging unit 150 includes a correlation matrix generation unit 61, a MUSIC eigenvector calculation unit 62, and a MUSIC processing unit 63. Doppler correction signal

Is transmitted to the correlation matrix generating means 61. In the correlation matrix generation means 61, the correlation matrix is expressed by the following equation (4).

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６２に伝達される。 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 62.

の固有値

と、固有値

に対応する固有ベクトル

を求める。さらに、固有値

の大きさ等から目標数Ｋを推定する。 In the eigenvector calculation means 62 for MUSIC, the correlation matrix

Eigenvalues of

And eigenvalues

The eigenvector corresponding to

Ask for. In addition, eigenvalues

The target number K is estimated from the size of.

を出力する。固有ベクトル

は、ＭＵＳＩＣ処理手段６３に伝達される。ＭＵＳＩＣ処理手段６３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、下式（５）によりステアリングベクトル

を生成する。 And the eigenvector

Is output. Eigenvector

Is transmitted to the MUSIC processing means 63. In the MUSIC processing means 63, the eigenvector

And MUSIC (Multiple Signal Classification) processing. Specifically, assuming that the target distance is r, the steering vector is obtained by the following equation (5).

Is generated.

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。ここで、

は、ｋ番目の目標の距離を表している。以上の処理により、ドップラー分解能、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。 Further, the MUSIC processing means 63 is provided with an eigenvector.

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

And here,

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

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

However, the prior art has the following problems.
In the conventional method, for a target moving at a high speed, an ambiguity in which an uncertainty of an integer multiple of the maximum speed value determined from the Doppler frequency bandwidth remains in the target estimated speed. In the conventional radar apparatus, since there is no means for solving this ambiguity, there is a problem that high-precision Doppler correction cannot be performed and super-resolution ranging accuracy is deteriorated.

  The present invention has been made to solve the above-described problems, and provides a radar apparatus that performs high-precision Doppler correction and improves super-resolution ranging accuracy even when ambiguity occurs. With the goal.

  A radar apparatus according to the present invention includes a transmission / reception system that generates a radio wave by changing a frequency in a step shape, receives a radio wave reflected by a target, a target detection processing system that detects a target based on the received radio wave, a target In consideration of the speed ambiguity that occurs due to the Doppler frequency of the signal being outside the Doppler bandwidth range, the phase rotation of the target signal due to the Doppler effect is corrected, and the corrected target signal A super-resolution processing system that solves the velocity ambiguity based on the phase change with respect to the transmission frequency direction and performs target super-resolution ranging is provided.

  According to the radar apparatus of the present invention, the phase of the target signal due to the Doppler effect is taken into account in consideration of the speed ambiguity generated due to the Doppler frequency of the target signal being outside the range of the Doppler bandwidth. Ambiguity occurred by correcting the rotation, solving the speed ambiguity based on the phase change in the transmission frequency direction of the target signal after correction, and providing a super-resolution processing system that performs target super-resolution ranging Even in this case, it is possible to obtain a radar apparatus that performs high-precision Doppler correction and improves the super-resolution ranging accuracy.

It is a block diagram of the radar apparatus in Embodiment 1 of this invention. It is the figure which showed the internal structure of the super-resolution ranging means in Embodiment 1 of this invention. It is a block diagram of the radar apparatus in Embodiment 2 of this invention. It is explanatory drawing which showed the time chart of the transmission / reception pulse in the radar apparatus of Embodiment 2 of this invention. It is a block diagram of the radar apparatus in Embodiment 3 of this invention. It is explanatory drawing which showed the time chart of the transmission / reception pulse in the radar apparatus of Embodiment 3 of this invention. It is a block diagram of the radar apparatus in Embodiment 4 of this invention. It is a block diagram of the radar apparatus in Embodiment 5 of this invention. It is the figure which showed the internal structure of the high-speed super-resolution ranging means in Embodiment 5 of this invention. It is a block diagram of the radar apparatus in Embodiment 6 of this invention. It is a block diagram of the radar apparatus in Embodiment 7 of this invention. It is a block diagram of the radar apparatus in Embodiment 8 of this invention. It is explanatory drawing which showed the time chart of the transmission / reception pulse in the radar apparatus of Embodiment 8 of this invention. It is a block diagram of the radar apparatus in Embodiment 9 of this invention. It is explanatory drawing which showed the time chart of the transmission / reception pulse in the radar apparatus of Embodiment 9 of this invention. It is a block diagram of the radar apparatus in Embodiment 10 of this invention. It is explanatory drawing which showed the time chart of the transmission / reception pulse in the radar apparatus of Embodiment 10 of this invention. It is a block diagram of the radar apparatus in Embodiment 11 of this invention. It is a block diagram of the radar apparatus in Embodiment 12 of this invention. It is a block diagram of the radar apparatus in Embodiment 13 of this invention. It is a block diagram of the radar apparatus in Embodiment 14 of this invention. It is a block diagram of the radar apparatus by the conventional super-resolution ranging system. It is explanatory drawing which showed the time chart of the transmission / reception pulse in the conventional radar apparatus. It is the figure which showed the internal structure of the non-ambiguity consideration super-resolution ranging means 150 in the conventional radar apparatus.

  A preferred embodiment of a radar apparatus according to the present invention will be described below with reference to the drawings. In all of the following Embodiments 1 to 14, the circulator 2, the transmission / reception antenna 3, the mixer 5, the receiver 6, and the A / D converter 7 are common components, and the description thereof is omitted.

  In the following Embodiments 1 to 14, the transmission / reception system includes a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, and a multi-frequency transmitter indicated by any of reference numerals 10-15. The target detection processing system includes an A / D converter 7, an FFT indicated by reference numeral 20 or 21, target detection means indicated by any of reference numerals 30 to 37, and a pulse compression means 80. Further, the super-resolution processing system includes Doppler correction means indicated by reference numeral 40 or 41, super-resolution distance measurement means indicated by reference numeral 50 or 51, and sorting means 70.

Embodiment 1 FIG.
FIG. 1 is a configuration diagram of a radar apparatus according to Embodiment 1 of the present invention. The radar apparatus according to the first embodiment includes a multi-frequency transmitter 10, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT 20, a target detection unit 30, and a Doppler correction unit. 40, and a super-resolution ranging means 50 for measuring the distance of the target 4.

  Compared with the configuration of FIG. 22 in the conventional radar apparatus, the configuration of FIG. 1 in the first embodiment is a non-ambiguity consideration type target detection means 130, a non-ambiguity consideration type Doppler correction means 140, a non-ambiguity. The difference is that instead of the tee-considering super-resolution ranging means 150, a target detecting means 30, a Doppler correcting means 40, and a super-resolution ranging means 50 are provided.

  These different components have the following functions: The target detection means 30 outputs the speed and distance of the detection target considering the speed ambiguity. The Doppler correction means 40 corrects the phase of the target signal rotated by the Doppler effect in consideration of the speed ambiguity. Further, the super-resolution distance measuring means 50 searches for speed ambiguity, calculates a speed estimation value, and performs super-resolution distance measurement.

