JP2010286398A - Radar apparatus, display control method for the same and program - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To display a plurality of target display signals sent from respective radar systems on a display screen in accordance with a certain rule; to facilitate an operator's operation of monitoring a plurality of emission lines; to lower a risk of slipping over a detection of the target; and to display a position of a plurality of targets moving at a high speed in real time. <P>SOLUTION: Target distance data included in respective display signals 201, are so converted as to be a distance in a reference display area by a distance data conversion circuit 109. Target angle data included in the respective display signals 201, are so converted as to be an angle in the reference display area by an angle data conversion circuit 109. Therefore, targets of respective display areas are instantaneously displayed on the reference display area in a superimposed fashion. Accordingly, since all targets are displayed in one reference display area, the monitoring operation of an operator is made easy, and the position of the plurality of targets moving at the high speed can be displayed in real time. <P>COPYRIGHT: (C)2011,JPO&INPIT

Description

  The present invention relates to a radar apparatus having a plurality of antennas, and a display control method and program thereof.

  In the radar apparatus, the radar indicator displays radar information (distance, azimuth, etc.) of the detection target object on the screen, and transmits the information to the operator. The radar indicator includes a PPI (plane position indicator) method and a B scope method depending on the application.

  FIG. 7 is a block diagram showing a radar apparatus according to Related Technique 1. Hereinafter, a description will be given with reference to FIG.

  The radar apparatus 50 of the related technique 1 is a general one having only one antenna 104. The radar system 123 includes an antenna 104, a transceiver 105, a signal processor 106, a scanning controller 107, and the like, and outputs a display signal (distance data, angle data, synchronization pulse) 230 to the indicator 112. In the radar system 123, a transmission / reception signal 231, a digital reception signal 232, a radar control signal 233, a radar control signal 234, and the like are input / output.

  The radar apparatus 50 operates as follows. The radar control signal 233 is output from the scanning controller 107 and controls the antenna 104. The transmission / reception signal 231 output from the transceiver 105 is emitted from the antenna 104 to the space as a radio beam, and the reflected radio wave is received by the antenna 104 again. The received reflected radio wave is input to the transceiver 105 as a transmission / reception signal 231 and output as a digital reception signal 232. The output digital reception signal 232 is input to the signal processor 106 together with the radar control signal 234 output from the scanning controller 107, output as a display signal 230, and input to the indicator 112. The display signal 230 includes video data that is a digital received signal 232 of the radar and symbol data (a part of the radar control signal 234) having plot color and shape information for display. An image is displayed on the screen of the indicator 112 based on the display signal 230.

  FIG. 8 is a diagram illustrating a display screen of the radar apparatus according to Related Technology 1. Hereinafter, a description will be given based on FIGS. 7 and 8.

  FIG. 8 shows an example in which the display signal 230 captured by the radar system 123 is input to the indicator 112 and the target is displayed on the PPI screen 51. When the information of the radar reception signal is input to the indicator 112, a bright line 52 that extends radially from the center O of the screen 51 and rotates at a constant speed is displayed. In FIG. 8, the center O is the position of the aerial line 104, the arrow 53 indicates the direction in which the bright line 52 rotates, the points 54, 55 and 56 indicate the target, and the dark colored portion 57 near the center indicates the reflected signal from the ground. , Respectively. The distance from the center O corresponds to the distance to the target, and the angle of the bright line 52 corresponds to the target azimuth. When the target is detected, the bright line 52 passes through the target position, and at the same time, a point corresponding to the target position is displayed.

  In the general radar apparatus 50 having only one antenna 104 as described above, when one bright line 52 passes, a radar display signal is displayed at the same time. Therefore, in order to monitor the display of the target appearing on the screen 51, basically, the movement of one bright line 52 may be watched. Therefore, since the load on the operator is small, there is a low risk that the detection of the target is overlooked or delayed.

  On the other hand, in order to efficiently monitor a region, a radar apparatus having a plurality of antennas and simultaneously irradiating a plurality of radio beams onto a space has been put into practical use. Such a radar device is shown in FIG.

  FIG. 9 is a block diagram showing a radar apparatus according to Related Technique 2. Hereinafter, a description will be given based on FIG.

  The radar apparatus according to Related Technology 2 has a plurality of aerial lines 104, and the plurality of aerial lines 104 divide and cover the coverage area. The first radar system 101 includes an antenna 104, a transceiver 105, a signal processor 106, a scanning controller 107, and the like, and outputs a first display signal (distance data, angle data, synchronization pulse) 201. In the first radar system 101, a first transmission / reception signal 204, a first digital reception signal 205, a first radar control signal 206, a first radar control signal 207, and the like are input / output. The second radar system 102,..., And the Nth radar system 103 have the same internal configuration as the first radar system 101, and the second display signal 202,. The signal 203 is output. On the output side, a first display signal converter 113, a second display signal converter 114,..., An Nth display signal converter 115, a display signal synthesizer 116, an indicator 112, etc. are provided. The first indicator display signal 216, the second indicator display signal 217,..., The Nth indicator display signal 218, the display composite signal 219, and the like are input / output.

