JP2013231636A - Clock number/time association circuit, identified clock time generation circuit, event execution instruction/time difference generation circuit, event execution device, radar device, and communication device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To identify a relation between a clock number and a time even when stability of a clock generator such as a reference oscillator is low and each clock time generated is different from a time to be assumed.SOLUTION: A clock number/time association circuit includes: a clock number counter 42 that counts an input clock and outputting a clock number; a highly accurate time acquisition device 43 that acquires a highly accurate time; a clock number/time integrator 44 that generates time/number pair data formed by associating the clock number output by the clock number counter 42 with the time acquired by the highly accurate time acquisition device; and a clock number/time relation identification device 48 that acquires time/number pair relation information representing a relation between the clock number and the time on the basis of the time/number pair data generated by the clock number/time integrator 44.

Description

  The present invention relates to a clock number / time correspondence circuit for specifying a relationship between a clock count number (clock number) and the generation time of the clock, and a designated clock time generation circuit including the clock number / time correspondence circuit. The present invention relates to an event execution instruction / time difference generation circuit, an event execution apparatus, a radar apparatus, and a communication apparatus.

Conventionally, as an applied technology in which the difference between the clock number and the generation time is greatly affected, for example, there is a radar observation method in which the transmitting station and the receiving station are arranged separately and observed. These may be called bistatic radar (transmission 1, reception 1), multi-static radar (transmission 1, reception many), MIMO radar (transmission many, reception many), etc. depending on the number of transmissions / receptions. In particular, the point that the transmitting station and the receiving station are separated is important. Hereinafter, this will be referred to as bistatic radar.
On the other hand, a radar apparatus that uses the same antenna for transmission and reception is called a monostatic radar.

In the radar apparatus, since the distance is observed by the propagation delay time difference of the electromagnetic wave traveling at the speed of light, a slight time shift between transmission and reception becomes a large distance measurement error (for example, the electromagnetic wave is about 300 m during the time of 1 [μs]. Also proceed).
Further, when the reception time gate width is narrowed down, there also arises a problem that reception of a reflected wave from near the target distance fails. In addition, when the deviation changes with time, a measurement error also occurs with respect to the time change of the distance to the target, that is, the movement of the target.
Therefore, it is necessary to reduce the time lag between transmission and reception as much as possible.

  In a general monostatic radar, since the same reference oscillator is shared for transmission and reception, even if the stability of the reference oscillator is low, the effect of canceling out the error becomes small. In contrast, bistatic radars that often have to divide the reference oscillator are directly affected by variations in the reference oscillator between transmission and reception. In order to reduce this effect, it is necessary to use a reference oscillator with as high a stability as possible. However, there is a problem that such a reference oscillator is expensive. Furthermore, depending on the required performance, there is a possibility that it is not possible to prepare a product with sufficient accuracy.

  As a method for avoiding such a problem, a method has been proposed in which time synchronization is reestablished using GPS (Global Positioning System) time that can be commonly used for transmission and reception. For example, Patent Documents 1 and 2 describe that time synchronization between transmission and reception is achieved using GPS time. Although the detailed synchronization method is not described, considering that it is not easy to adjust the clock itself, the clock numbers close to the timing at which both received the same GPS time are regarded as the clock numbers at the same time. It seems to be a kind of periodic synchronization.

  Patent Document 3 is a method that is assumed to be applied to a synthetic aperture radar that performs simultaneous monostatic and bistatic observations. In this method, a residual synchronized with GPS is estimated and corrected from the phase of the same reflection point existing in a monostatic image and a bistatic image.

JP 2000-230975 A JP 2005-233723 A JP 2011-191099 A

In the methods disclosed in Patent Documents 1 and 2, although the time accuracy delivered by GPS is relatively high, although it is a useful method that takes advantage of the relatively cheap GPS receiver that receives it, There is a problem that a deviation of one clock or less remains. There is also a problem that the influence of the time-varying component remains.
In addition, the method disclosed in Patent Document 3 observes the same reflection point due to the influence of the difference in observation direction, in addition to the load and the problem of increasing the apparatus that monostatic observation must be performed for correction. There is a problem that there is a high possibility that it cannot be performed, and the phase difference is turned back every 2 mm, so that it is difficult to restore this.

  The present invention has been made to solve the above-described problems. Even when the clock generator such as a reference oscillator has low stability and the time of each generated clock is different from the assumed time, Clock number / time correspondence circuit that makes it possible to specify the relationship between clock number and time, designated clock time generation circuit having this clock number / time correspondence circuit, event execution instruction / time difference generation circuit, event execution An object is to provide a device, a radar device, and a communication device.

  A clock number / time correspondence circuit according to the present invention includes a clock number counter that counts an input clock and outputs a clock number, a high-accuracy time acquirer that acquires a time more accurate than the clock, and a high-accuracy A clock number / time integrator that generates time / number pair data in which the clock number output by the clock number counter is associated with the time acquired by the time acquirer, and the clock number / time integrator. And a clock number / time relationship specifying unit for acquiring time / number relationship information indicating the relationship between the clock number and the time based on the time / number pair data.

  According to this invention, since it is configured as described above, the stability of the clock generator such as the reference oscillator is low, and even when the time of each generated clock is different from the assumed time, the clock number and time It becomes possible to specify the relationship.