と、ドップラービンの推定値

を求める。さらに、下式（６）により、速度アンビギュイティを考慮した目標速度推定値を求める。ここで、下式（６）における速度アンビギュイティの範囲を定めるＬは、あらかじめ設定されているものとする。 Next, the operation of the radar apparatus according to the first embodiment shown in FIG. 1 will be described with a focus on components unique to the first embodiment.
Radio waves are transmitted from the multi-frequency transmitter 10, the circulator 2, and the transmission / reception antenna 3. Thereafter, the operation is performed in the same manner as in the prior art, and the Doppler signals _{pn, nd, and nr} are transmitted to the target detection unit 30. In the target detection means 30, first _, the power values of the Doppler signals _{pn, nd, nr} | _{pn, nd, nr} | ² and the thresholds determined based on the false alarm probability (probability that noise is mistaken as the target signal) are obtained. Compare and estimate the range bin where the target signal exists

And the estimated Doppler bin

Ask for. Further, a target speed estimated value considering the speed ambiguity is obtained by the following equation (6). Here, L which defines the range of the speed ambiguity in the following formula (6) is assumed to be set in advance.

と、レンジビン推定値

を、ドップラー補正手段４０に伝達する。ドップラー補正手段４０では、下式（７）により、ドップラー効果に起因するドップラー信号

の位相回転を補正したドップラー補正信号

を生成する。 Next, the speed estimate

And the range bin estimate

Is transmitted to the Doppler correction means 40. In the Doppler correction means 40, the Doppler signal resulting from the Doppler effect is obtained by the following equation (7).

Doppler correction signal with corrected phase rotation

Is generated.

は、超分解能測距手段５０に伝達される。図２は、本発明の実施の形態１における超分解能測距手段５０の内部構成を示した図である。従来技術で用いられている図２４に示した非アンビギュイティ考慮型超分解能測距手段１５０の構成と比較すると、本実施の形態１で用いられている図２に示した超分解能測距手段５０は、相関行列生成手段６１、ＭＵＳＩＣ用固有ベクトル算出手段６２、ＭＵＳＩＣ処理手段６３に加え、さらに、アンビギュイティ探索手段６４を備えている。 Doppler correction signal

Is transmitted to the super-resolution ranging means 50. FIG. 2 is a diagram showing an internal configuration of the super-resolution distance measuring means 50 according to the first embodiment of the present invention. Compared with the configuration of the non-ambiguity-considered super-resolution ranging means 150 shown in FIG. 24 used in the prior art, the super-resolution ranging means shown in FIG. 2 used in the first embodiment. 50 includes an ambiguity search means 64 in addition to a correlation matrix generation means 61, a MUSIC eigenvector calculation means 62, and a MUSIC processing means 63.

が伝達される。以降は、従来技術と同様に動作し、ＭＵＳＩＣ処理手段６３から

レンジビンの

ドップラービンにおける目標の測距候補値

が出力される。 The Doppler correction signal is sent to the correlation matrix generation means 61.

Is transmitted. Thereafter, the operation is the same as in the prior art, and from the MUSIC processing means 63

Range bin

Candidate ranging value for target in Doppler bin

Is output.

は、アンビギュイティ探索手段６４に伝達される。また、ＭＵＳＩＣ用固有ベクトル算出手段６２から、測距候補値

を算出するのに用いた雑音空間を構成する固有ベクトル

が、アンビギュイティ探索手段６４に伝達される。アンビギュイティ探索手段６４では、下式（８）により測距候補値

に関するアンビギュイティ評価値

を算出する。 And distance measurement candidate value

Is transmitted to the ambiguity search means 64. Further, from the MUSIC eigenvector calculation means 62, the distance measurement candidate value

The eigenvectors that make up the noise space used to calculate

Is transmitted to the ambiguity search means 64. In the ambiguity search means 64, the distance measurement candidate value is calculated by the following equation (8).

Ambiguity rating for

Is calculated.

の内、値を最大とする測距候補値を

とするとき、これを

レンジビンの

ドップラービンにおけるｋ番目目標の測距値

とする。 Ambiguity rating

The candidate distance measurement value that maximizes the value

And when this

Range bin

Distance measurement value of the kth target in Doppler bin

And

  As described above, according to the first embodiment, the radar apparatus is configured by including the target detection unit, the Doppler correction unit, and the super-resolution ranging unit. Thereby, even if velocity ambiguity occurs, it can be searched and Doppler correction can be performed, and high-precision super-resolution ranging can be performed.

Embodiment 2. FIG.
FIG. 3 is a configuration diagram of the radar apparatus according to Embodiment 2 of the present invention. The radar apparatus according to the second embodiment includes a transmission order random multi-frequency transmitter 11, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT 20, a target detection means 30. The Doppler correction means 40, the super-resolution distance measuring means 50, and the sorting means 70 are used to measure the target 4.

  Compared with the configuration of FIG. 1 in the radar apparatus of the first embodiment, the configuration of FIG. 3 in the second embodiment includes a transmission order random type multi-frequency transmitter 11 instead of the multi-frequency transmitter 10. Furthermore, the point that the sorting means 70 is further provided is different.

  These different components have the following functions: The transmission order random type multi-frequency transmitter 11 performs transmission with the frequency transmission order being random. The sorting means 70 rearranges the received signals from the smaller transmission frequency to the larger transmission frequency.

が入力する。 Next, the operation of the radar apparatus according to the second embodiment shown in FIG. 3 will be described with a focus on components unique to the second embodiment.
FIG. 4 is an explanatory diagram showing a time chart of transmission / reception pulses in the radar apparatus according to the second embodiment of the present invention. Transmission order Random type multi-frequency transmitter 11, circulator 2, and transmission / reception antenna 3 transmit radio waves in random order of transmission frequency according to the time chart shown in FIG. Thereafter, the operation is the same as in the first embodiment, and the Doppler correction signal is sent to the sorting means 70.

Enter.

を送信周波数の小さい方から大きい方に並べ替えた信号を生成する。この信号を

とする。そして、ソート信号

は、超分解能測距手段５０に伝達される。以降は、先の実施の形態１と同様に動作し、測距値が出力される。 In the sorting means 70, the Doppler correction signal

Are rearranged from the one with the smaller transmission frequency to the larger one. This signal

And And sort signal

Is transmitted to the super-resolution ranging means 50. Thereafter, the same operation as in the first embodiment is performed, and a distance measurement value is output.

  As described above, according to the second embodiment, the transmission frequency is randomly transmitted and the received signal is rearranged later from the smaller transmission frequency to the larger transmission frequency. Thereby, the time order can be randomized and the phase change due to the Doppler effect can be randomized. As a result, when Doppler correction is performed using a speed estimation value having a speed ambiguity, the ambiguity evaluation value of the above equation (8) becomes small due to the influence of the phase change due to the randomized Doppler effect, An ambiguity search using this ambiguity evaluation value can be performed.

Embodiment 3 FIG.
FIG. 5 is a configuration diagram of the radar apparatus according to Embodiment 3 of the present invention. The radar apparatus according to the third embodiment includes a code modulation type multi-frequency transmitter 12, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT 20, target detection means 30, It comprises Doppler correction means 40, super-resolution distance measurement means 50, and pulse compression means 80, and performs distance measurement of target 4.