  The radar device 60 operates as follows. Let the number of antennas 104 be N. At this time, the first, second,..., Nth display signals 201, 202, 203 output from the first, second,. The first, second,..., And Nth display signal converters 113, 114, and 115 respectively convert the signals into indicator display signals, and the first, second,. Output as display signals 216, 217, and 218. The first, second,..., Nth radar display signals 216, 217, and 218 are combined into one display composite signal 116 by the display signal combiner 116 and displayed on the indicator 112. .

  FIG. 10 is a diagram illustrating a display screen of the radar apparatus according to Related Technology 2. Hereinafter, a description will be given based on FIGS. 9 and 10.

  FIG. 10 shows a display example of the screen 61 of the indicator 112 in FIG. 9, and the same parts as those in FIG. In FIG. 10, the number N of antennas 104 is N = 3. 10, display signals 201, 202, and 203 output from the first, second,..., Nth radar systems 101, 102, and 103 in FIG. 9 are displayed in areas A, B, and C, respectively. Is done. In the radar device 60, the plurality of indicator display signals 216, 217, and 218 detected by the plurality of radar systems 101, 102, and 103 are simultaneously different on the screen 61 by the plurality of bright lines 52a, 52b, and 52c. Displayed in the direction (arrows 53a, 53b, 53c). However, if one operator continues to monitor the plurality of displays, the load is large, and there is a high risk that the operator may overlook target detection.

  As described above, in a radar apparatus having only one aerial line, the radar display signal is regularly displayed by one bright line, so that the risk of overlooking the target detection is low. On the other hand, in a radar apparatus having a plurality of antennas, there is a technique disclosed in Patent Document 1 as means for reducing the risk of overlooking detection, as in a radar apparatus having only one antenna. This type of technology is shown as related technology 3 in FIG.

  FIG. 11 is a block diagram showing a radar apparatus according to Related Technology 3. Hereinafter, a description will be given based on FIG.

  The radar apparatus 70 according to the related technique 3 includes first, second,..., Nth display signal holders for holding display signals 201, 202, 203 generated by a plurality of radar systems 101, 102, 103. 118, 119, 120 and a display control signal 220 for arbitrarily extracting the first, second,..., Nth time division radar display signals 221, 222, 223 from the display signal holders 118, 119, 120. A display signal controller 117 for generating, a display signal converter 121 for converting the extracted first, second,..., Nth time division radar display signals 221, 222, 223 into a display signal 224; And an indicator 112 for displaying the display signal 224.

  In the radar apparatus 70, the display control signal 220 is arbitrarily controlled, so that the plurality of time division radar display signals 221, 222, and 223 held by the display signal holders 118, 119, and 120 are It can be displayed on the display screen according to certain rules.

  According to the radar device 70, the first, second,..., Nth display signals 201, 202 output from the first, second,..., Nth radar systems 101, 102, 103. , 203 are sequentially held in the first, second,..., Nth display signal holders 118, 119, 120, respectively, and a predetermined display is performed by a display control signal 220 output by the display signal controller 117. In accordance with the procedure, the first, second,..., Nth time division radar display signals 221, 222, and 223 can be sequentially output. By displaying a plurality of time-division radar display signals 221, 222, and 223 sequentially output on the display screen according to a certain rule, the risk of overlooking the target detection by the operator is reduced.

  Although the above method has the effect of reducing the risk of overlooking the target detection by the operator, there is a delay of a maximum of one scan from the holding of each display signal 201, 202, 203 to display. End up. In addition, when the target moves at a high speed, an error between the actual position of the target and the display position increases during one scan, and thus the accurate position of the target cannot be grasped in real time.

Japanese Patent Laid-Open No. 03-233382

  The first problem is that there is a high risk that an operator may overlook target detection in the received signal display method (related technique 2) in a radar apparatus having a plurality of antennas. The reason is that the display signal is displayed on the display screen in different directions at the same time, so there are multiple bright lines, and one operator must keep monitoring multiple bright lines at the same time. This is because the risk of overlooking the target detection is high.

  The second problem is that in Related Technique 3, when the target moves at high speed, the exact position of the target cannot be specified. The reason is that when the target moves at a high speed, an error due to a delay of up to one scan occurs between the actual target position and the target position on the display screen. This is because it cannot be identified.

  Accordingly, an object of the present invention is to display display signals of a plurality of ranges from a plurality of radar systems according to a certain rule on a display screen, to facilitate monitoring by an operator, and to reduce the risk of overlooking target detection. In addition, another object is to provide a radar device or the like that can display the positions of a plurality of targets moving at high speed in real time.