It is a figure which shows the structure of the event implementation apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the structural example of the high precision time acquisition device in Embodiment 1 of this invention. It is a figure which shows the structural example of the clock number / time relation specifying device in Embodiment 1 of this invention. It is a flowchart which shows operation | movement of the event implementation apparatus which concerns on Embodiment 1 of this invention. It is a figure explaining operation | movement of the event implementation apparatus which concerns on Embodiment 1 of this invention. It is a figure which shows the structure of the event implementation apparatus which concerns on Embodiment 2 of this invention. It is a figure which shows the structure of the designated clock time generation circuit which concerns on Embodiment 3 of this invention. It is a figure which shows the structure of the event implementation apparatus which concerns on Embodiment 4 of this invention. It is a figure which shows the structure of the event implementation apparatus which concerns on Embodiment 5 of this invention. It is a figure which shows the structure of the radar apparatus based on Embodiment 6 of this invention. It is a figure which shows the structural example of the transmission event adjustment circuit in Embodiment 6 of this invention. It is a figure which shows the structural example of the reception event adjustment circuit in Embodiment 6 of this invention. It is a flowchart which shows operation | movement of the radar apparatus which concerns on Embodiment 6 of this invention. It is a figure which shows the structure of the radar apparatus based on Embodiment 7 of this invention.

Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
Embodiment 1 FIG.
FIG. 1 is a diagram showing a configuration of an event execution device according to Embodiment 1 of the present invention.
The event execution device performs a predetermined event. As shown in FIG. 1, the event execution apparatus includes an event execution instruction / time difference generation circuit 1, an event execution unit 2, and an event output correction unit 3.

  The event execution instruction / time difference generation circuit 1 executes an event when a clock number (clock number) determined from the time (event execution specified time) set to execute the event is input to the event implementer 2. And a function of calculating a difference between the event execution designation time and the clock generation time. As shown in FIG. 1, the event execution instruction / time difference generation circuit 1 includes a clock number / time correspondence circuit 4, a specified time setter 5, an execution number / time estimator (execution number estimator) 6, an event execution It consists of an indicator 7 and a difference time calculator 8.

  The clock number / time association circuit 4 specifies the relationship between the number of generated clocks (clock number) and the generation time of the clock. As shown in FIG. 1, the clock number / time correspondence circuit 4 includes a reference clock generator 41, a clock number counter 42, a high precision time acquisition unit 43, a clock number / time integrator 44, a clock number / time storage. 45, a reading time range setting / indicator 46, a clock number / time reading unit 47, and a clock number / time relation specifying unit 48.

  The reference clock generator 41 is composed of a reference oscillator or the like, and generates a clock for executing an event. Data indicating the clock generated by the reference clock generator 41 is output to the clock number counter 42.

  The clock number counter 42 counts the clock generated by the reference clock generator 41 after a certain time (for example, when the power is turned on). Data indicating the clock number counted by the clock number counter 42 is output to the clock number / time integrator 44 and the event execution indicator 7.

  The high-accuracy time acquisition unit 43 acquires a time (high-accuracy time) with higher accuracy than the clock. Data indicating the high-accuracy time acquired by the high-accuracy time acquisition unit 43 is output to the clock number / time integrator 44.

  The clock number / time integrator 44 selects the latest input value from among the clock numbers input by the clock number counter 42 that has been input each time the high accuracy time is input by the high accuracy time acquisition unit 43. This is paired with the high precision time. Data (time / number pair data) indicating a pair of the clock number and the high precision time integrated by the clock number / time integrator 44 is output to the clock number / time accumulator 45.

  The clock number / time accumulator 45 accumulates time / number pair data from the clock number / time integrator 44.

  The read time range setting / indicator 46 sets a time range for reading the time / number pair data stored in the clock number / time accumulator 45. FIG. 1 shows a case where the read time range setting / indicator 46 sets the time range based on the event execution designated time set by the designated time setter 5. Then, the read time range setting / indicator 46 instructs the clock number / time reader 47 to read within the set time range.

  The clock number / time reader 47, in accordance with the instruction from the read time range setting / indicator 46, extracts only the data string in the instructed time range from the time / number pair data stored in the clock number / time accumulator 45. It is to read. The time / number pair data read by the clock number / time reader 47 is output to the clock number / time relationship specifying unit 48.

  The clock number / time relationship specifying unit 48 specifies the relationship between the clock number and the high-precision time based on the time / number pair data from the clock number / time reader 47, and the time / number pair relationship indicating this relationship. Information is acquired. The time / number pair relationship information acquired by the clock number / time relationship specifying unit 48 is output to the execution number / time estimator 6.

  The designated time setting unit 5 sets an event implementation designated time which is a time at which an event is desired to be implemented. Data indicating the event execution specified time set by the specified time setting unit 5 is output to the read time range setting / indicator 46, the execution number / time estimator 6 and the difference time calculator 8.

  The execution number / time estimator 6 is a clock for executing an event based on the time / number pair relation information from the clock number / time relation specifying unit 48 and the event execution designated time set by the designated time setter 5. The event execution clock number, which is a number, and the event execution clock number time, which is a high-accuracy time corresponding to the event execution clock number, are estimated. Data indicating the event execution clock number estimated by the execution number / time estimator 6 is output to the event execution indicator 7 (solid line shown in FIG. 1), and the data indicating the event execution clock number time is the difference time calculator 8. And output to the outside (the chain line shown in FIG. 1).

  When the clock number counted by the clock number counter 42 matches the event execution clock number estimated by the execution number / time estimator 6, the event execution indicator 7 An instruction (event execution instruction) indicating the execution of a predetermined event is performed.

  The difference time calculator 8 calculates the difference between the event execution specified time set by the specified time setter 5 and the event execution clock number time estimated by the execution number / time estimator 6. Data indicating the difference calculated by the difference time calculator 8 is output to the event output corrector 3 (broken line shown in FIG. 1).

  The event implementer 2 implements a predetermined event in accordance with the event implementation instruction from the event implementation indicator 7. Data indicating the result of execution by the event implementer 2 is output to the event output corrector 3.

  The event output corrector 3 corrects the execution result by the event implementer 2 based on the difference between the event execution designation time calculated by the differential time calculator 8 and the event execution clock number time.