  Compared to the configuration of FIG. 1 in the radar apparatus of the first embodiment, the configuration of FIG. 5 in the third embodiment includes a code modulation type multi-frequency transmitter 12 instead of the multi-frequency transmitter 10. Furthermore, the point that the pulse compression means 80 is further provided is different.

  These different components have the following functions: The code modulation type multi-frequency transmitter 12 generates a code-modulated pulse. Further, the pulse compression means 80 compresses the pulse subjected to code modulation.

Next, the operation of the radar apparatus according to the third embodiment shown in FIG. 5 will be described with a focus on components unique to the third embodiment.
FIG. 6 is an explanatory diagram showing a time chart of transmission / reception pulses in the radar apparatus according to Embodiment 3 of the present invention. The code modulation type multi-frequency transmitter 12 rotates the phase of the transmission wave by 0 ° or 180 ° for each chip width T _chip according to the value (+1 or −1) of the random code string generated in advance. According to the time chart shown in FIG. 6, pulses having transmission frequencies f ₁ to f _N are sequentially generated and output from the transmission / reception antenna through the circulator 2.

Thereafter, the same operation as in the first embodiment is performed, and the A / D converter output signals _{sn, np, nr} are transmitted to the pulse compression means 80- # n. When sampling the pulses with 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 80- # n, firstly, the distance 0m reference signal simulating an A / D converter output signal when there are still targets _{h n,} the _{ng (1 ≦ n g ≦ N} g) is used. Then, correlation signals yn _{, np, nr, and ng} of the n _r range bin are calculated by the following equation (9). Here, h * _{n, ng} is the following equation (9) represents the reference signal _{h n,} the complex conjugate of _ng.

Next, the correlation signals yn _{, np, nr,} ..., _{Yn, np, nr, Ng} are subjected to FFT, and the correlation signal frequency components fy _{n, np, nr, 0} ..., Fy _{n, np , Nr, and Ng-1} are obtained. Further, the correlation signal frequency component that maximizes | fy _{n, np, nr, 0} | ² ..., | Fy _{n, np, nr, Ng−1} | ² is _defined as fy _{n, np, nr, nd0} . This is set to pulse compression signals s ′ _{n, np, nr} as shown in the following equation (10). Here, n _d0 represents the Doppler bin of the Doppler frequency estimated with coarse accuracy.

が求まる。 The pulse compression signals s ′ _{n, np, nr} are transmitted in the pulse hit direction FFT20- # n. The subsequent operation is the same as in the first embodiment, and the distance measurement value

Is obtained.

  As described above, according to the third embodiment, a configuration is provided in which a pulse subjected to code modulation is transmitted and pulse compression processing is performed after reception. As a result, even when the target signal power of the 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 the pulse compression processing, and the super-resolution ranging accuracy is achieved. Is improved.

Embodiment 4 FIG.
FIG. 7 is a configuration diagram of the radar apparatus according to Embodiment 4 of the present invention. The radar apparatus according to the fourth embodiment includes a code modulation type multi-frequency transmitter 12, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT 20, a coarse accuracy Doppler estimation value. The target type target detection unit 31, the Doppler correction unit 40, the super-resolution range finding unit 50, and the pulse compression unit 80 are used to measure the target 4.

  Compared to the configuration of FIG. 5 in the radar apparatus of the third embodiment, the configuration of FIG. 7 in the fourth embodiment has a rough accuracy Doppler estimated value-considered target detection unit 31 instead of the target detection unit 30. It has different points.

  This different component has the following functions. The coarse precision Doppler estimated value consideration type target detection means 31 sets the speed ambiguity search range based on the coarse precision Doppler estimated value estimated in the course of the pulse compression processing of the pulse compression means 80.

Next, the operation of the radar apparatus according to the fourth embodiment shown in FIG. 7 will be described with a focus on components unique to the fourth embodiment.
Radio waves are transmitted from the code modulation type multi-frequency transmitter 12, the circulator 2, and the transmission / reception antenna 3. Thereafter, the operation is performed in the same manner as in the third embodiment, and the Doppler signals _{pn, nd, and nr} are transmitted to the coarse precision Doppler estimated value consideration type target detection means 31. The coarse precision Doppler bin number n _d0 calculated in the course of the pulse compression process by the pulse compression means 80 _is also transmitted to the coarse precision Doppler estimated value target detection means 31.

  The coarse precision Doppler estimated value consideration type target detecting means 31 obtains a target speed estimated value in consideration of the speed ambiguity according to the following equation (11). Here, the symbol [[]] represents a function that outputs a rounded integer value.

とレンジビン推定値

が、超分解能測距手段５０に伝達される。以降は、先の実施の形態３と同様に動作し、測距値

が求まる。 And the speed estimate

And range bin estimates

Is transmitted to the super-resolution ranging means 50. Thereafter, the operation is the same as in the third embodiment, and the distance measurement value

Is obtained.

  As described above, according to the fourth embodiment, the target detection unit includes the coarse accuracy Doppler estimated value consideration type target detection unit. Thereby, by using the Doppler estimation value estimated roughly, the search range of the speed ambiguity can be limited, and the processing load required for the ambiguity search can be reduced.

Embodiment 5 FIG.
FIG. 8 is a configuration diagram of the radar apparatus according to Embodiment 5 of the present invention. The radar apparatus according to the fifth embodiment includes a multi-frequency transmitter 10, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT 20, a target detection unit 30, and a Doppler correction unit. 40, which is composed of high-speed super-resolution ranging means 51, and performs ranging of the target 4.

  Compared with the configuration of FIG. 1 in the radar apparatus of the first embodiment, the configuration of FIG. 8 in the fifth embodiment includes a high-speed super-resolution ranging means 51 instead of the super-resolution ranging means 50. Is different.

  This different component has the following functions. The high-speed super-resolution ranging means 51 performs super-resolution ranging processing at a high speed by using an effect of ESPRIT (Estimation of Signal Parameters via Rotational Invariance Techniques).

Next, the operation of the radar apparatus according to the fifth embodiment shown in FIG. 8 will be described with a focus on components unique to the fifth embodiment.
FIG. 9 is a diagram showing an internal configuration of the high-speed super-resolution ranging means 51 in the fifth embodiment of the present invention. Compared with the configuration of the super-resolution ranging means 50 shown in FIG. 2 used in the first to fourth embodiments, the high-speed super-resolution measurement shown in FIG. 9 used in the fifth embodiment is used. The distance unit 51 includes an ESPRIT eigenvector calculation unit 62 a and an ESPRIT processing unit 63 a instead of the MUSIC eigenvector calculation unit 62 and the MUSIC processing unit 63.

が入力される。ドップラー補正信号

は、相関行列生成手段６１に伝達され、従来技術と同様に動作し、相関行列

が生成される。 Radio waves are transmitted from the multi-frequency transmitter 10, the circulator 2, and the transmission / reception antenna 3. Thereafter, the same operation as in the first embodiment is performed, and the Doppler correction signal is sent to the high-speed super-resolution ranging means 51.

Is entered. Doppler correction signal

Is transmitted to the correlation matrix generating means 61 and operates in the same manner as in the prior art.

Is generated.