A radar apparatus according to the present invention
A plurality of radar systems that detect a target based on the reflected radio wave received by the antenna and output a display signal including distance data and angle data of the target,
The plurality of radar systems output the display signals for different display areas.
In radar equipment
A plurality of distance data conversion signals obtained by converting the distance data included in the plurality of display signals output from the plurality of radar systems to be the distance in the reference display area which is one same display area are output. Distance data conversion means;
Angle data conversion means for outputting a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals output from the plurality of radar systems into angles in the reference display area;
It is provided with.

The display control method according to the present invention includes:
A plurality of radar systems that detect a target based on the reflected radio wave received by the antenna and output a display signal including distance data and angle data of the target,
The plurality of radar systems output the display signals for different display areas.
In a display control method used in a radar device,
A plurality of distance data conversion signals obtained by converting the distance data included in the plurality of display signals output from the plurality of radar systems to be the distance in the reference display area which is one same display area are output. ,
Outputting a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals output from the plurality of radar systems so as to be angles in the reference display area;
It is characterized by that.

A display control program according to the present invention includes:
A plurality of radar systems that detect a target based on the reflected radio wave received by the antenna and output a display signal including distance data and angle data of the target,
The plurality of radar systems output the display signals for different display areas.
In a display control program used for a radar device,
A plurality of distance data conversion signals obtained by converting the distance data included in the plurality of display signals output from the plurality of radar systems to be the distance in the reference display area which is one same display area are output. Distance data conversion means, and
Angle data conversion means for outputting a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals output from the plurality of radar systems into angles in the reference display area;
It is for making a computer function as.

  According to the present invention, in a radar device having a plurality of antennas, a plurality of target display signals from each radar system are displayed on a display screen according to a certain rule, facilitating monitoring by an operator, and overlooking a target detection. In addition to being able to reduce the risk, the positions of a plurality of targets moving at high speed can be displayed in real time.

1 is a block diagram illustrating a radar device according to a first embodiment. 4 is a flowchart illustrating an example of an operation performed by a display control program according to the first embodiment. It is a figure which shows the display screen (the 1) of the radar apparatus of Embodiment 1. It is a figure which shows the display screen (the 2) of the radar apparatus of Embodiment 1. It is a block diagram which shows the radar apparatus of Embodiment 2. It is a figure which shows the display screen of the radar apparatus of Embodiment 2. FIG. It is a block diagram which shows the radar apparatus of related technology 1. It is a figure which shows the display screen of the radar apparatus of related technology 1. It is a block diagram which shows the radar apparatus of related technology 2. It is a figure which shows the display screen of the radar apparatus of related technology 2. It is a block diagram which shows the radar apparatus of related technology 3.

  Next, embodiments of the present invention will be described in detail with reference to the drawings. FIG. 1 is a block diagram showing a radar apparatus according to Embodiment 1 of the present invention. Hereinafter, a description will be given based on FIG.

  The radar apparatus 10 according to the first embodiment detects a target based on a reflected radio wave received by the antenna 104 and outputs a radar system 101 that outputs a display signal 201 including a target distance data and angle data. There are several. The plurality of radar systems 101,... Output display signals 201,.

  The radar apparatus 10 includes a distance data conversion circuit 109 as a distance data conversion unit and an angle data conversion circuit 110 as an angle data conversion unit. The distance data conversion circuit 109 converts the distance data included in the plurality of display signals 201,... Output from the plurality of radar systems 101,... To be the distance in the reference display area that is one same display area. The plurality of distance data conversion signals 209,. The angle data conversion circuit 110 converts a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals 201 output from the plurality of radar systems 101,. 212,... Are output.

  The plurality of radar systems 101,... Detect a target based on the reflected radio wave received by each antenna 104, and output display signals 201,... Including the target distance data and angle data for each different display area. . The target distance data included in each display signal 201,... Is converted by the distance data conversion circuit 109 so as to be the distance in the reference display area. The target angle data included in each of the display signals 201,... Is converted by the angle data conversion circuit 109 so as to be an angle in the reference display area. Therefore, each target in each display area is displayed so as to be instantaneously superimposed on the reference display area. Therefore, since all targets are displayed in one reference display area, monitoring by the operator is facilitated, and the positions of a plurality of targets moving at high speed can be displayed in real time.

  Next, an example of the operation of the distance data conversion circuit 109 and the angle data conversion circuit 110 will be described. First, one of the plurality of display areas is set as a reference display area, and the rest is set as a superimposed display area. The minimum value and the maximum value of the angle data included in the display signal for the reference display area are θ1min and θ1max, respectively. The distance data, the angle data, and the minimum and maximum values of the angle data included in the display signal for the superimposed display area are θ, R, θmin, and θmax, respectively.