Next, a configuration example of the high-accuracy time acquisition unit 43 will be described with reference to FIG.
For example, as shown in FIG. 2, the high-accuracy time acquisition unit 43 includes a GPS receiver 431 and a GPS time acquisition unit 432.

The GPS receiver 431 receives a GPS signal. The GPS signal received by the GPS receiver 431 is output to the GPS time acquisition unit 432.
The GPS time acquisition unit 432 acquires GPS time from the GPS signal acquired by the GPS receiver 431. The high-accuracy time acquisition unit 43 uses the GPS time acquired by the GPS time acquisition unit 432 as the high-accuracy time.

Next, a configuration example of the clock number / time relationship specifying unit 48 will be described with reference to FIG.
As shown in FIG. 3, for example, the clock number / time relation specifying unit 48 includes a clock number bias corrector 481, a time bias corrector 482, and a clock number / time smoother 483.

  The clock number bias corrector 481 corrects a bias component that may be included in the clock number of the time / number pair data from the clock number / time reader 47. The time / number pair data in which the bias component of the clock number is corrected by the clock number bias corrector 481 is output to the time bias corrector 482.

  The time bias corrector 482 corrects a bias component that may be included in the high precision time of the time / number pair data from the clock number bias corrector 481. The time / number pair data in which the bias component of the high precision time is corrected by the time bias corrector 482 is output to the clock number / time smoother 483.

  The clock number / time smoother 483 smoothes the clock number sequence and the high-accuracy time sequence based on the time / number pair data from the time bias corrector 482, and displays the time / number indicating the relationship between the clock number and the high-accuracy time. Number pair relationship information is acquired. The time / number pair relationship information acquired by the clock number / time smoother 483 is output to the execution number / time estimator 6.

Next, the operation of the event execution apparatus configured as described above will be described with reference to FIGS.
Here, in the reference clock generator 41, when the clock generation period is unstable, or when the period is stable but the period is different from the set value, the operation desired for the reference clock generator 41 is set. Actual behavior may vary. For this reason, the main object of the present embodiment is to reduce the adverse effects caused by such differences in operation.

It is assumed that the reference clock generator 41 is designed to generate a clock at a predetermined period (for example, 1 μsec). That is, it is assumed that the relationship between the time and the clock number is a straight line having a known slope, for example, as shown by a solid line in FIG. However, actually, due to the instability of the reference clock generator 41, for example, as indicated by “●” in FIG. 5, there is a possibility that the characteristic does not coincide with the straight line.
Therefore, in the present embodiment, actual characteristics (“●” shown in FIG. 5) are recorded, and the true relationship between the time and the clock number is estimated from the characteristics.

  First, the clock number counter 42 counts the number of clocks generated by the reference clock generator 41 after a certain time (first clock). Data indicating the counted clock number is output to the clock number / time integrator 44 and the event execution indicator 7 (step ST401). Here, the first clock can be freely set, for example, the first clock after the apparatus starts to operate stably after the power is turned on, or the first clock that starts some measurement.

  Next, the high accuracy time acquisition unit 43 acquires the high accuracy time by some method. Then, the data indicating the high precision time is output to the clock number / time integrator 44 (step ST402). As a method for obtaining this high-accuracy time, the following various methods are conceivable.

For example, FIG. 2 shows a configuration example in the case of using highly accurate time used in general GPS. That is, in GPS, signals from a plurality of GPS satellites are received by a GPS receiver, and the position of the GPS receiver is specified based on time information and satellite position information included therein. It is known that the time information (hereinafter referred to as GPS time) used at this time is very accurate.
Therefore, the GPS time acquisition unit 432 extracts the GPS time from the GPS signal received by the GPS receiver 431, and the high accuracy time acquisition unit 43 outputs the GPS time as the high accuracy time. Thus, since the highly accurate GPS time can be obtained by the relatively inexpensive GPS receiver 431 and the GPS time acquisition unit 432, the accuracy of the highly accurate time can be improved at a low cost.

  Also, the method is not limited to the method of acquiring the high-accuracy time from the GPS shown in FIG. In this case, although not particularly illustrated, the high-accuracy time acquisition unit 43 includes a standard radio wave receiver that receives a standard radio wave for the radio timepiece, and a standard time that acquires the standard time from the standard radio wave received by the standard radio wave receiver. It consists of an acquirer. And the high precision time acquisition device 43 outputs this standard time as a high precision time. Thereby, a highly accurate standard time can be obtained with a relatively inexpensive standard radio wave receiver and standard time acquisition device, and the accuracy of the highly accurate time can be improved at a low cost.

  Further, as is well known, it is possible to obtain a highly accurate time using the Internet NTP (Network Time Protocol), and this can also be used. In this case, the high-accuracy time acquisition unit 43 includes an NTP time acquisition unit that acquires an NTP time. And the high precision time acquisition device 43 outputs this NTP time as a high precision time. Thereby, a highly accurate NTP time can be obtained with a relatively inexpensive NTP time acquisition device, and the accuracy of the highly accurate time can be improved at a low cost.

Furthermore, it is also useful from the viewpoint of improving the reliability of time that a plurality of systems described above are provided and the high-accuracy time obtained from each is integrated and output. In other words, by combining the GPS time, the standard time, and the NTP time with low acquisition cost and high accuracy (including duplication), further high accuracy can be realized at low cost.
As described above, the high-accuracy time acquisition unit 43 obtains a high-accuracy time using any one or more of the above-described methods and other various methods.

  Next, the clock number / time integrator 44 selects the latest input value of the clock numbers by the clock number counter 42 that is also inputted each time the high precision time by the high precision time acquisition unit 43 is inputted. This is paired with the high precision time. Then, the time / number pair data indicating the pair of the clock number and the high precision time is output to the clock number / time accumulator 45 (step ST403). This time / number pair data determines one point in FIG.

