JP2013221785A - Radar signal processing apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To highly reliably and stably avoid reduction of accuracy of positioning or range-finding due to false images generated by various forms in a radar signal processing apparatus for removing or suppressing components of false images included in radar signals individually received by a plurality of radars in which at least a part of coverage is the same.SOLUTION: The radar signal processing apparatus includes: peak identification means for identifying a point of time or a period in which an instantaneous value is regarded as a peak value in each of a plurality p of radar signals individually received by a plurality p of radars in which at least a part of coverage is the same; mapping means for mapping a coordinate system common to the point of time or the period identified by the peak identification means; and false image suppression means for acquiring a common set in the point of time or the period individually obtained in the mapping in each of the plurality p of radar signals.

Description

  The present invention relates to a radar signal processing apparatus that removes or suppresses false image components contained in radar signals individually received by a plurality of radars having at least a part of the covered area.

The safety of ship navigation in harbors is AIS (Automatic
VTS (Vessel) that enables navigation control of each ship by a combination of navigation aids such as Identification System and communication means such as international VHF
It is secured by the Traffic Service) to improve efficiency.

  In such a VTS, positioning and ranging of a ship to be controlled on a predetermined route or at sea are performed by radar signals obtained by radars installed at different sites and having at least part of the same coverage area. By performing the signal processing, all of the sea area and the channel where the corresponding ship can be located are stably secured as the cover area.

FIG. 3 is a diagram illustrating a configuration example of a radar positioning system in the VTS.
In the figure, a radar signal Sa received by a first radar (hereinafter referred to as “radar a”) is given to the input of the signal conversion unit 31a. Further, a radar signal Sb received by a second radar (hereinafter referred to as “radar b”) is given to the input of the signal conversion unit 31b. The output of the signal conversion unit 31a is connected to the first input of the integration processing unit 34 via the target detection unit 32a and the tracking processing unit 33a. The output of the signal conversion unit 31b is connected to the second input of the integration processing unit 34 via the target detection unit 32b and the tracking processing unit 33b. The output of the integrated processing unit 34 is connected to a processing device (not shown).

  In the following, it is assumed that radar a and radar b are installed at different geographically separated sites, and the coverage area of both includes a common sea area (route) where the ship subject to the above control can navigate. Assume. In the following, for the radar signals Sa and Sb, it is assumed that a reflected wave arriving from a ship to be positioned is indicated as an A scope.

  In the radar positioning system having such a configuration, the signal converters 31a and 31b demodulate the radar signals Sa and Sb, respectively, and generate signals SAa and SAb that individually indicate the results of these demodulations as A scopes.

  The target detection units 32a and 32b take in the signals SAa and SAb and store them in association with the scan direction and the sweep direction. For example, the target detection units 32a and 32b individually identify individual targets on the PPI scope and Generate columns Ia and Ib of information indicating the position, shape, dimensions, and the like.

  The tracking processing units 33a and 33b individually capture the above-described information columns Ia and Ib, capture the target such as a ship indicated by the corresponding information column, and perform tracking (giving unique identification, estimating the destination and The present position is grasped, a collision with a different target is predicted, and an alarm is realized.) Tracking information Ta and Tb obtained individually under the tracking are generated.

  The integrated processing unit 34 performs mapping for correcting the geographical disparity between the different sites described above on the tracking information Ta and Tb, and then sets one piece of the tracking information Ta and Tb under the mapping. The tracking information T is generated by performing the integration processing to be converted, and the tracking information T is set as a calculation target of predetermined information processing (processing such as radar signal processing and steering support to be performed subsequently).

  Therefore, a ship located in a navigation route or a sea area (hereinafter referred to as “insensitive area”) where a target cannot be detected by only one of the radar a and the radar b is also subject to tracking and navigation control.

  In addition, there exist the patent document 1 and the patent document 2 which are listed below as a prior art relevant to this invention.