は、ＥＳＰＲＩＴ用固有ベクトル算出手段６２ａに伝達される。ＥＳＰＲＩＴ用固有ベクトル算出手段６２ａ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。さらに、固有値

の大きさ等から目標数Ｋを推定する。 Correlation matrix

Is transmitted to the ESPRIT eigenvector calculating means 62a. In the eigen vector calculation means 62a for ESPRIT, first, the correlation matrix

Eigenvalues of

And eigenvalues

The eigenvector corresponding to

Ask for. In addition, eigenvalues

The target number K is estimated from the size of.

を出力する。また、固有ベクトル

を出力する。固有ベクトル

は、ＥＳＰＲＩＴ処理手段６３ａに伝達される。ＥＳＰＲＩＴ処理手段６３ａでは、まず、下式（１２）の行列

を算出する。 And the eigenvector

Is output. Also, eigenvector

Is output. Eigenvector

Is transmitted to the ESPRIT processing means 63a. In the ESPRIT processing means 63a, first, the matrix of the following expression (12)

Is calculated.

を算出する。ここで、下式（１３）における行列

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、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. Here, the matrix in the following equation (13)

Is a matrix

Represents the Hermitian conjugate. The matrix J ₁ and the matrix J ₂ are M-1 rows and M columns, J ₁ (i, k) is a component of i rows and k columns of the matrix J ₁ , and J ₂ (i, k) is , Each component of i rows and k columns of the matrix J ₂ is represented.

を求める。ここで、下式（１４）における

は、行列

のｋ番目の固有値であり、

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。 And the distance measurement candidate value of each target by the following formula (14)

Ask for. Here, in the following formula (14)

Is a matrix

K-th eigenvalue of

Is the eigenvalue

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

と、固有ベクトル

は、アンビギュイティ探索手段６４に伝達される。以降は、先の実施の形態１と同様に動作し、測距値

が求まる。 Ranging candidate values

And the eigenvector

Is transmitted to the ambiguity search means 64. The subsequent operation is the same as in the first embodiment, and the distance measurement value

Is obtained.

  As described above, according to the fifth embodiment, a configuration for performing super-resolution distance measurement processing using the ESPRIT method is provided. Thereby, the distance measurement value can be calculated at high speed.

Embodiment 6 FIG.
FIG. 10 is a configuration diagram of the radar apparatus according to Embodiment 6 of the present invention. The radar apparatus according to the sixth embodiment includes a multi-frequency transmitter 10, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a pulse hit direction FFT 20, a speed average value output type target detection means. 32, comprising a Doppler correction means 40 and a super-resolution distance measuring means 50, and performs distance measurement of the target 4.

  Compared to the configuration of FIG. 1 in the radar apparatus of the first embodiment, the configuration of FIG. 10 in the sixth embodiment includes a speed average value output type target detection unit 32 instead of the target detection unit 30. Is different.

  This different component has the following functions. The speed average value output type target detection means 32 outputs an average value of the speed estimated values calculated at each transmission frequency.

を下式（１５）により求める。なお、下式（１５）における

は、送信周波数ｆ_ｎによる送受信で推定されたドップラービンを表している。また、下式（１５）における速度アンビギュイティの範囲を定めるＬは、あらかじめ設定されているものとする。 Next, the operation of the radar apparatus according to the sixth embodiment shown in FIG. 10 will be described with a focus on components unique to the sixth embodiment.
Radio waves are transmitted from the multi-frequency transmitter 10, the circulator 2, and the transmission / reception antenna 3. Thereafter, the operation is performed in the same manner as in the first embodiment, and the pulse hit direction FFT output signals p1 _{, nd, nr} ,..., _{PN, nd, nr} are input to the velocity average value output type target detection means 32. The The speed average value output type target detection means 32 is a target speed average value obtained from the Doppler bin estimated at each transmission frequency.

Is obtained by the following equation (15). In the following formula (15)

Represents Doppler bins estimated by transmission and reception at the transmission frequency f _n . In addition, L that defines the speed ambiguity range in the following equation (15) is set in advance.

を速度推定値とし、レンジビン推定値

と、速度推定値

をドップラー補正手段４０に伝達する。以降は、先の実施の形態１と同様に動作し、測距値

が求まる。 Target speed average value

Is the estimated speed and the estimated range bin

And the estimated speed

Is transmitted to the Doppler correction means 40. The subsequent operation is the same as in the first embodiment, and the distance measurement value

Is obtained.

  As described above, according to the sixth embodiment, the target detection means for outputting the speed average value is provided. As a result, due to the effect of averaging the target speed estimated at each transmission frequency, even when the speed estimation value differs for each transmission frequency, the estimation error of the speed estimation value can be reduced to obtain the speed estimation value.

Embodiment 7 FIG.
FIG. 11 is a configuration diagram of a radar apparatus according to Embodiment 7 of the present invention. The radar apparatus according to the seventh embodiment includes a multi-frequency transmitter 10, a circulator 2, a transmission / reception antenna 3, a mixer 5, a receiver 6, an A / D converter 7, a high-precision pulse hit direction FFT 21, and a high-precision target detection means 33. The Doppler correction means 40 and the super-resolution distance measuring means 50 are used to measure the target 4.

  Compared to the configuration of FIG. 1 in the radar apparatus of the first embodiment, the configuration of FIG. 11 in the seventh embodiment is a high-precision pulse hit direction FFT 21 instead of the pulse hit direction FFT 20 and target detection means 30. The difference is that high-precision target detection means 33 is provided.

  These different components have the following functions: The high-precision pulse hit direction FFT 21 estimates the Doppler frequency with high accuracy. The high-precision target detection means 33 outputs the speed and distance of the detection target in consideration of the speed ambiguity with respect to the high-precision pulse hit direction FFT output signal.

Next, the operation of the radar apparatus according to the seventh embodiment shown in FIG. 11 will be described with a focus on components unique to the seventh embodiment.
Radio waves are transmitted from the multi-frequency transmitter 10, the circulator 2, and the transmission / reception antenna 3. Thereafter, the same operation as in the first embodiment is performed, and the A / D converter output signals sn _{, np, nr} are input to the high-precision pulse hit direction FFT21- # n. For the high-precision pulse hit direction FFT21- # n, the Doppler signals _{pn, nd, and nr} are calculated by the following equation (16). Here, in the following equation (16), it is assumed that the Doppler frequency is estimated with Q times as high accuracy.

と、ドップラービンの推定値

を求める。そして、下式（１７）により、速度アンビギュイティを考慮した目標速度推定値を求める。ここで、下式（１７）で速度アンビギュイティの範囲を定めるＬは、あらかじめ設定されているものとする。 The Doppler signals p1 _{, nd, nr} ,..., _{PN, nd, nr} are transmitted to the high accuracy target detection means 33 and the Doppler correction means 40- # n. The high-precision target detection means 33 is first determined based on the power values of the Doppler signals _{pn, nd, nr} | _{pn, nd, nr} | ^2, and the false alarm probability (probability that noise is mistaken as the target signal). Compare with threshold. Furthermore, the estimated value of the range bin where the transmission frequency number n and the target signal exist

And the estimated Doppler bin

Ask for. And the target speed estimated value which considered speed ambiguity is calculated | required by the following Formula (17). Here, L that defines the range of the speed ambiguity in the following equation (17) is set in advance.