  Next, the clock number / time accumulator 45 accumulates the time / number pair data from the clock number / time integrator 44 (step ST404). Here, the data string accumulated in the clock number / time accumulator 45 gives the position of the string ● in FIG. Therefore, by using these data, there is a possibility that the true relationship between the high precision time and the clock number (broken line shown in FIG. 5) can be estimated.

  Therefore, first, the clock number / time reader 47 reads the time / number pair data stored in the clock number / time accumulator 45. Then, the time / number pair data is output to the clock number / time relation specifying unit 48 (step ST405). Here, when data in a time range as long as possible is read, the effect of smoothing on the variation in the data becomes larger. Therefore, in order to reduce the influence of variations as much as possible, the extraction time range may be set as wide as possible (for example, reading all data). In addition, to reduce the processing load by yourself, or when processing whose characteristics change significantly during the process (for example, power cycle), or to reduce the influence of other time fluctuations, Only a part including the time of interest may be read out. In consideration of both the response to the change in characteristics and the improvement of the smoothing effect, data in a time range in which the characteristics do not change greatly and in a time range as wide as possible may be read. These extraction methods are determined by the read time range setting / indicator 46.

In the read time range setting / indicator 46, the extraction method may be determined only by its own information, or information from a higher level may be referred to (in FIG. 1, information on the designated time setting device 5 ( It shows an example in which the event implementation specified time) can be referred to). In the case of the configuration of FIG. 1, since the time range for reading is determined based on the event execution designated time, the data of the time not related to the event can be excluded, and the influence of large characteristic fluctuations during that time can be reduced. , Processing load can be reduced.
In the above description, the read time range setting / indicator 46 sets the time range for reading. However, the present invention is not limited to this, and sets the range of clock numbers (number range) for reading. Anyway.

  In addition, by temporarily storing the time / number pair data in the clock number / time accumulator 45 and then reading it out, it is possible to increase the degree of freedom of the reading range and flexibly deal with variations and characteristic fluctuations. .

  Next, the clock number / time relationship specifying unit 48 specifies the relationship between the clock number and the high-accuracy time based on the time / number pair data from the clock number / time reader 47, and stores the time / number pair relationship information. get. Then, this time / number pair relationship information is output to the execution number / time estimator 6 (step ST406).

  Here, in the clock number / time relation identifying unit 48, first, the clock number bias corrector 481 corrects a bias component that may be included in the clock number of the input time / number versus data.

Here, since the time / number pair data is composed of the high-precision time and the latest clock number at that time, a delay of 0 or more and less than 1 occurs in the recorded clock number. This delay amount can be regarded as a bias error of ½ clock in consideration of randomness with time. Therefore, the clock number bias corrector 481 corrects the bias error by adding 1/2 to the clock number of each recorded data.
The bias error as described above may occur depending on other hardware characteristics. Accordingly, these errors are also corrected by the clock number bias corrector 481 in the same manner as the above-described 1/2 clock bias error correction.

The time bias corrector 482 corrects a bias error that may be included in the high precision time of the time / number pair data. This bias error basically includes a time delay from the acquisition of the original time information by the high-accuracy time acquisition unit 43 to the input to the clock number / time integration unit 44 and the generation of the reference clock by the reference clock generator 41. This is the difference in time delay from the input to the clock number / time integrator 44.
Therefore, the time bias corrector 482 corrects the high-accuracy time so as to cancel out the difference or a part of the difference.

By the processing of the clock number bias corrector 481 and the time bias corrector 482 described above, each bias component is reduced, and an improvement in accuracy can be expected.
In FIG. 3, the clock number bias corrector 481, the time bias corrector 482, and the clock number / time smoother 483 are processed in this order, but the present invention is not limited to this, and can be changed as appropriate. . For example, the processing may be performed in the order of the time bias corrector 482 and the clock number bias corrector 481, or the processing of the clock number bias corrector 481 and the processing of the time bias corrector 482 may be performed in parallel. Alternatively, the clock number / time smoother 483 may be first processed with the bias component included, and the output may be corrected by the clock number bias corrector 481 and the time bias corrector 482.

  Then, the clock number / time smoother 483 smoothes the clock number sequence and the high-accuracy time sequence based on the input time / number pair data, and the clock number and the high-accuracy time as shown by the broken line in FIG. The time / number pair relationship information indicating the true relationship is obtained.

When the clock cycle changes with time, it is necessary to increase the order of the least square method. On the other hand, the cycle of the clock changes every time the power is turned on, but when the value can be regarded as constant while the power is turned on, it is better to set the order of the least square method to the first order.
As described above, various effects can be obtained by adjusting the order of the least squares method.

  Further, the relationship between the clock number and the high-accuracy time may be obtained using a method other than the least square method as described above, for example, a general spline interpolation or the like may be used. By using this spline interpolation, it is possible to interpolate the relationship between the input clock number and the high precision time while maintaining the relationship between the pair. Therefore, when the error included in the pair of the clock number and the high-precision time is small, the difference of the variation model in the smoothing of the least squares method (for example, the first-order least square method is applied but the actual variation model is 2 Accuracy degradation due to the following) can be avoided.

  Next, the designated time setting unit 5 sets an event implementation designated time, which is a future time at which the event is to be implemented, and outputs it to the implementation number / time estimator 6 and the difference time calculator 8 (step ST407). Here, the event is, for example, an individual signal transmission for each pulse repetition period or an individual signal reception in a radar apparatus. Note that the value of the designated time that varies depending on the contents of the event and the state of the device may be obtained from higher-order processing, or may be set using only the information in the designated time setting unit 5.

  Next, the event execution indicator 7 compares the clock number counted by the clock number counter 42 with the event execution clock number estimated by the execution number / time estimator 6. When the clock number matches the event execution clock number, an event execution instruction is output to the event execution unit 2 (step ST409).