At this time, the distance data conversion circuit 109 converts the distance data R included in the display signal for the superimposed display area into the distance data conversion signal R2 by the following equation (i) so as to be the distance in the reference display area.
R2 = R (i)

The angle data conversion circuit 110 converts the angle data θ included in the display signal for the superimposed display area into an angle data conversion signal θ2 by the following equation (ii) so as to be an angle in the reference display area.
θ2 = (θ−θmin + θ1min) × (θ1max−θ1min) / (θmax−θmin) (ii)

  The radar apparatus 10 may further include a display data adding circuit 122 as display data adding means for changing a symbol indicating a target for each display area. In this case, since the symbol indicating the target is different for each display area, it is possible to instantaneously determine which symbol belongs to which display area, so that monitoring by the operator becomes easier.

  Next, the display control method according to the first embodiment will be described. The display control method according to the first embodiment is realized as the operation of each unit of the radar apparatus 10. That is, the display control method according to the first embodiment includes the following two steps. The distance data conversion circuit 109 converts the distance data included in the plurality of display signals 201,... Output from the plurality of radar systems 101,... To be the distance in the reference display area that is one same display area. A distance data conversion step of outputting a plurality of distance data conversion signals 209,. The angle data conversion circuit 110 converts a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals 201 output from the plurality of radar systems 101,. Angle data conversion step for outputting 212,. You may add the step (display data addition step) which makes the symbol which shows a target differ for every display area to these steps. According to the display control method of the first embodiment, the same operations and effects as the radar apparatus 10 are achieved.

  Next, the display control program of Embodiment 1 will be described. The display control program according to the first embodiment causes a computer to function each unit of the radar apparatus 10. That is, the display control program of the first embodiment uses the distance data included in the plurality of display signals 201 output from the plurality of radar systems 101,... As the distance in the reference display area that is one same display area. The distance data conversion means for outputting the plurality of distance data conversion signals 209,... Converted in such a manner, and the angle data included in the plurality of display signals 201,... Output from the plurality of radar systems 101,. The computer is caused to function as angle data conversion means for outputting a plurality of angle data conversion signals 212,... Converted to have an angle in the reference display area. Display data adding means for making a symbol indicating a target different for each display area may be added to these means. According to the display control program of the first embodiment, the same operations and effects as the radar apparatus 10 are obtained.

  The computer in this case may be a general computer including a CPU, a memory, and the like. The CPU reads, interprets, and executes the display control program of the first embodiment from a memory or the like. As an example of the operation, as shown in FIG. 2, the distance data is converted and a distance data conversion signal is output (step S11), the angle data is converted and an angle data conversion signal is output (step S12). Is different for each display area (step S13). Of the other functions of the radar apparatus 10, those that can be realized by software may be programmed together with the display control program of the first embodiment.

  According to the first embodiment, in the radar apparatus 10 having a plurality of antennas 104, a plurality of target display signals from each radar system 101,... Are displayed on the display screen according to a certain rule, thereby monitoring by an operator. In addition to reducing the risk of overlooking the detection of the target, the position of a plurality of targets moving at high speed can be displayed in real time. The reason will be described in detail below.

  FIG. 3 is a diagram illustrating a display screen (No. 1) of the radar apparatus according to the first embodiment. FIG. 10 is a diagram illustrating the display screen of the radar apparatus according to the related technique 2 as described above. Hereinafter, description will be made based on FIGS. 1, 3, and 10.

  FIG. 10 is an example of PPI display by the radar apparatus 60 (FIG. 9) having a plurality of antennas 104. FIG. FIG. 3 is an example of PPI display by the radar apparatus 10 having a plurality of antennas 104. At this time, the number N of the antennas 104 is N = 3.

In FIG. 10, among the plurality of antennas, the combined display signals from the first, second,..., Nth antennas are displayed in regions A, B, and C of FIG. In each of the areas A, B, and C, the coordinates of one point on the bright line of the display signal at a certain time are represented by distance data R (R ≧ 0 (R _max is the maximum value of R)) and angle data θ (0 ° ≦ θ <360 °) is used as A (R _A , θ _A ), B (R _B , θ _B ), and C (R _C , θ _C ), respectively. At this time, the minimum values of θ _A , θ _B , and θ _C are θ _Amin , θ _Bmin , θ _Cmin , and the maximum values are θ _Amax , θ _Bmax , θ _Cmax . θ _Amin = 0 ° <θ _B <θ _C.

In the first embodiment, the areas A, B, and C in FIG. 10 are displayed so as to overlap with the area D in FIG. The coordinates in the region D of FIG. 3 are D1 (R _D1 , θ _D1 ), D2 (R _D2 , θ _D2 ), and D3 (R _D3 , θ _D3 ). At this time, the minimum values of θ _D1 , θ _D2 , and θ _D3 are θ _D1min , θ _D2min , θ _D3min , and the maximum values are also θ _D1max , θ _D2max , θ _D3max .