と、レンジビン推定値

は、超分解能測距手段５０に伝達される。以降は、先の実施の形態１と同様に動作し、測距値

が求められる。 Speed estimate

And the range bin estimate

Is transmitted to the super-resolution ranging means 50. The subsequent operation is the same as in the first embodiment, and the distance measurement value

Is required.

が高精度に求まり、ドップラー補正を精度よく行うことができる。 As described above, according to the seventh embodiment, the high-precision pulse hit direction FFT and the high-precision target detection unit are provided. This makes it possible to estimate the Doppler frequency of the target signal with high accuracy, so that the target speed estimate

Therefore, Doppler correction can be performed with high accuracy.

Embodiment 8 FIG.
FIG. 12 is a configuration diagram of the radar apparatus according to Embodiment 8 of the present invention. The radar apparatus according to the eighth embodiment includes the same frequency transmission type multi-frequency transmitter 13, the circulator 2, the transmission / reception antenna 3, the mixer 5, the receiver 6, the A / D converter 7, the pulse hit direction FFT 20, the same frequency transmission type. The target detection unit 34, the same frequency transmission type Doppler correction unit 41, and the super-resolution ranging unit 50 measure the range of the target 4.

  Compared to the configuration of FIG. 1 in the radar apparatus of the first embodiment, the configuration of FIG. 12 in the eighth embodiment is the same in place of the multi-frequency transmitter 10, the target detection means 30, and the Doppler correction means 40. The difference is that a frequency transmission type multi-frequency transmitter 13, a same frequency transmission type target detection means 34, and a same frequency transmission type Doppler correction means 41 are provided.

  These different components have the following functions: The same frequency transmission type multi-frequency transmitter 13 transmits at the same frequency by the number of FFT hit points in the pulse hit direction, and then steps the transmission frequency. The same frequency transmission type target detection means 34 outputs the speed and distance of the detection target in consideration of the speed ambiguity, using the signals transmitted and received by the same frequency transmission type multifrequency transmitter 13. The same frequency transmission type Doppler correction means 41 corrects the phase rotation of the target signal rotated by the Doppler effect with respect to the signal transmitted / received by the same frequency transmission type multifrequency transmitter 13 in consideration of the speed ambiguity.

Next, the operation of the radar apparatus according to the eighth embodiment shown in FIG. 12 will be described with a focus on components unique to the eighth embodiment.
FIG. 13 is an explanatory diagram showing a time chart of transmission / reception pulses in the radar apparatus according to the eighth embodiment of the present invention. According to the time chart of FIG. 13, the same frequency transmission type multi-frequency transmitter 13 transmits and receives pulses having the same frequency for the number of FFT hit points. Then, the frequency is stepped, and pulses of transmission frequencies f ₁ to f _N are sequentially generated and output from the transmission / reception antenna 3 through the circulator 2.

と、ドップラービンの推定値

を求める。下式（１８）により、速度アンビギュイティを考慮した目標速度推定値を求める。ここで、下式（１８）における速度アンビギュイティの範囲を定めるＬは、あらかじめ設定されているものとする。 Thereafter operates similarly to the previous first embodiment, the Doppler signal p _{n, nd, nr is} transmitted from the pulse hit direction FFT20 to the same frequency transmission type target detecting unit 34. The same-frequency transmission type target detection means 34 first determines the power values of the Doppler signals _{pn, nd, nr} | _{pn, nd, nr} | ² and the false alarm probability (probability that noise is mistaken as the target signal). The estimated range bin where the target signal exists.

And the estimated Doppler bin

Ask for. The target speed estimated value considering the speed ambiguity is obtained by the following equation (18). Here, L defining the speed ambiguity range in the following equation (18) is set in advance.

と、レンジビン推定値

は、同一周波数送信型ドップラー補正手段４１に伝達される。同一周波数送信型ドップラー補正手段４１は、下式（１９）によりドップラー効果に起因するドップラー信号

の位相回転を補正し、ドップラー補正信号

を生成する。 Speed estimate

And the range bin estimate

Is transmitted to the same frequency transmission type Doppler correction means 41. The same frequency transmission type Doppler correction means 41 calculates the Doppler signal resulting from the Doppler effect by the following equation (19).

Corrects the phase rotation of the Doppler correction signal

Is generated.

は、超分解能測距手段５０に伝達される。以降は、先の実施の形態１と同様に動作し、測距値

が求められる。 Doppler correction signal

Is transmitted to the super-resolution ranging means 50. The subsequent operation is the same as in the first embodiment, and the distance measurement value

Is required.

  As described above, according to the eighth embodiment, the transmission is performed at the same frequency as the number of FFT hit points in the pulse hit direction, and the distance measurement is performed. Thereby, the effect of shortening the sampling interval in the pulse hit direction FFT can widen the Doppler frequency bandwidth and reduce the number of velocity ambiguities. Therefore, the processing load required for ambiguity search can be reduced.

Embodiment 9 FIG.
FIG. 14 is a configuration diagram of a radar apparatus according to Embodiment 9 of the present invention. The radar apparatus according to the ninth embodiment includes the same frequency transmission type transmission order random type multi-frequency transmitter 14, the circulator 2, the transmission / reception antenna 3, the mixer 5, the receiver 6, the A / D converter 7, the pulse hit direction FFT 20, The same frequency transmission type target detection means 34, the same frequency transmission type Doppler correction means 41, the super-resolution distance measurement means 50, and the sort means 70 are configured to measure the distance of the target 4.

  Compared with the configuration of FIG. 12 in the radar apparatus of the eighth embodiment, the configuration of FIG. 14 in the ninth embodiment is the same frequency transmission type transmission order random instead of the same frequency transmission type multi-frequency transmitter 13. A type multi-frequency transmitter 14 is provided and a sorting unit 70 is further provided.

  These different components have the following functions: Sorting means 70 is the same as in the second embodiment. Further, the same frequency transmission type transmission order random type multi-frequency transmitter 14 transmits at the same frequency as the number of FFT hit points in the pulse hit direction, and then randomly steps the transmission frequency.

Next, the operation of the radar apparatus according to the ninth embodiment shown in FIG. 14 will be described with a focus on components unique to the ninth embodiment.
FIG. 15 is an explanatory diagram showing a time chart of transmission / reception pulses in the radar apparatus according to the ninth embodiment of the present invention. Same-frequency transmission type transmission order Random type multi-frequency transmitter 14 performs transmission / reception of pulses of the same frequency for the number of FFT hit points according to the time chart of FIG. Thus, pulses from f ₁ to f _N are sequentially generated.

が伝達される。以降は、実施の形態２と同様に動作し、測距値

が求められる。 Thereafter, the operation is the same as in the previous embodiment 8, and the Doppler correction signal is sent to the sorting means 70.

Is transmitted. Thereafter, the operation is the same as in the second embodiment, and the distance measurement value

Is required.

  As described above, according to the ninth embodiment, the transmission frequency is randomly transmitted and the received signals are rearranged later from the smaller transmission frequency (similar to the previous second embodiment). And a structure for transmitting at the same frequency as the number of FFT hit points in the pulse hit direction and performing distance measurement (same structure as in the previous eighth embodiment). Thereby, the effect of previous Embodiment 2 and 8 can be acquired.