(1) “A video processing unit that individually inputs and digitizes radar signals from multiple radars with the same radar coverage, and a rectangular coordinate that is input separately to each radar video signal processed by the video processing unit. Scan conversion unit for converting to a scanning radar video signal, correlation control information storage unit for storing correlation information between radars that minimizes blind spots and false images by a plurality of radars, and converted radar video converted by the scan conversion unit A correlation synthesis processing unit that synthesizes the signal with the correlation information stored in the correlation control information storage unit; and a display unit that displays the radar image in orthogonal coordinates by scanning the radar video signal synthesized by the correlation synthesis processing unit. "The radar image from multiple radars is combined so that the blind spot is minimized and the radar image with the smallest false image is displayed." Multi-radar composite display device with features ... Patent Document 1

(2) In the radar signal processing device that captures and tracks the position of the target corresponding to the echo image included in the radar detection signal from the radar detection signal, scan the target to be captured and tracked multiple times. The target corresponding to the matched template is obtained by matching the echo trail image obtained in this way with the template corresponding to the echo trail image obtained when the target moving in a predetermined direction is scanned a plurality of times. By providing a moving direction detection means that detects the moving direction of the target as the moving direction of the target to be captured and tracked ", it is possible to reliably estimate the motion of the target without relying only on a tracking filter such as an αβ tracker or a Kalman filter. Radar signal processing device characterized in that the tracking error is less likely to occur.

Japanese Patent Laid-Open No. 04-022888 JP 2003-337170 A

  By the way, in the conventional example shown in FIG. 3, in both radar a and radar b, a false target is detected by an interference wave coming from a radar different from these radars, and individually several miles. Similarly, there is a possibility that erroneous detection is performed also by a false image caused by multiple reflection occurring in the near range.

  Further, in the conventional example, the false image is detected as an existing target under the above-described integration process even when only one of the radar a and the radar b is generated. In addition, when an existing target has entered a sea area (region) where such a false image occurs, it is generally difficult to distinguish the target from the false image. (Swap) and lost may occur.

  As described above, in the conventional example, the accuracy and stability of tracking are lowered due to erroneous detection caused by an interference wave or a false image, and there is a high possibility that the tracking accuracy and stability cannot always be maintained.

  Conventionally, the false detection caused by the above-described false image is, for example, as disclosed in the above-mentioned Patent Document 2, as described in “Radar video of the orthogonal coordinate scanning method using radar signals obtained from a plurality of radars”. This is somewhat mitigated by a multi-radar synthesis display device (hereinafter simply referred to as “logical product synthesis method”) that minimizes false images by converting the signals into signals and performing logical product synthesis of these radar video signals. There was a possibility.

  However, in such a logical product synthesis method, the target of the logical product synthesis is the radar video signal described above, and the geography of the topography and features in the covered area of the radar a and the radar b and the ship to be detected. Depending on the specific arrangement and distribution, for example, as shown in the broken line frame in FIG. 4, various noises are attached to the portion of the waveform of the radar signal (radar video signal) indicating a false image, particularly in a portion having a small instantaneous value. In addition, since it can change frequently, the accuracy and responsiveness of the tracking process are greatly reduced, and in many cases, it cannot be applied in practice.

  SUMMARY OF THE INVENTION An object of the present invention is to provide a radar signal processing apparatus capable of accurately and stably avoiding deterioration in positioning and ranging accuracy due to false images generated in various forms.

  In the invention according to claim 1, the peak identifying means has an instantaneous value as a peak value for each of a plurality of p radar signals individually received by a plurality of p radars having the same at least part of the coverage. Identify time points or periods that can be considered. The mapping means performs mapping on a common coordinate system at the time or period identified by the peak identifying means. The false image suppression unit obtains a common set between the time points or periods obtained individually under the mapping for each of the plurality of p radar signals.

  That is, a target located in a covered area shared by a plurality of p radars can be measured even if disturbances and noises are superimposed on a plurality of p radar signals individually received by these radars. And ranging are achieved with high accuracy. Moreover, the false image component superimposed as such noise is eliminated or greatly suppressed under the premise that there is almost no correlation between sites where a plurality of p radars are installed.

  According to the second aspect of the present invention, the mapping means performs mapping with respect to the common coordinate system on the plurality of radar signals individually received by the plurality of radars having at least a part of the covered area. The peak identifying means identifies a time point or a period in which an instantaneous value can be regarded as a peak value for each of the plurality of p radar signals under the mapping. The false image suppression means obtains a common set between the time points or periods obtained individually for each of the plurality of p radar signals.