  In the first embodiment, a mathematical expression for converting the coordinates of the areas A, B, and C in FIG. 10 into the coordinates of the area D in FIG. 3 is shown below.

First, the conversion formula of the distance data R is shown below.
R _D1 = R _A (1)
R _D2 = R _B (2)
R _D3 = R _C (3)
The area D is displayed in the range in which the area A was displayed in FIG. 10 and retains the same shape as the area A. That is, the area A corresponds to the above-described “reference display area”, and the areas B and C correspond to the above-described “superimposed display area”.

  By the formulas (1) to (3), the distance data of the areas A, B, and C in FIG. 10 can be converted into the distance data of the same range (area D) for display in FIG.

Next, the conversion formula of the angle data θ is shown below.
θ _D1 = θ _A (4)
θ _B '= θ _B − (θ _Amax −θ _Amin ) (5)
θ _D2 = θ _B '× (θ _Amax −θ _Amin ) / (θ _Bmax −θ _Bmin ) (6)
θ _C '= θ _C − (θ _Bmax −θ _Amin ) (7)
θ _D3 = θ _C '× (θ _Amax −θ _Amin ) / (θ _Cmax −θ _Cmin ) (8)
From Equations (5) and (7), θ _Bmin '= θ _Cmin ' = θ _D1min = θ _D2min = θ _D3min = 0 °.

Finally, by replacing θ _B ′ with θ _D2 and θ _C ′ with θ _{D3 according} to equations (6) and (8), the angle data of the regions A, B, and C in FIG. It can be converted into angle data compressed in the range of region D.

Next, display data is converted in order to change the color and shape of the data symbol for each area, and to display the data as a plot that emphasizes the color of the data symbol displayed for the area of interest. Perform additional processing.
D1 (θ _D1 ) = a × D1 (θ _D1 ) (9)
D2 (θ _D2 ) = b × D2 (θ _D2 ) (10)
D3 (θ _D3 ) = c × D3 (θ _D3 ) (11)
In equations (9) to (11), a, b, and c are additional data for displaying different plots.

  According to the above formula, before the conversion, the bright lines corresponding to the number of radio wave beams are combined into one and displayed as a plot emphasized in different colors, shapes, etc. Therefore, the coordinates of the regions A, B, and C in FIG. 3 can be converted into the coordinates of the region D in FIG. 3, and the above-described effects can be obtained.

  3, display signals 201, 202, and 203 output from the first, second,..., Nth radar systems 101, 102, and 103 in FIG. The A plurality of indicator display signals 226, 227, and 228 detected by the plurality of radar systems 101, 102, and 103 are simultaneously displayed on the screen 11 in the same direction (arrow 13) by one bright line 12. . The center O is the position of the aerial line 104, and the dark color portion 17 near the center indicates a reflection signal from the ground.

  As described above, when one bright line 12 passes, a radar display signal is displayed at the same time. Therefore, in order to monitor the display of the target appearing on the screen 11, basically, it is only necessary to watch the movement of one bright line 12. Therefore, since the load on the operator is small, there is a low risk that the detection of the target is overlooked or delayed.

  In addition, it is possible to display with the B scope type indicator instead of the PPI type indicator according to the above conversion formulas (1) to (11). A display example by the B scope method is shown in FIG.

  FIG. 4 is a diagram illustrating a display screen (No. 2) of the radar apparatus according to the first embodiment. Hereinafter, a description will be given based on FIG. 4, parts corresponding to those in FIG. 3 are denoted by the same reference numerals.

  Also in FIG. 4, the number N of antennas is N = 3. The B scope has a rectangular display screen in which the horizontal axis represents the target angular direction from the antenna and the vertical axis represents the target distance from the antenna. The received signal received by the radar device having a plurality of aerial lines is displayed regularly by one bright line scanned left and right parallel to the vertical axis, as in the PPI indicator, and only one bright line is watched. Therefore, the burden of monitoring the operator is small, and the risk of overlooking the target detection is low. That is, as shown in the display example by the B-scope method in FIG. 4, display signals from a plurality of radar systems are regularly displayed by a single bright line by a B-scope method indicator, thereby the PPI method. The same effect as the display by can be obtained.

  Next, the radar apparatus 10 according to the first embodiment will be described in more detail.

[Description of configuration]
As shown in FIG. 1, the radar apparatus 10 includes first, second,..., Nth radar systems 101, 102, and 103. Each radar system 101 radiates a radio beam and receives a reflected radio wave from space, and generates a transmission signal 204 and detects the reflected radio wave received by the aerial 104 and A / D converts it into a digital received signal 205. A transmitter / receiver 105 for outputting, a scanning controller 107 for scanning a radio wave beam by a radar control signal 206, and a signal processor 106 for outputting a display signal 201 from the digital reception signal 205 and the radar control signal 207 are provided. .