  Further, in the differential time calculator 8, a problem may occur due to the influence of the difference between the event execution specified time set by the specified time setter 5 and the event execution clock number time estimated by the execution number / time estimator 6. The difference between the event execution specified time and the event execution clock number time is calculated. Then, data indicating the difference is output to the event output corrector 3 (step ST410).

  As described above, from the event execution instruction / time difference generation circuit 1, the event execution instruction (solid line shown in FIG. 1), the data indicating the difference between the event execution designated time and the event execution clock number time (dashed line shown in FIG. 1). And data indicating the event execution clock number time (broken line shown in FIG. 1) are output.

  Next, in the event execution unit 2, in accordance with the event execution instruction from the event execution instruction unit 7, a preset event (for example, pulse transmission processing or reception processing) is performed, and some execution result (for example, reception signal) is obtained. This is output (step ST411).

  By the above processing, even when the clock cycle is different from the expected and unknown, this relationship is estimated based on the high-accuracy time, so that the event is based on the clock at the time close to the event execution specified time. There is an advantage that can be implemented.

However, as described above, a problem may occur due to the influence of the difference between the event execution specified time and the event execution clock number time.
Therefore, the event output corrector 3 corrects the execution result by the event implementer 2 based on the difference between the event execution designation time calculated by the difference time calculator 8 and the event execution clock number time, and this adverse effect is reduced. (Step ST412).

これにより、上記時刻のずれの影響を低減できる。

Thereby, the influence of the time shift can be reduced.

  As described above, according to the first embodiment, by using a high-precision time and associating with a clock number, the stability of the reference clock generator 41 such as a reference oscillator is low, and each generated Even when the clock time is different from the assumed time, the relationship between the clock number and the time can be specified, and the clock number of the event execution clock number time close to the event execution designated time can be known. Furthermore, by obtaining the difference between the event execution designation time and the event execution clock number time, it is possible to estimate the presence or absence of the influence of the deviation and the magnitude of the influence, and to reduce this influence.

Embodiment 2. FIG.
In the second embodiment, based on the time / number pair relation information acquired by the clock number / time relation specifying unit 48, the event execution designation is made so that the difference between the event execution designation time and the event implementation clock number time is made as small as possible. What finely adjusts the time will be described.
FIG. 6 is a diagram showing the configuration of the event execution device according to Embodiment 2 of the present invention. The event execution apparatus according to the second embodiment shown in FIG. 6 uses the designated time setting unit 5 of the event execution apparatus according to the first embodiment shown in FIG. The designated time extractor 10 is changed. Other configurations are the same, and the same reference numerals are given and description thereof is omitted.

  The designated time / step candidate setting unit 9 sets an approximate event execution time which is a candidate time for which an event is desired to be performed. In other words, the designated time / step candidate setting unit 9 takes into account that the designated time extractor 10 performs fine adjustment of the designated event execution time, for example, a central time, for example, a central time (for example, start time) Etc.), and setting with a degree of freedom, such as candidates for the time increments. Data indicating the event execution approximate time set by the specified time / step candidate setting unit 9 is output to the specified time extractor 10. In FIG. 6, data indicating the approximate event execution time is also output to the read time range setting / indicator 46, and the read time range setting / indicator 46 determines the time / number pair data based on this data. Set the time range for reading.

The designated time extractor 10 is as convenient as possible based on the time / number pair relation information from the clock number / time relation identifying unit 48 and the event execution approximate time set by the designated time / step candidate setting unit 9. Event execution specified time is extracted. At this time, the designated time extractor 10 sets the event execution designated time so that the times of the respective clock numbers coincide with each other as much as possible and the cycle of the selected clock is close to the time increment. Data indicating the event execution specified time extracted by the specified time extractor 10 is output to the execution number / time estimator 6 and the difference time calculator 8.
In this case, ideally, the event execution clock number time coincides with the event execution designated time, and the difference between them is zero.

Therefore, the difference time calculator 8 and the event output corrector 3 required for correcting the influence of the time lag between the event execution clock number time and the event execution designated time in the first embodiment can be omitted, and the processing can be performed. It can be simplified.
In such an application where a plurality of event execution apparatuses cooperate with each other, the fine adjustment with such a degree of freedom is an apparatus on the side that easily takes the initiative, such as a transmission station of a transmission station and a reception station in a radar apparatus. Especially suitable for the side.

  FIG. 6 shows a configuration including the difference time calculator 8 and the event output corrector 3. However, when the difference is 0, both processes do not function, and therefore when these functions are omitted. It is a general expression that includes the structure.

  As described above, according to the second embodiment, since the event execution designated time is configured to be given roughly instead of an absolute value, in addition to the effects in the first embodiment, the processing can be simplified, In addition, since the difference from the event execution clock number time can be set small, adverse effects due to this difference can be reduced.

Embodiment 3 FIG.
In the third embodiment, based on the time / number relationship information acquired by the clock number / time relationship specifying unit 48 in the clock number / time association circuit 4, high-accuracy time corresponding to the designated clock number is extracted. And what will output this.
FIG. 7 is a diagram showing the configuration of the designated clock time generation circuit 11 according to the third embodiment of the present invention.
The designated clock time generation circuit 11 obtains a high precision time corresponding to the designated clock number based on the time / number pair relation information acquired by the clock number / time association circuit 4. As shown in FIG. 7, the designated clock time generation circuit 11 includes a clock number / time correspondence circuit 4, a designated clock number setter 12, and a designated clock time extractor 13.

  The clock number / time correspondence circuit 4 is the same as that shown in FIG. Then, the time / number pair relationship information acquired by the clock number / time relationship specifying unit 48 is output to the designated clock time extractor 13.