  That is, a target located in a covered area shared by a plurality of p radars can be measured even if disturbances and noises are superimposed on a plurality of p radar signals individually received by these radars. And ranging are achieved with high accuracy. Moreover, the false image component superimposed as such noise is eliminated or greatly suppressed under the premise that there is almost no correlation between sites where a plurality of p radars are installed.

  According to a third aspect of the present invention, the peak discriminating means is provided for each of a plurality of p radar signals individually received by a plurality of p (odd numbers greater than or equal to “3”) radars having at least a part of the covered area. , To identify the point in time or period during which the instantaneous value can be considered as the peak value. The mapping means performs mapping on a common coordinate system at the time or period identified by the peak identifying means. The false image suppression means is a common set of time points or periods obtained individually from less than half (<(p / 2)) of the plurality of p radar signals under the mapping in the partial coverage. The time point or period to which it belongs is obtained from any of the radar signals other than less than half of the radar signals.

  That is, a target located in a covered region shared by a plurality of p (odd numbers greater than or equal to “3”) radars has a disturbance or noise superimposed on a plurality of p radar signals individually received by these radars. Even in such a state, positioning and ranging can be achieved with high accuracy under the majority decision between radar signals obtained individually by these radars. Moreover, the false image component superimposed as such noise is eliminated or greatly suppressed under the premise that there is almost no correlation between sites where a plurality of p radars are installed.

  In the invention according to claim 4, the mapping means is common to a plurality of p radar signals individually received by a plurality of p (odd number “3” or more) radars having the same at least part of the coverage. Perform mapping for the coordinate system. The peak identifying means identifies a time point or a period in which an instantaneous value can be regarded as a peak value for each of the plurality of p radar signals under the mapping. The false image suppression means is a common set of time points or periods obtained individually from less than half (<(p / 2)) of the plurality of p radar signals under the mapping in the partial coverage. The time point or period to which it belongs is obtained from any of the radar signals other than less than half of the radar signals.

  That is, a target located in a covered region shared by a plurality of p (odd numbers greater than or equal to “3”) radars has a disturbance or noise superimposed on a plurality of p radar signals individually received by these radars. Even in such a state, positioning and ranging can be achieved with high accuracy under the majority decision between radar signals obtained individually by these radars. Moreover, the false image component superimposed as such noise is eliminated or greatly suppressed under the premise that there is almost no correlation between sites where a plurality of p radars are installed.

  According to a fifth aspect of the present invention, in the radar signal processing device according to any one of the first to fourth aspects of the present invention, the complement means has a dead area under the mapping for each of the plurality of p radars. The dead area is supplemented at a time or period when the instantaneous value of the radar signal received by any of the other radars corresponding to the covered area can be regarded as the peak value. The synthesizing unit synthesizes the common set obtained by the false image suppression unit and the dead area supplemented by the complementing unit.

  In other words, positioning or ranging of a target located in a coverage area common to a plurality of radars does not lack any insensitive areas of these radars, and a false image does not remain with high accuracy. Realized.

  In the positioning system and the ranging system to which the present invention is applied, the false image can be suppressed with high accuracy and stability without deterioration in performance as compared with the conventional example.

  Also, in the positioning system and ranging system to which the present invention is applied, the counterfeiting suppression is more accurate and stable than the conventional example without the performance degradation by effectively utilizing the number of equipped radars. Figured.

  Therefore, according to the present invention, positioning and ranging of a target located in a desired coverage area can be achieved with high accuracy and stability without lowering the performance as compared with the conventional example.

It is a figure which shows one Embodiment of this invention. It is a figure which shows operation | movement of the signal conversion part in this embodiment. It is a figure which shows the structural example of the radar positioning system in VTS. It is a figure which shows an example of the waveform of the radar signal which shows a false image.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing an embodiment of the present invention.