  The radar apparatus 10 includes first, second,..., Nth display signals 201, 202 output from the first, second,..., Nth radar systems 101, 102, 103. , 203, and distance data conversion circuit 109 that outputs first, second,..., Nth distance data conversion signals 209, 210, 211, and first, second,. The angle data conversion circuit 110 converts angle data from the Nth distance data conversion signals 209, 210, 211, and outputs first, second,..., Nth angle data conversion signals 212, 213, 214. , The display data is converted from the first, second,..., Nth angle data conversion signals 212, 213, 214, and the first, second,. Display data adding circuit 12 for outputting 227 and 228 A display signal synthesizer 111 that synthesizes the first, second,..., Nth display data conversion signals 226, 227, and 228 with a display combined signal 215, a distance data conversion circuit 109, and an angle data conversion circuit. 110, a display signal controller 108 for controlling the display data adding circuit 122 by a display control signal 208, and an indicator 112 for displaying the synthesized display combined signal 215. The first, second,..., Nth display signals 201, 202, 203 are partly converted by each circuit and finally become a display composite signal 215. That is, other data before or after conversion is also added to the “•• data conversion signal”.

[Description of operation]
The first, second, ..., Nth display signals 201, 202, 203 output from the first, second, ..., Nth radar systems 101, 102, 103 are converted into distance data. The signal is input to the circuit 109, converted into first, second,..., Nth distance data conversion signals 209, 210, 211 and output. The conversion formulas at that time are as shown in formulas (1), (2), and (3). Each output signal is input to the angle data conversion circuit 110, converted into first, second,..., Nth angle data conversion signals 212, 213, and 214 and output. The conversion formulas at that time are as shown in formulas (4), (5), (6), (7), and (8). The outputted first, second,..., Nth angle data conversion signals 212, 213, 214 are inputted to the display data adding circuit 122, and the first, second,. Display data conversion signals 226, 227, and 228 are converted and output. The conversion formulas at that time are as shown in formulas (9), (10), and (11). The converted first, second,..., Nth display data conversion signals 226, 227, 228 are input to the display signal combiner 111 and output as a combined display combined signal 215 for display. The The combined display combined signal 215 is input to the indicator 112 and displayed.

  With the above configuration, as in the display example shown in FIG. 3, a plurality of target display signals from each radar system are displayed on the display screen according to a certain rule, so that the operator can easily monitor the targets from the plurality of radar systems. Thus, the risk of overlooking the target detection is reduced, and the positions of a plurality of targets moving at high speed are displayed in real time without error.

  Next, Embodiment 2 of the present invention will be described with reference to FIG. FIG. 5 is a block diagram showing a radar apparatus according to Embodiment 2 of the present invention. Hereinafter, a description will be given based on FIG. In FIG. 5, the same parts as those in FIG.

  The radar apparatus 20 of the second embodiment further includes a display data switching circuit 124 as display data switching means for switching the reference display area to any one of a plurality of display areas in the radar apparatus of the first embodiment. It is provided.

  In the first embodiment, in the case of a PPI type radar indicator, the distance and angle between two points in the region D coincide with the actual positional relationship in terms of only the region A. However, since the regions B and C are distorted without matching the region A, there is a drawback that it is difficult to intuitively understand the actual position even if the target is detected. In order to compensate for this drawback, the second embodiment has a configuration in which a display data switching circuit 124 that switches display signals displayed in the areas A, B, and C and inputs the signals to the area D is added. The operation of the other configuration is the same as that of the radar apparatus of FIG. 1 described in the first embodiment.

  In the second embodiment, by adding the display data switching circuit 124 before the distance data conversion circuit 119, the first, second,..., Nth displayed in the areas A, B, and C, respectively. The display signals 201, 202, 203 are replaced with the first, second,..., Nth display data switching signals 235, 236, 237 and output. In the subsequent circuits, the first, second,..., Nth display data switching signals 235, 236, and 237 are processed in the same manner as in the first embodiment, and can be arbitrarily displayed in the region D, respectively. Become. That is, even if the target appears in any of the first, second,..., N-th display signals 201, 202, 203, the operator instantly switches the display area and intuitively sets the angle and distance. The effect that can be determined is obtained.

  FIG. 6 is a diagram illustrating a display screen of the radar apparatus according to the second embodiment. Hereinafter, a description will be given based on FIGS. 5 and 6. In FIG. 6, parts corresponding to those in FIG.