  The designated clock number setting unit 12 sets a clock number for which the time is desired. Data indicating the clock number set by the designated clock number setting unit 12 is output to the designated clock time extractor 13. In FIG. 7, data indicating the clock number is also output to the read time range setting / indicator 46, and the read time range setting / indicator 46 reads the time / number pair data based on this data. Set the number range to be performed.

  The designated clock time extractor 13 extracts a high-accuracy time corresponding to the clock number designated by the designated clock number setter 12 based on the time / number pair relation information acquired by the clock number / time relation identifying unit 48. To do.

Here, when the cycle of the clock generated by the reference clock generator 41 is as expected, the time of each clock number can be obtained from the initial time, the clock number, and the clock cycle. On the other hand, when the clock cycle is different from the expected one, the time cannot be obtained correctly by this method.
However, by using the method of the present embodiment, a highly accurate time corresponding to an arbitrary clock number can be obtained. Therefore, there is an advantage that the clock can be used as a kind of timepiece even when the cycle of the clock is different from the assumed one.

  As described above, according to the third embodiment, it is possible to know the corresponding high-precision time from the clock number by using the time / number pair relationship information by the clock number / time correspondence circuit 4.

Embodiment 4 FIG.
In the fourth embodiment, one event execution instruction / time difference generation circuit 1 (one reference clock generator 41) causes a plurality of events to be executed. For example, in application to a radar apparatus, this corresponds to a general form in which a transmitter and a receiver are driven by a common reference oscillator.
FIG. 8 is a diagram showing a configuration of an event execution device according to Embodiment 4 of the present invention. The event execution apparatus according to the fourth embodiment shown in FIG. 8 includes an event execution apparatus (# 0) 2a and at least one or more event execution apparatuses as the event execution apparatus 2 of the event execution apparatus according to the first embodiment shown in FIG. (#N) Changed to 2b, changed event output corrector 3 to at least one event output corrector (#n) 3a, and added at least one event execution instruction delay unit (#n) 14 It is. FIG. 8 shows a case where the event implementer 2b, the event output corrector 3a, and the event execution instruction delay unit 14 are provided one by one.

  The event execution instruction / time difference generation circuit (# 0) 1 shown in FIG. 8 is the same as that shown in FIG. Then, the event execution instruction by the event execution instruction / time difference generation circuit 1 is output to the event execution unit 2a and the event execution instruction delay unit 14 (solid line shown in FIG. 8), and the event execution designation time, the event execution clock number time, Is output to the event output corrector 3a (broken line shown in FIG. 8).

  The event execution instruction delay unit 14 delays the event execution instruction from the event execution instruction / time difference generation circuit 1 by a predetermined delay time. The event execution instruction delayed by the event execution instruction delay unit 14 is output to the event execution unit 2b (solid line shown in FIG. 8), and data indicating the delay time is output to the event output correction unit 3a (see FIG. 8). Dash-dot line shown).

The event implementer 2a is the same as that shown in FIG. 1, and implements an event in accordance with the event execution instruction from the event execution instruction / time difference generation circuit 1.
The event implementer (second event implementer) 2b is the same as that shown in FIG. 1 and implements an event according to the event execution instruction delayed by the event execution instruction delay unit 14. Data indicating the result of execution by the event implementer 2b is output to the event output corrector 3a.

  The event output corrector (second event output corrector) 3a is the same as that shown in FIG. 1, and the event execution designation time and event execution clock number time calculated by the event execution instruction / time difference generation circuit 1 The execution result by the event implementer 2b is corrected based on the difference between the two and the delay time by the event execution instruction delay unit 14.

Here, when # 0 is the transmission system and #n is the reception system, the reception processing is delayed by taking the propagation time of the radio wave into account in order to appropriately obtain a reflected signal from the vicinity of the distance to be observed with a desired distance width. Need to get started.
Therefore, the event execution instruction delay unit 14 delays the event execution instructions issued to both the systems # 0 and #n. Further, the event output corrector 3a corrects the output signal of the event implementer 2b by the difference between the event execution designation time and the event execution clock number time and the delay time.

In the application to the radar apparatus described here, when the reception start time is based on the transmission start time, the difference time between the event execution specified time and the event execution clock number time is canceled by transmission / reception. You can ignore it.
However, in other general events, the difference from the event execution specified time may be important. In such a case, the difference time between the event execution specified time and the event execution clock number time cannot be ignored. .

  As described above, according to the fourth embodiment, in the case where a single event execution instruction / time difference generation circuit 1 performs a plurality of events, the event execution instruction is delayed, and based on this delay time, Since the event execution result is corrected, the adverse effect can be reduced even when the clock period is different from the expected one.

Embodiment 5 FIG.
In the fifth embodiment, a plurality of event execution instruction / time difference generation circuits 1 (a plurality of reference clock generators 41) are configured to execute a plurality of events in cooperation.
FIG. 9 is a diagram showing a configuration of an event execution device according to Embodiment 5 of the present invention. The event execution apparatus according to the fifth embodiment shown in FIG. 9 includes an event execution instruction / time difference generation circuit 1 of the event execution apparatus according to the fourth embodiment shown in FIG. # 0, #n) 1a, 1b, the event execution instruction delay unit 14 is deleted, the entire event adjustment circuit 15, a plurality of individual event adjustment circuits (# 0, #n) 16a, 16b, and an event output corrector (# 0) 3b is added. Other configurations are the same, and the same reference numerals are given and description thereof is omitted.

The event execution instruction / time difference generation circuits (first and second event execution instructions / time difference generation circuits) 1a and 1b are the same as those shown in FIG. The event execution instructions by the event execution instruction / time difference generation circuits 1a and 1b are output to the event implementers 2a and 2b (solid lines shown in FIG. 9), respectively, and the difference between the event execution designation time and the event execution clock number time. Is output to the event output correctors 3b and 3a, respectively (broken line shown in FIG. 9).
In addition, the event execution instruction / time difference generation circuits 1a and 1b perform event adjustment (adjustment of event execution designated time) by the individual event adjustment circuits 16a and 16b, respectively.