  In the figure, a radar signal Sa indicating a reflected wave received by the radar a described above is given to the input of the signal converter 11a. Also, a radar signal Sb indicating a reflected wave received by the radar b described above is given to the input of the signal conversion unit 11b. Outputs of these signal conversion units 11a and 11b are connected to first and second inputs of the mapping unit 12, respectively. The first output of the mapping unit 12 is connected to the first inputs of the false image processing unit 13 and the coverage interpolation unit 14, and the second output of the mapping unit 12 is the false image processing unit 13 and the coverage interpolation unit 14. Connected to the second input. Outputs of the fake image processing unit 13 and the coverage area interpolation unit 14 are connected to first and second inputs of the synthesis processing unit 15, respectively. The output of the synthesis processing unit 15 is connected to a processing device (not shown) via the tracking processing unit 16.

FIG. 2 is a diagram illustrating the operation of the signal conversion unit in the present embodiment.
The operation of this embodiment will be described below with reference to FIGS.
The signal converter 31a performs the following processing.

(1) The radar signal Sa is demodulated, and a signal SAa (FIG. 2 (a)) indicating the demodulation result as an A scope is generated.
(2) A binary value indicating whether or not the instantaneous value sequence of the signal SAa is accumulated in the order of time series and whether the instantaneous value of the waveform of the signal SAa falls within a period or time point exceeding a predetermined threshold th. The signal SBa (FIG. 2B) is generated in order of time series.

  The signal converter 31b performs the same processing on the radar signal Sb, thereby generating a signal SAb and a binary signal SBb corresponding to the radar signal Sb.

  Further, the signal conversion units 31a and 31b are obtained and updated as appropriate under a value larger than the peak value of noise that can be superimposed on the rise and fall of the false image component, or under actual measurement and monitoring of these noises. The threshold value th is set as the value.

  Therefore, with respect to the false image and the existing target indicated by these binary signals SBa and SBb, the possibility that the noise component is left unnecessarily is greatly reduced.

  The mapping unit 12 performs mapping for correcting the geographical disparity between the different sites on the binary signals SBa and SBb, and the signal SMa corresponding to the binary signals SBa and SBb under the mapping. , SMb.

  The false image processing unit 13 performs the logical product of these signals SMa and SMb under the correspondence with all or part of the range direction, the scan direction, and the sweep direction, so that the radar a and the radar b are installed. A signal in which a false image component (which can be regarded as uncorrelated between the radar signals Sa and Sb) caused by multiple reflections according to the topography and feature distribution around the site is suppressed or greatly reduced. SFIr is generated.

  On the other hand, the coverage interpolation unit 14 extracts the component CISa of the dead zone RISa caused by the topography and the distribution of features in the vicinity of the site where the radar a is installed, from the components of the signal SMa. Further, the coverage interpolation unit 14 similarly extracts the component CISb of the dead zone RISb of the radar b from the component of the signal SMb.

  The false image processing unit 13 and the coverage interpolation unit 14 perform the above-described processing while maintaining the mapping result.

  The synthesis processing unit 15 synthesizes the components CISa and CISb shown in the dead zones RISa and RISb with the signal SFIR in which the false image components are suppressed (or greatly reduced) in this way, thereby producing a synthesized signal. Generate SC.

The tracking processing unit 16 performs the following processing.
(1) The composite signal SC is captured and stored in association with the scan direction and the sweep direction, and for example, a target such as a ship located on the PPI scope (shown as the above-described period or time point) is individually provided. In addition to identifying, a column of information I indicating the position is generated for each target.

(2) Capturing and tracking a target such as a ship shown individually in the above information I column (giving unique identification, estimating a destination, grasping the current position, predicting and warning a collision with a different target) And tracking information T obtained individually under the tracking is generated.

(3) The tracking information T is a calculation target of predetermined information processing (processing such as radar signal processing and steering assistance to be performed subsequently).

  That is, according to the present embodiment, compared to the conventional example, the possibility that a false image becomes a tracking target is greatly reduced, so that swapping and lost can be avoided with high accuracy and stability.

  Therefore, in this embodiment, compared with the conventional example, the radar a and the radar b are flexibly adapted to the geographical location of the site where the radar a and the radar b are respectively installed, and the suppression of false images can be achieved with high accuracy and stability. It is possible to effectively utilize the coverage of these radars.

  In the present embodiment, the radar signals Sa and Sb are converted into binary signals SBa and SBb suitable for specifying the position of a ship or the like to be tracked. There is no particular identification of dimensions.