Embodiment 10 FIG.
FIG. 16 is a configuration diagram of the radar apparatus according to Embodiment 10 of the present invention. The radar apparatus according to the tenth embodiment has the same frequency transmission type code modulation type multifrequency transmitter 15, circulator 2, transmission / reception antenna 3, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT 20, and the like. The frequency transmission type target detection unit 34, the same frequency transmission type Doppler correction unit 41, the super-resolution range finding unit 50, and the pulse compression unit 80 are used to measure the range of the target 4.

  Compared with the configuration of FIG. 12 in the radar apparatus of the eighth embodiment, the configuration of FIG. 16 in the tenth embodiment is the same frequency transmission type code modulation type instead of the same frequency transmission type multi-frequency transmitter 13. The difference is that a multi-frequency transmitter 15 and a pulse compression means 80 are further provided.

  These different components have the following functions: The pulse compression means 80 is the same as in the third embodiment. Further, the same frequency transmission type code modulation type multi-frequency transmitter 15 steps the transmission frequency after transmitting a pulse subjected to code modulation at the same frequency as the number of FFT hit points in the pulse hit direction.

Next, the operation of the radar apparatus according to the tenth embodiment shown in FIG. 16 will be described focusing on the components unique to the tenth embodiment.
FIG. 17 is an explanatory diagram showing a time chart of transmission / reception pulses in the radar apparatus according to the tenth embodiment of the present invention. In accordance with the time chart of FIG. 17 from the same frequency transmission type code modulation type multi-frequency transmitter 15, after transmitting / receiving pulses for the number of FFT hit points in the pulse hit direction, processing for stepping the frequency is performed and the transmission frequency is changed from f ₁ to f _N pulses are generated sequentially.

が求められる。 This pulse is code-modulated. Thereafter, the operation is the same as in the previous embodiment 8, and the A / D converter output signals s1 _{, np, nr} ,..., _{SN, np, nr} are input to the pulse compression means 80- # n. The Thereafter, the operation is the same as in the third embodiment, and Doppler signals p _{1, nd, nr} ,..., P _{N, nd, nr} are output from the pulse hit direction FFT 20. Thereafter, the operation is the same as in the previous embodiment 8, and the distance measurement value

Is required.

  As described above, according to the tenth embodiment, a configuration in which a pulse subjected to code modulation is transmitted and pulse compression processing is performed after reception (same configuration as in the third embodiment), and the number of FFT hit direction FFT points It has a configuration (same configuration as in the previous embodiment 8) for transmitting at the same frequency and measuring the distance. Thereby, the effects of the previous third and eighth embodiments can be obtained.

Embodiment 11 FIG.
FIG. 18 is a configuration diagram of the radar apparatus according to Embodiment 11 of the present invention. The radar apparatus according to the tenth embodiment includes the same frequency transmission type code modulation type multifrequency transmitter 15, circulator 2, transmission / reception antenna 3, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT 20, coarse It consists of precision Doppler estimated value consideration type same frequency transmission type target detection means 35, same frequency transmission type Doppler correction means 41, super-resolution distance measurement means 50, and pulse compression means 80, and measures the distance of target 4.

  Compared with the configuration of FIG. 16 in the radar apparatus of the tenth embodiment, the configuration of FIG. 18 in the eleventh embodiment is the same in terms of the coarse-precision Doppler estimated value consideration type instead of the same frequency transmission type target detection means 34. The difference is that a frequency transmission type target detection means 35 is provided.

  This different component has the following functions. The coarse accuracy Doppler estimation value consideration type same frequency transmission type target detection means 35 sets the speed ambiguity search range based on the coarse precision Doppler estimation value estimated in the course of the pulse compression processing of the pulse compression means 80.

Next, the operation of the radar apparatus according to the eleventh embodiment shown in FIG. 18 will be described focusing on components unique to the eleventh embodiment.
Radio waves are transmitted from the same frequency transmission type code modulation type multifrequency transmitter 15, circulator 2, and transmission / reception antenna 3. Thereafter, the operation is performed in the same manner as in the third embodiment, and the Doppler signals p _{1, nd, nr} ,..., P _{N, nd, nr} are sent to the coarse-accuracy Doppler estimated value consideration type same frequency transmission type target detection means 35. Communicated.

The pulse compression means 80 also transmits the coarse precision Doppler bin number n _d0 calculated in the course of the pulse compression process. The coarse precision Doppler estimated value consideration type same frequency transmission type target detection means 35 obtains a target speed estimated value considering the speed ambiguity by the following equation (20). Here, the symbol [[]] in the following equation (20) represents a function that outputs a rounded integer value.

と、レンジビン推定値

は、超分解能測距手段５０に伝達される。以降は、先の実施の形態１０と同様に動作し、測距値

が求められる。 Speed estimate

And the range bin estimate

Is transmitted to the super-resolution ranging means 50. Thereafter, the operation is the same as in the previous embodiment 10, and the distance measurement value

Is required.

  As described above, according to the eleventh embodiment, in addition to the configuration of the previous tenth embodiment, the target detection means includes the coarse accuracy Doppler estimated value consideration type same frequency transmission type target detection means. Thereby, in addition to the effect of previous Embodiment 10, by using the coarsely estimated Doppler estimation value, the speed ambiguity search range can be limited, and the processing load required for the ambiguity search can be reduced.

Embodiment 12 FIG.
FIG. 19 is a configuration diagram of a radar apparatus according to Embodiment 12 of the present invention. The radar apparatus according to the twelfth embodiment includes the same frequency transmission type multi-frequency transmitter 13, the circulator 2, the transmission / reception antenna 3, the mixer 5, the receiver 6, the A / D converter 7, the pulse hit direction FFT 20, the same frequency transmission type. The target detection unit 34, the same frequency transmission type Doppler correction unit 41, and the high-speed super-resolution ranging unit 51 perform ranging of the target 4.

  Compared with the configuration of FIG. 12 in the radar apparatus of the eighth embodiment, the configuration of FIG. 19 in the twelfth embodiment includes a high-speed super-resolution ranging means 51 instead of the super-resolution ranging means 50. Is different.

  This different component has the following functions. The high-speed super-resolution ranging means 51 is the same as that in the fifth embodiment.

が伝達される。以降は、先の実施の形態５と同様に動作し、測距値

が求められる。 Next, the operation of the radar apparatus according to the twelfth embodiment shown in FIG. 19 will be described focusing on components unique to the twelfth embodiment.
Radio waves are transmitted from the same frequency transmission type multi-frequency transmitter 13, circulator 2, and transmission / reception antenna 3. Thereafter, the operation is performed in the same manner as in the previous embodiment 8, and the Doppler correction signal is sent to the high-speed super-resolution ranging means 51.

Is transmitted. Thereafter, the same operation as in the previous embodiment 5 is performed, and the distance measurement value.

Is required.

  As described above, according to the twelfth embodiment, in addition to the configuration of the previous eighth embodiment, a configuration for performing super-resolution ranging processing using the ESPRIT method is provided. Thereby, in addition to the effect of the eighth embodiment, the distance measurement value can be calculated at high speed by the effect of using ESPRIT for the super-resolution processing.