  The overall event adjustment circuit 15 adjusts the entire plurality of events based on the event adjustment results from the individual event adjustment circuits 16a and 16b. The event adjustment result by the overall event adjustment circuit 15 is output to the individual event adjustment circuits 16a and 16b.

  The individual event adjustment circuits 16 a and 16 b individually adjust the events of the event execution instruction / time difference generation circuits 1 a and 1 b based on the event adjustment result by the overall event adjustment circuit 15. The event adjustment results by the individual event adjustment circuits 16 a and 16 b are output to the overall event adjustment circuit 15.

  The event output corrector (second event output corrector) 3a is the same as that shown in FIG. 8, and the event execution designation time and the event execution clock number time calculated by the event execution instruction / time difference generation circuit 1a. , And the difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit 1b and the event execution clock number time, the execution result by the event implementer 2b is corrected.

  The event output corrector (first event output corrector) 3b is the same as that shown in FIG. 8, and the event execution designated time and the event execution clock number time calculated by the event execution instruction / time difference generation circuit 1a. The execution result by the event implementer 2a is corrected based on the difference between the two.

Here, when a plurality of events are operated in a coordinated manner based on a plurality of reference clock generators 41, a shift in the clock generation period of the reference clock generator 41 between the devices greatly affects the cooperation.
As an operation requiring such cooperation, for example, in a radar apparatus, an operation using a bistatic configuration in which a transmitting station and a receiving station are arranged apart from each other can be cited. In the bistatic radar, the above-described misalignment can cause serious problems such as missing target reflected signals as well as errors in estimating the distance to the target and speed.

  In the following, the individual event adjustment circuit 16b, the event execution instruction / time difference generation circuit 1a, the event execution unit 2a, and the event output correction unit 3b are set to # 0 system, and the individual event adjustment circuit 16b, the event execution instruction / time difference are set. The description will be given with the #n system of the generation circuit 1b, the event implementer 2b, and the event output corrector 3a as the receiving side.

First, the overall event adjustment circuit 15 determines matters related to the entirety of a plurality of events. The decision items required vary widely, but in the bistatic radar, the observation area, observation timing, etc. are the main decision items.
For example, it is assumed that the basic specifications of the radar such as the positions of the transmitting station and the receiving station, the transmission frequency and the bandwidth are already determined.

On the other hand, the individual event adjustment circuit 16a sets the event execution designation time on the transmission side in cooperation with the event execution instruction / time difference generation circuit 1a using the method of the second embodiment. Then, the individual event adjustment circuit 16 a returns the set event execution designation time to the overall event adjustment circuit 15. This information is sent from the overall event adjustment circuit 15 to the individual event adjustment circuit 16b of the reception system together with other observation area information and the like.
Then, the individual event adjustment circuit 16b sets the event execution designation time on the reception side in consideration of the event execution designation time on the transmission side and the observation area, and sends this to the event execution instruction / time difference generation circuit 1b. .

  The process for starting the event implementer 2a from the event execution instruction / time difference generation circuit 1a and the process for starting the event implementer 2b from the event execution instruction / time difference generation circuit 1b are as described in the previous embodiments. Therefore, the description thereof is omitted.

Then, the event output corrector 3a performs the event execution based on the difference between the event execution specified time on the transmitting side and the event execution clock number time and the difference between the event execution specified time on the receiving side and the event execution clock number time. The received signal which is the event execution result by the device 2b is corrected.

  Note that the difference between the event execution designation time on the transmission side and the event execution clock number time can be ideally zero when the method of the second embodiment is used. Therefore, in this case, the correction process can be simplified based on only the difference on the receiving side.

  As described above, according to the fifth embodiment, when a plurality of events are executed in cooperation by a plurality of event execution instruction / time difference generation circuits 1, the overall event adjustment circuit 15 and the individual event adjustment circuits 16a and 16b are used. Since the event execution designation time is adjusted according to the above, the cooperative operation can be performed even when the reference clock generators 41 for both transmission and reception are not operating as expected. Further, the influence of the difference between the event execution designation time and the event execution clock number time included in the execution result of each event can be corrected.

  In the above description, the positions of the transmitting station and the receiving station are assumed to be constant. However, even if one or both of them are moving, it can be applied by adjusting the event including exercise. Is possible. In the present embodiment, the content of the radar apparatus has been described as an example. However, the present invention can be applied to any apparatus that requires a cooperative operation using a plurality of reference clock generators 41.

Embodiment 6 FIG.
In the sixth embodiment, an application to a radar apparatus is assumed, and in particular, a method for dealing with a case where a transmitting station or a receiving station moves will be described.
FIG. 10 is a diagram showing a configuration of a radar apparatus according to Embodiment 6 of the present invention.
As shown in FIG. 10, the radar apparatus includes an overall event adjustment circuit 15, a transmission event adjustment circuit 16c, a transmission event execution instruction / time difference generation circuit 1c, a transmission event execution unit 2c, a reception event adjustment circuit 16d, and a reception event execution. The instruction / time difference generation circuit 1d, the reception event implementer 2d, the reception signal corrector 3c, and the signal processing circuit 17 are included.

  The overall event adjustment circuit 15 is the same as that shown in FIG. 9, and sets an observation area, a rough transmission / reception position, and the like as adjustment of the overall transmission / reception event. The information is distributed to the transmission event adjustment circuit 16c, and the data indicating the transmission time (event execution clock number time) set by the transmission event adjustment circuit 16c is transmitted to the reception event adjustment circuit 16d together with the above-described information. To deliver.