  However, such shapes and dimensions may be identified by applying various known techniques to the present invention.

  In the present embodiment, the feature of the present invention is that the signal conversion units 11a and 11b, the mapping unit 12, the false image processing unit 13, the coverage interpolation unit 14, the synthesis processing unit 15, and the tracking processing unit 16 are described above. Such radar signal processing may be incorporated in various known radar signal processing processes in any form, and software executed by hardware such as PGA, DSP, etc. And either or both.

  Furthermore, in the present embodiment, the above-described AND operation may be replaced with a substantial correlation process such as weighted integration (summation average), geometric average, and the like.

  In the present embodiment, the processing described above is performed on the radar signals Sa and Sb given by the two radars a and b.

  However, the present invention is not limited to such a configuration, and processing similar to the processing described above may be performed on radar signals individually given by three or more radars.

  Furthermore, in the present embodiment, the above-described threshold th is not necessarily constant, and may be set as a value that satisfies all or any combination of the requirements listed below, for example.

(1) Power of transmitted waves radiated by radar a and radar b and the geographical irradiation density of the power (directivity of antenna system, gain, presence / absence and speed of scan sweep, and range to be applied) It is determined based on the pulse width and the peak power of the transmission wave, and the modulation method and radar method applied to the transmission wave.
(2) Instructions by the operator

(3) Settings and instructions by automatic control and manual operation that make the level of the reflected wave coming from a known target (such as a buoy placed in the route) existing in the coverage area a suitable value
(4) It matches the radar equation suitable for the operation mode set for the radar a and the radar b, and is suitable for the range direction.

(5) Match the characteristics and distribution of the target to be detected as a reflection source.
(6) In order to identify the instantaneous value of the received wave (radar signal) as the peak value, it is sequentially updated following the waveform of the received wave (radar signal).

  The present invention can be similarly applied even when neither the aerial system of the radar a or the radar b is scanning (the direction of the main lobe is constant).

  Furthermore, in the present invention, the mapping is not limited to the PPI scope described above, and may be different from the instruction method applied to the final instruction as long as it is a common instruction method or coordinate system.

  Further, the present invention is not limited to the VTS, and false images can be suppressed or greatly mitigated by performing processing similar to the processing described above on radar signals individually given by a plurality of radars. Any system can be applied in the same manner.

  Further, the present invention does not require a plurality of radars to be installed at fixed points. For example, the present invention is similarly applied to a case where the radars are installed on a deck or mast of a large ship at a predetermined interval. Is possible.

  In the present embodiment, the radar a and the radar b may not be a pulse radar radar, but may be a primary radar radar such as a pulse compression radar.

  Furthermore, in this embodiment, when it is required to accurately identify the position of the target to be tracked, the instantaneous value of the reflected wave that has arrived from the target becomes the peak value ( For example, it may be substituted at the midpoint of the above-described period.) May be identified from the above-described period.

  In the present invention, the position of the target (or the center of gravity of the target) to be detected as the above-described period or time point is not limited to the purpose of tracking, but is various processes performed in the process of radar signal processing. It may be obtained as a calculation target.

  Furthermore, the present invention is not limited to radar using radio waves, but can be applied to various systems in which positioning and ranging of a desired target should be performed based on reflected waves of various wave signals such as light and sound waves. The same applies.

  In the present embodiment, the coverage interpolation unit 14 performs interpolation of the dead zones of the radar a and the radar b. Such interpolation is performed in an area where the target to be detected can be located. If there is no radar dead zone, it may not be performed.

  Further, in the present embodiment, the mapping unit 12 is arranged at the subsequent stage of the signal conversion units 11a and 11b. However, if the sequence of the instantaneous values of the radar signals Sa and Sb can be mapped with a desired accuracy, As indicated by a broken line in FIG. 1, the signal converters 11a and 11b may be arranged in front of the signal converters 11a and 11b.

  In addition, in the process of demodulation and the like performed by the signal conversion units 11a and 11b and the mapping performed by the mapping unit 12, these antennas are synchronized with the antenna system of the radar a and the radar b. The level deviation of the radar signals Sa and Sb generated due to the directivity of the system may be compressed.