Embodiment 13 FIG.
FIG. 20 is a configuration diagram of the radar apparatus according to Embodiment 13 of the present invention. The radar apparatus according to the thirteenth embodiment includes the same frequency transmission type multi-frequency transmitter 13, circulator 2, transmission / reception antenna 3, mixer 5, receiver 6, A / D converter 7, pulse hit direction FFT 20, speed average value output. The same frequency transmission type target detection means 36, the same frequency transmission type Doppler correction means 41, and the super-resolution distance measurement means 50 are used to measure the distance of the target 4.

  Compared to the configuration of FIG. 12 in the radar apparatus of the eighth embodiment, the configuration of FIG. 20 in the thirteenth embodiment is a speed average value output type same frequency transmission instead of the same frequency transmission type target detection means 34. The difference is that a mold target detecting means 36 is provided.

  This different component has the following functions. The speed average value output type identical frequency transmission type target detection means 36 outputs the average value of the speed estimated values calculated at the respective transmission frequencies.

Next, the operation of the radar apparatus according to the thirteenth embodiment shown in FIG. 20 will be described focusing on the components unique to the thirteenth embodiment.
Radio waves are transmitted from the same frequency transmission type multi-frequency transmitter 13, circulator 2, and transmission / reception antenna 3. Thereafter, the operation is performed in the same manner as in the previous embodiment 8, and the pulse hit direction FFT output signals p _{1, nd, nr} ,..., P _{N, nd, nr} is transmitted.

を、下式（２１）により求める。ここで、下式（２１）における

は、送信周波数ｆ_ｎによる送受信で推定されたドップラービンを表している。 The speed average value output type same frequency transmission type target detection means 36 is a target speed average value obtained from the Doppler bin estimated at each transmission frequency.

Is obtained by the following equation (21). Here, in the following formula (21)

Represents Doppler bins estimated by transmission and reception at the transmission frequency f _n .

を速度推定値とし、レンジビン推定値

と、速度推定値

が、同一周波数送信型ドップラー補正手段４１に伝達される。以降は、先の実施の形態８と同様に動作し、測距値

が求められる。 Target speed average value

Is the estimated speed and the estimated range bin

And the speed estimate

Is transmitted to the same frequency transmission type Doppler correction means 41. Thereafter, the operation is the same as in the previous embodiment 8, and the distance measurement value

Is required.

  As described above, according to the thirteenth embodiment, in addition to the configuration of the previous eighth embodiment, the target detection means for outputting the speed average value is provided. As a result, in addition to the effect of the previous embodiment 8, the effect of averaging the target speed estimated at each transmission frequency can reduce the estimation error of the speed estimation value even when the speed estimation value differs for each transmission frequency. Thus, the speed estimated value can be obtained.

Embodiment 14 FIG.
FIG. 21 is a configuration diagram of the radar apparatus according to Embodiment 14 of the present invention. The radar apparatus according to the fourteenth embodiment includes the same frequency transmission type multi-frequency transmitter 13, the circulator 2, the transmission / reception antenna 3, the mixer 5, the receiver 6, the A / D converter 7, the high-precision pulse hit direction FFT 21, the same frequency. The transmission type high-precision target detection unit 37, the same frequency transmission type Doppler correction unit 41, and the super-resolution ranging unit 50 measure the range of the target 4.

  Compared with the configuration of FIG. 12 in the radar apparatus of the eighth embodiment, the configuration of FIG. 21 in the fourteenth embodiment is a high-precision pulse instead of the pulse hit direction FFT 20 and the same frequency transmission type target detection means 34. The difference is that the hit direction FFT 21 and the same frequency transmission type high precision target detection means 37 are provided.

  These different components have the following functions: The high-precision pulse hit direction FFT21 is the same as that in the seventh embodiment. The same frequency transmission type high precision target detection means 37 outputs the speed and distance of the detection target considering the speed ambiguity for the high precision pulse hit direction FFT output signal.

Next, the operation of the radar apparatus according to the fourteenth embodiment shown in FIG. 21 will be described focusing on the components unique to the fourteenth embodiment.
Radio waves are transmitted from the same frequency transmission type multi-frequency transmitter 13, circulator 2, and transmission / reception antenna 3. Thereafter, the operation is the same as in the previous embodiment 7, and the Doppler signals p _{1, nd, nr} ,..., P _{N, nd, nr} are the same frequency transmission type high precision target detection means 37 and the same frequency transmission type. This is transmitted to the Doppler correction means 41- # n.

と、ドップラービンの推定値

を求める。 The same-frequency transmission type high-precision target detection means 37 first uses the power values of the Doppler signals _{pn, nd, nr} | _{pn, nd, nr} | ^2, and the false alarm probability (probability that noise is mistaken as the target signal) as a reference. Comparing with the set threshold, estimated value of range bin where transmission frequency number n and target signal exist

And the estimated Doppler bin

Ask for.

  And the target speed estimated value which considered speed ambiguity is calculated | required by the following Formula (22). Here, L which defines the range of the speed ambiguity in the following formula (22) is assumed to be set in advance.

と、レンジビン推定値

は、同一周波数送信型ドップラー補正手段４１に伝達される。以降は、先の実施の形態８と同様に動作し、測距値

が求められる。 Speed estimate

And the range bin estimate

Is transmitted to the same frequency transmission type Doppler correction means 41. Thereafter, the operation is the same as in the previous embodiment 8, and the distance measurement value

Is required.

が高精度に求まり、ドップラー補正を高精度に行うことができる。 As described above, according to the fourteenth embodiment, in addition to the configuration of the previous eighth embodiment, the high-precision pulse hit direction FFT and the high-precision target detection means are provided. Thereby, in addition to the effect of the previous embodiment 8, the target speed estimated value can be estimated by accurately estimating the Doppler frequency of the target signal.

Is obtained with high accuracy, and Doppler correction can be performed with high accuracy.

  2 circulator, 3 transmitting / receiving antenna, 4 target, 5 mixer, 6 receiver, 7 A / D converter, 10 multi-frequency transmitter, 11 transmission order random multi-frequency transmitter, 12 code modulation multi-frequency transmitter, 13 Same frequency transmission type multi-frequency transmitter, 14 Same frequency transmission type transmission order random type multi-frequency transmitter, 15 Same frequency transmission type code modulation type multi-frequency transmitter, 20 pulse hit direction FFT, 21 high precision pulse hit direction FFT, 30 target detection means, 31 coarse precision Doppler estimated value consideration type target detection means, 32 speed average value output type target detection means, 33 high precision target detection means, 34 same frequency transmission type target detection means, 35 coarse precision Doppler estimation value consideration Type same frequency transmission type target detection means, 36 speed average value output type same frequency transmission type target detection means, 37 same frequency Transmission type high-precision target detection means, 40 Doppler correction means, 41 Same frequency transmission type Doppler correction means, 50 Super-resolution distance measurement means, 51 High-speed type super-resolution distance measurement means, 61 Correlation matrix generation means, 62 MUSIC eigenvector calculation means 62a ESPRIT eigenvector calculation means, 63 MUSIC processing means, 63a ESPRIT processing means, 64 ambiguity search means, 70 sorting means, 80 pulse compression means.