  In the second embodiment, an example will be described below in which the coordinates of the areas A, B, and C in FIG. 10 are displayed superimposed on the area D in FIG. As an example, it is shown below that the region B matches the display of the region D. This is equivalent to switching the reference display area from the area A to the area B.

  FIG. 6 is an example of a PPI scope display screen by the radar apparatus 20 according to the second embodiment. In FIG. 6, the number N of antennas is N = 3. The first, second,..., Nth display signals 201, 202, 203 displayed in the areas A, B, C in FIG. 10 are input to the display data switching circuit 124, and the first, The second,..., Nth display data switching signals 235, 236, and 237 are replaced and output. Formulas in which the coordinates of the areas A, B, and C in FIG. 10 are converted into the coordinates of the area D in FIG. 6 according to the second embodiment are shown below.

First, the conversion formula of the distance data R is shown below.
R _A '= R _B (12)
R _B '= R _C (13)
R _C '= R _A (14)
R _A = R _A '(15)
R _B = R _B '(16)
R _C = R _C '(17)
By the above equation (12) to (17), the distance data R, the R _B is R _A, R _C is the R _B, R _A is a R _C, the was switched each data. Thereafter, it is equivalent to the conversion formulas (1) to (3) of the first embodiment.

Next, the conversion formula of the angle data θ is shown below.
θ _A '= θ _B (18)
θ _B '= θ _C (19)
θ _C '= θ _A (20)
θ _A = θ _A '(21)
θ _B = θ _B '(22)
θ _C = θ _C '(23)
By the above equation (18) to (23), the angle data R, theta and _B is theta _A respectively, the theta _C is theta _B, theta _A in the theta _C, the was switched each data. Thereafter, it is equivalent to the conversion formulas (4) to (8) of the first embodiment.

  By the above conversion formula, the coordinates of the areas A, B, and C can be arbitrarily switched to the data to be displayed congruent with the area D, and the first, second,. Even if a target appears in the display signals 201, 202, and 203, there is an effect that the operator can instantaneously switch the display area and intuitively determine the angle and distance. In the second embodiment, the present invention can be implemented as a display control method or a program as in the first embodiment.

  Although the present invention has been described with reference to the above embodiments, the present invention is not limited to the above embodiments. Various changes that can be understood by those skilled in the art can be made to the configuration and details of the present invention. Further, the present invention includes a combination of some or all of the configurations of the above-described embodiments as appropriate.

  INDUSTRIAL APPLICABILITY The present invention can be used for improving the efficiency of monitoring work and improving the monitoring accuracy by a radar apparatus having a plurality of antennas.

DESCRIPTION OF SYMBOLS 10 Radar apparatus 20 Radar apparatus 101 1st radar system 102 2nd radar system 103 Nth radar system 104 Antenna 105 Transceiver 106 Signal processor 107 Scanning controller 108 Display signal controller 109 Distance data conversion circuit (distance data) Conversion means)
110 Angle data conversion circuit (angle data conversion means)
DESCRIPTION OF SYMBOLS 111 Display signal synthesizer 112 Indicator 113 1st display signal converter 114 2nd display signal converter 115 Nth display signal converter 116 Display signal synthesizer 117 Display signal controller 118 1st display signal holder 119 Second display signal holder 120 Nth display signal holder 121 Display signal converter 122 Display data addition circuit (display data addition means)
123 Radar system 124 Display data switching circuit (display data switching means)
201 First display signal (distance data, angle data, synchronization pulse)
202 Second display signal (distance data, angle data, synchronization pulse)
203 Nth display signal (distance data, angle data, sync pulse)
204 First transmission / reception signal 205 First digital reception signal 206 First radar control signal 207 First radar control signal 208 Display control signal 209 First distance data conversion signal 210 Second distance data conversion signal 211 Nth Distance data conversion signal 212 first angle data conversion signal 213 second angle data conversion signal 214 Nth angle data conversion signal 215 display composite signal 216 first indicator display signal 217 second indicator display Signal 218 Nth indicator display signal 219 Display composite signal 220 Display control signal 221 First time division radar display signal 222 Second time division radar display signal 223 Nth time division radar display signal 224 For display Composite signal 225 Display control signal 226 First display data conversion signal 227 Second display data conversion signal 228 The N display data conversion signal 229 for display combined signal 230 first display signal (distance data and angle data sync pulses)
231 First transmission / reception signal 232 First digital reception signal 233 First radar control signal 234 First radar control signal 235 First display data switching signal 236 Second display data switching signal 237 Nth display data switching signal

Claims (12)