  Further, in the present embodiment, the fake image processing unit for a known area that does not correspond to the above-described dead zone and can not generate a fake image, in a route or sea where a target such as a ship can be located. The above-described processing performed by 13 may be omitted.

  Further, in the present invention, when the number of mounted radars is “3” or more, the suppression of the false image is the instantaneous value of the radar signal given from each radar, or the above described period or time point. It may be realized by majority decision or weighted integration.

  Furthermore, in the positioning system and ranging system to which the present invention is applied, the range in which the target can be located is wide, or when the distance of such a target is large, the instantaneous values of the radar signals Sa and Sb. The reduction in the range direction is heavily weighted in the ascending order in the range direction, so that the dynamic range of each part and the value range to be calculated can be effectively used, and the performance can be improved and stabilized.

  Further, the present invention is not limited to the above-described embodiments, and various configurations of the embodiments are possible within the scope of the present invention, and any improvements may be made to all or some of the components.

  Hereinafter, among the inventions disclosed in the present application, the configurations, operations, and effects of the invention that were not described in the “Claims” will be described as “Claims”, “Means for Solving the Problems”, and “ List them in a format similar to the description in the “Effect” column.

[Claim 6] In the radar signal processing apparatus according to claim 2 or 4,
The mapping means includes
In the mapping process, the level difference in the range direction with respect to any one of the virtual radar replacing the plurality of p radars or the plurality of p radars is compressed into the instantaneous value of the plurality of p radar signals. A radar signal processing device characterized by applying weighting.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to claim 2 or 4, the mapping means converts the plurality of p radar signals into instantaneous values in the mapping process. A weight is applied to compress the level difference in the range direction with respect to any one of the virtual radar instead of the p radar or the plurality of p radars.

  In other words, even if the target range to be mapped can be located in a wide range or the distance of such a target is long, the effective range of the calculation target that can be applied during the mapping process is effective. Can be used effectively.

  Therefore, the positioning system and ranging system to which the present invention is applied have improved performance and are maintained stably.

[Claim 7] In the radar signal processing device according to claim 1 or 3,
The false image suppression means includes
An operation that takes the common set of specific coverages that are individually obtained by the plurality of radar signals and that are known not to generate false images in any of the plurality of radars among the partial coverages. Radar signal processing device, characterized in that it is excluded from the above.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to claim 1 or 3, the false image suppression means is obtained individually by the plurality of radar signals, and Among the covered areas, a specific covered area that is known not to generate a false image in any of the plurality of p radars is excluded from the calculation of the common set.

  That is, useless processing that is performed on a specific coverage where the false image cannot occur can be omitted.

  Therefore, in the distance measuring system and the positioning system to which the present invention is applied, the responsiveness is improved without reducing the performance, and the power consumption and the cost are reduced.

[Claim 8] In the radar signal processing device according to any one of claims 1 to 7,
The peak identifying means is
For each of the plurality of p radar signals, the time point or the period is identified as a magnitude relationship between an instantaneous value and a threshold value determined by a radar equation established in a range direction for the plurality of p radars. Processing equipment.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to any one of claims 1 to 7, the peak discriminating means includes an instantaneous value for each of the plurality of p radar signals. And the time point or the period is identified as a magnitude relationship between the plurality of p radars and a threshold value determined by a radar equation established in the range direction.

  That is, even if the target range to be mapped is wide, or even when the distance of such a target is long, the characteristics and performance of a plurality of p radars in the process of mapping. Under the above, effective use of the applicable calculation target value range is achieved.

  Therefore, the positioning system and ranging system to which the present invention is applied have improved performance and are maintained stably.

[Claim 9] In the radar signal processing device according to any one of claims 1 to 7,
The peak identifying means is
For each of the plurality of p radar signals, an instantaneous value is given as a product of a waveform envelope in a range direction and a predetermined weight w (0 <w <1), or a difference between the envelope and a predetermined margin Δ. The radar signal processing apparatus, wherein the time point or the period is identified as a magnitude relationship with a threshold value.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to any one of claims 1 to 7, the peak discriminating means includes an instantaneous value for each of the plurality of p radar signals. And a magnitude relationship between a product of a waveform envelope in a range direction and a predetermined weight w (0 <w <1), or a threshold value given as a difference between the envelope and a predetermined margin Δ, Identify the period.