Claims (18)

A transmission / reception system that generates radio waves by changing the frequency in steps and receives radio waves reflected by the target,
A target detection processing system for detecting the target based on the received radio wave;
In consideration of the speed ambiguity generated due to the Doppler frequency of the target signal being outside the range of the Doppler bandwidth, the phase rotation of the target signal due to the Doppler effect is corrected, and the corrected target signal A radar apparatus comprising: a super-resolution processing system that solves a speed ambiguity based on a phase change with respect to a transmission frequency direction and performs a target super-resolution ranging. The radar apparatus according to claim 1, wherein
The transmission / reception system is:
A multi-frequency transmitter that generates radio waves by changing the frequency stepwise;
A circulator for switching between transmission and reception of the radio wave;
A transmitting and receiving antenna for transmitting or receiving the radio wave;
A mixer for mixing the received signal and the reference signal;
A radar apparatus comprising: a receiver that performs band limitation and phase detection of the received signal. The radar apparatus according to claim 1, wherein
The target detection processing system is
An A / D converter that samples an analog signal to generate a digital signal;
A pulse hit direction FFT for obtaining the Doppler frequency of the received signal;
A radar apparatus comprising: target detection means for detecting the distance and speed of the target. The radar apparatus according to claim 1, wherein
The super-resolution processing system is
Doppler correction means for correcting the phase rotation of the target signal caused by the Doppler effect in consideration of the speed ambiguity generated due to the Doppler frequency of the target signal being outside the range of the Doppler bandwidth;
A radar apparatus comprising: super resolution processing means for solving a speed ambiguity based on a phase change of a corrected target signal in a transmission frequency direction and performing a super resolution ranging of the target. The radar apparatus according to claim 1, wherein
The transmission / reception system is:
A multi-frequency transmitter that generates radio waves by changing the frequency stepwise;
A circulator for switching between transmission and reception of the radio wave;
A transmitting and receiving antenna for transmitting or receiving the radio wave;
A mixer for mixing the received signal and the reference signal;
A receiver for performing band detection and phase detection of the received signal,
The target detection processing system is
An A / D converter that samples an analog signal to generate a digital signal;
A pulse hit direction FFT for obtaining the Doppler frequency of the received signal;
Target detection means for detecting the distance and speed of the target,
The super-resolution processing system is
Doppler correction means for correcting the phase rotation of the target signal caused by the Doppler effect in consideration of the speed ambiguity generated due to the Doppler frequency of the target signal being outside the range of the Doppler bandwidth;
A radar apparatus comprising: super resolution processing means for solving a speed ambiguity based on a phase change of a corrected target signal in a transmission frequency direction and performing a super resolution ranging of the target. The radar apparatus according to claim 5, wherein
The super-resolution processing means includes
Correlation matrix generating means for generating a correlation matrix representing a correlation between received signals;
Eigenvector calculating means for calculating an eigenvector of the correlation matrix;
MUSIC processing means for super-resolution ranging of the target distance by MUSIC processing based on the calculated eigenvector;
An orthogonality between a noise space generated by an eigenvector of an eigenvalue corresponding to a noise component calculated in the course of the MUSIC process and a steering vector representing a phase change with respect to the transmission frequency direction of the target signal is obtained, and the most orthogonality is obtained. A radar apparatus comprising: an ambiguity search unit that uses a distance measurement candidate value based on a large target speed candidate as a distance measurement value. The radar apparatus according to claim 6, wherein
The radar apparatus according to claim 1, wherein the super-resolution processing means includes, in place of the MUSIC processing means, ESPRIT processing means that performs super-resolution distance measurement of the target distance by ESPRIT processing. The radar device according to any one of claims 5 to 7,
The transmission / reception system, instead of the multi-frequency transmitter, has a transmission order random type multi-frequency transmission means for randomizing the transmission order of transmission frequencies,
The super-resolution processing system includes sorting means for rearranging received signals from a smaller transmission frequency to a larger transmission frequency after correcting the phase rotation. The radar device according to any one of claims 5 to 7,
The transmission / reception system has a code modulation type multi-frequency transmitter that generates a code-modulated pulse instead of the multi-frequency transmitter,
The radar apparatus according to claim 1, wherein the target detection processing system includes pulse compression means for compressing a code-modulated pulse in the digital signal generated by the A / D converter. The radar apparatus according to claim 9, wherein
The target detection processing system is a coarse precision Doppler estimated value considering type that sets a speed ambiguity search range from a rough precision Doppler estimated value estimated in the course of processing in the pulse compression means instead of the target detection means. A radar apparatus comprising target detection means. The radar device according to any one of claims 5 to 7,
The target detection processing system includes a speed average value output type target detection unit that outputs an average value of speed estimation values calculated at each transmission frequency, instead of the target detection unit. The radar device according to any one of claims 5 to 7,
The target detection processing system has a high-accuracy pulse hit direction FFT that estimates the Doppler frequency with high accuracy instead of the pulse hit direction FFT. The radar device according to any one of claims 5 to 7,
The transmission / reception system, instead of the multi-frequency transmitter, has the same frequency transmission type multi-frequency transmitter that transmits the same frequency as the number of points of the pulse hit direction FFT and then steps the transmission frequency,
The target detection processing system has the same frequency transmission type target detection means for detecting the target distance and speed in consideration of the transmission method of the same frequency transmission type multi-frequency transmission means instead of the target detection means. ,
The super-resolution processing system includes a same-frequency transmission type Doppler correction unit that performs Doppler correction in consideration of the transmission method of the same-frequency transmission type multi-frequency transmission unit instead of the Doppler correction unit. apparatus. The radar apparatus according to claim 13, wherein
Instead of the same frequency transmission type multi-frequency transmitter, the transmission / reception system transmits at the same frequency as the number of FFT hit points in the pulse hit direction, and then the transmission frequency is randomly stepped. Have a machine,
The super-resolution processing system includes sorting means for rearranging received signals from a smaller transmission frequency to a larger transmission frequency after correcting the phase rotation. The radar apparatus according to claim 13, wherein
The transmission / reception system, instead of the same frequency transmission type multi-frequency transmitter, transmits a pulse subjected to code modulation at the same frequency for the number of FFT hit points in the pulse hit direction, and then the same frequency transmission type code for stepping the transmission frequency A modulation type multi-frequency transmitter,
The radar apparatus according to claim 1, wherein the target detection processing system includes pulse compression means for compressing a code-modulated pulse in the digital signal generated by the A / D converter. The radar apparatus according to claim 15, wherein
The target detection processing system takes coarse transmission Doppler estimated in the process of the pulse compression means in consideration of the transmission method of the same frequency transmission type multi-frequency transmission means instead of the same frequency transmission type target detection means. A radar apparatus comprising: a coarse-precision Doppler estimated value-considered single-frequency transmission type target detection means for setting a velocity ambiguity search range from an estimated value. The radar apparatus according to claim 13, wherein
The target detection processing system outputs an average value of speed estimated values calculated at each transmission frequency in consideration of the transmission method of the same frequency transmission type multi-frequency transmission means instead of the same frequency transmission type target detection means. A radar apparatus comprising speed average value output type same frequency transmission type target detection means. The radar apparatus according to claim 13, wherein
The target detection processing system is
A radar apparatus having a high-accuracy pulse hit direction FFT that estimates the Doppler frequency with high accuracy in consideration of the transmission method of the same frequency transmission type multi-frequency transmission means instead of the pulse hit direction FFT.

Images