A plurality of radar systems that detect a target based on the reflected radio wave received by the antenna and output a display signal including distance data and angle data of the target,
The plurality of radar systems output the display signals for different display areas.
In radar equipment
A plurality of distance data conversion signals obtained by converting the distance data included in the plurality of display signals output from the plurality of radar systems to be the distance in the reference display area which is one same display area are output. Distance data conversion means;
Angle data conversion means for outputting a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals output from the plurality of radar systems into angles in the reference display area;
A radar apparatus comprising: The radar apparatus according to claim 1, wherein
Of the plurality of display areas, one is the reference display area, the rest is a superimposed display area,
The minimum value and the maximum value of the angle data included in the display signal for the reference display area are θ1min and θ1max, respectively.
When the distance data, the angle data, and the minimum and maximum values of the angle data included in the display signal for the superimposed display area are θ, R, θmin, and θmax, respectively.
The distance data conversion means converts the distance data R included in the display signal for the superimposed display area into a distance data conversion signal R2 by the following equation (i) so as to be a distance in the reference display area,
R2 = R (i)
The angle data conversion means converts the angle data θ included in the display signal for the superimposed display area into an angle data conversion signal θ2 by the following equation (ii) so as to be an angle in the reference display area.
θ2 = (θ−θmin + θ1min) × (θ1max−θ1min) / (θmax−θmin) (ii)
Radar apparatus characterized by the above. The radar apparatus according to claim 2, wherein
Display data adding means for changing the symbol indicating the target for each display area;
A radar apparatus, further comprising: The radar apparatus according to claim 3, wherein
Display data switching means for switching the reference display area to any one of the plurality of display areas,
A radar apparatus, further comprising: A plurality of radar systems for detecting a target based on the reflected radio wave received by the antenna and outputting a display signal including distance data and angle data of the target;
The plurality of radar systems output the display signals for different display areas.
In a display control method used in a radar device,
A plurality of distance data conversion signals obtained by converting the distance data included in the plurality of display signals output from the plurality of radar systems into a distance in a reference display area which is one same display area; ,
Outputting a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals output from the plurality of radar systems so as to be an angle in the reference display area;
A display control method characterized by the above. The display control method according to claim 5,
Of the plurality of display areas, one is the reference display area, the rest is a superimposed display area,
The minimum value and the maximum value of the angle data included in the display signal for the reference display area are θ1min and θ1max, respectively.
When the distance data, the angle data, and the minimum and maximum values of the angle data included in the display signal for the superimposed display area are θ, R, θmin, and θmax, respectively.
When outputting the plurality of distance data conversion signals, the distance data R included in the display signal for the superimposed display area is converted by the following formula (i) so as to be the distance in the reference display area. Converted to signal R2,
R2 = R (i)
When outputting the plurality of angle data conversion signals, the angle data conversion is performed by the following equation (ii) so that the angle data θ included in the display signal for the superimposed display area becomes an angle in the reference display area. Converted to the signal θ2,
θ2 = (θ−θmin + θ1min) × (θ1max−θ1min) / (θmax−θmin) (ii)
A display control method characterized by the above. The display control method according to claim 6,
A symbol indicating the target is made different for each display area;
A display control method characterized by the above. The display control method according to claim 7,
Switching the reference display area to any one of the plurality of display areas;
A display control method characterized by the above. A plurality of radar systems for detecting a target based on the reflected radio wave received by the antenna and outputting a display signal including distance data and angle data of the target;
The plurality of radar systems output the display signals for different display areas.
In a display control program used for a radar device,
A plurality of distance data conversion signals obtained by converting the distance data included in the plurality of display signals output from the plurality of radar systems to be the distance in the reference display area which is one same display area are output. Distance data conversion means, and
Angle data conversion means for outputting a plurality of angle data conversion signals obtained by converting the angle data included in the plurality of display signals output from the plurality of radar systems into angles in the reference display area;
Display control program for causing a computer to function as a computer. The display control program according to claim 9, wherein
Of the plurality of display areas, one is the reference display area, the rest is a superimposed display area,
The minimum value and the maximum value of the angle data included in the display signal for the reference display area are θ1min and θ1max, respectively.
When the distance data, the angle data, and the minimum and maximum values of the angle data included in the display signal for the superimposed display area are θ, R, θmin, and θmax, respectively.
The distance data conversion means converts the distance data R included in the display signal for the superimposed display area into a distance data conversion signal R2 by the following equation (i) so as to be a distance in the reference display area,
R2 = R (i)
The angle data conversion means converts the angle data θ included in the display signal for the superimposed display area into an angle data conversion signal θ2 by the following equation (ii) so as to be an angle in the reference display area.
θ2 = (θ−θmin + θ1min) × (θ1max−θ1min) / (θmax−θmin) (ii)
A display control program characterized by that. The display control program according to claim 10,
Furthermore, as display data adding means for making the symbol indicating the target different for each display area,
A display control program for causing the computer to function. The display control program for a radar apparatus according to claim 11,
Furthermore, as display data switching means for switching the reference display area to any one of the plurality of display areas,
A display control program for causing the computer to function.

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