  That is, even if the target range to be mapped is wide, or even when the distance of such a target is long, the characteristics and performance of a plurality of p radars in the process of mapping. Under the above, effective use of the applicable calculation target value range is achieved.

  Therefore, the positioning system and ranging system to which the present invention is applied have improved performance and are maintained stably.

[Claim 10] In the radar signal processing apparatus according to claim 8 or 9,
The peak identifying means is
For each of the plurality of p radars, all or part of the transmission power, the characteristics or distribution as a reflection source of the target to be detected, and the density of the transmission wave irradiated to the region where the target can be located A radar signal processing apparatus, wherein the threshold value is maintained at an appropriate value.

  In the radar signal processing device having such a configuration, in the radar signal processing device according to claim 8 or 9, the peak identifying means should detect transmission power for each of the plurality of radars. The threshold value is maintained at a value suitable for all or part of the characteristics or distribution as a target reflection source and the density of the transmitted wave irradiated to the region where the target can be located.

  That is, even if the range in which the target can be located is wide or the distance of such a target is long, the propagation path formed between the target and each of a plurality of p radars In addition, positioning and ranging in a form in accordance with the substance of the signal propagating through the propagation path is realized.

  Therefore, according to the present invention, not only the configuration and performance of each part, but also positioning and ranging suitable for the topography and feature distribution in the coverage area of the plurality of p radars can be realized with high accuracy and stability.

11a, 11b, 31a, 31b Signal conversion unit 12, mapping unit 13, false image processing unit 14, coverage interpolation unit 15, synthesis processing unit 16, 33a, 33b tracking processing unit 32 target detection unit 34 integration processing unit

Claims (5)

For each of a plurality of p radar signals individually received by a plurality of p radars in which at least a part of the coverage is the same, a peak identifying means for identifying a time point or a period in which the instantaneous value can be regarded as a peak value;
Mapping means for performing mapping on a common coordinate system at the time or period identified by the peak identifying means;
A radar signal processing apparatus, comprising: false image suppression means for obtaining a common set for each of the plurality of p radar signals obtained at the time points or periods individually obtained under the mapping. Mapping means for mapping a plurality of p radar signals individually received by a plurality of p radars having at least part of the same coverage to a common coordinate system;
For each of the plurality of p radar signals under the mapping, a peak identifying means for identifying a time point or period in which an instantaneous value can be regarded as a peak value;
A radar signal processing apparatus comprising: a false image suppression unit that obtains a common set for each of the plurality of p radar signals obtained individually or during a period or period. For each of a plurality of p radar signals individually received by a plurality of p (odd number “3” or more) radars having at least a part of the coverage area, the time point or period in which the instantaneous value can be regarded as a peak value is identified. Point identification means to
Mapping means for performing mapping on a common coordinate system at the time or period identified by the peak identifying means;
Time points or periods belonging to a common set of time points or periods individually obtained from less than half (<(p / 2)) of the plurality of p radar signals under the mapping in the partial coverage. A radar signal processing apparatus, comprising: false image suppression means obtained from any of radar signals other than less than half of the radar signals. Mapping means for mapping a plurality of p radar signals individually received by a plurality of p (odd numbers greater than or equal to “3”) radars having the same at least part of the coverage to a common coordinate system;
For each of the plurality of p radar signals under the mapping, a peak identifying means for identifying a time point or period in which an instantaneous value can be regarded as a peak value;
Time points or periods belonging to a common set of time points or periods individually obtained from less than half (<(p / 2)) of the plurality of p radar signals under the mapping in the partial coverage. A radar signal processing apparatus, comprising: false image suppression means obtained from any of radar signals other than less than half of the radar signals. In the radar signal processing device according to any one of claims 1 to 4,
For each of the plurality of p radars, at the time or period when the instantaneous value of the radar signal received by any of the other radars whose insensitive area corresponds to the covered area under the mapping can be regarded as the peak value. Completion means to complement the area,
A radar signal processing apparatus comprising: a synthesizing unit that synthesizes a common set obtained by the false image suppressing unit and a dead area supplemented by the complementing unit.