  The transmission event adjustment circuit 16c is similar to the individual event adjustment circuit 16a shown in FIG. 9, and individually adjusts transmission events. Here, the transmission event adjustment circuit 16c sets a temporary transmission time (event execution designation time) based on the information from the overall event adjustment circuit 15 and information such as its own position and motion, In addition to outputting to the time difference generation circuit 1 c, the actual transmission time (event execution clock number time) acquired by the transmission event execution instruction / time difference generation circuit 1 c is output to the overall event adjustment circuit 15.

  The transmission event execution instruction / time difference generation circuit 1c is the same as the event execution instruction / time difference generation circuit 1a shown in FIG. 9, and a temporary transmission time (event execution designation time set by the transmission event adjustment circuit 16c). ), The transmission event execution instruction, the actual transmission time (event execution clock number time), and the difference between the event execution clock number time on the transmission side and the event execution designation time are obtained. The transmission event execution instruction generated by the transmission event execution instruction / time difference generation circuit 1c is output to the transmission event execution unit 2c (solid line shown in FIG. 10). Further, the data indicating the event execution clock number time is output to the transmission event adjustment circuit 16c (the chain line shown in FIG. 10). Further, data indicating the difference between the event execution clock number time on the transmission side and the event execution designation time is output to the reception signal corrector 3c (broken line shown in FIG. 10).

  The transmission event execution unit 2c is the same as the event execution unit 2a shown in FIG. 9, and performs radar transmission as an event in accordance with the event execution instruction from the transmission event execution instruction / time difference generation circuit 1c. . This transmission event implement 2c is comprised from the transmitter 21c which produces | generates a high frequency signal, and the transmission antenna 22c which radiates | emits the high frequency signal produced | generated by the transmitter 21c to space.

  The reception event adjustment circuit 16d is similar to the individual event adjustment circuit 16b shown in FIG. 9, and adjusts reception events individually. Here, the reception event adjustment circuit 16d sets a temporary reception time (event execution designation time) based on the information from the overall event adjustment circuit 15, and outputs it to the reception event execution instruction / time difference generation circuit 1d.

  The reception event execution instruction / time difference generation circuit 1d is the same as the event execution instruction / time difference generation circuit 1b shown in FIG. ) To obtain the reception event execution instruction, the actual reception time (event execution clock number time), and the difference between the event execution clock number time on the reception side and the event execution designated time. The reception event execution instruction generated by the reception event execution instruction / time difference generation circuit 1d is output to the reception event execution unit 2d (solid line shown in FIG. 10). Further, the data indicating the event execution clock number time is output to the reception event adjustment circuit 16d (the chain line shown in FIG. 10). Further, data indicating the difference between the event execution clock number time on the reception side and the event execution designated time is output to the reception signal corrector 3c (broken line shown in FIG. 10).

  The reception event executor 2d is the same as the event executor 2b shown in FIG. 9, and performs radar reception as an event in accordance with the event execution instruction from the reception event execution instruction / time difference generation circuit 1d. . The reception event execution unit 2d includes a receiving antenna 21d that takes in a high-frequency signal that jumps into space, and a receiver 22d that receives and processes the high-frequency signal taken in by the receiving antenna 21d. A reception signal as a result of execution by the reception event execution unit 2d is output to the reception signal corrector 3c.

  The reception signal corrector 3c includes a difference between the transmission side event execution clock number time calculated by the transmission event execution instruction / time difference generation circuit 1c and the event execution designation time, and a reception event execution instruction / time difference generation circuit 1d. Based on the difference between the event execution clock number time on the reception side calculated by the above and the event execution designated time, the reception signal that is the execution result by the reception event implementer 2d is corrected. The reception signal corrected by the reception signal corrector 3 c is output to the signal processing circuit 17.

  The signal processing circuit 17 performs signal processing for using the received signal from the received signal corrector 3c.

Next, a configuration example of the transmission event adjustment circuit 16c will be described with reference to FIG.
As shown in FIG. 11, the transmission event adjustment circuit 16c includes an observation target / transmission / reception position setter 161c, a self-position motion measurement circuit 162c, each time self-position prediction circuit 163c, a transmission time setting circuit 164c, and a transmission time output circuit 165c. It is configured.

  The observation target / transmission / reception position setting unit 161c sets the observation target and the transmission / reception position. Data indicating the observation target and the transmission / reception position set by the observation target / transmission / reception position setting unit 161c is output to the transmission time setting circuit 164c.

  The self-position movement measuring circuit 162c measures its own position and movement. Data indicating the position and movement of the subject measured by the self-position movement measuring circuit 162c is output to each time self-position prediction circuit 163c.

  Each time self-position prediction circuit 163c predicts its own position at each future time based on its own position and movement measured by the self-position movement measurement circuit 162. Data indicating its own position at each time predicted by each time self-position prediction circuit 163c is output to the transmission time setting circuit 164c.

  The transmission time setting circuit 164c is based on the observation target and transmission / reception position set by the observation target / transmission / reception position setter 161c and the own position at each time predicted by each time self-position prediction circuit 163c. A temporary transmission time (event execution designation time) suitable for irradiating the observation target with a signal is set. Data indicating the provisional transmission time set by the transmission time setting circuit 164c is output to the transmission time output circuit 165c.

  The transmission time output circuit 165c outputs data indicating the provisional transmission time set by the transmission time setting circuit 164c to the transmission event execution instruction / time difference generation circuit 1c, and receives the data from the transmission event execution instruction / time difference generation circuit 1c. Data indicating the actual transmission time (event execution clock number time) is output to the overall event adjustment circuit 15.

Next, a configuration example of the reception event adjustment circuit 16d will be described with reference to FIG.
As shown in FIG. 12, the reception event adjustment circuit 16d includes an observation target / transmission / reception position setter 161d, a self-position motion measurement circuit 162d, each time self-position prediction circuit 163d, a reception time setting circuit 164d, and a reception time output circuit 165d. It is configured.

  The observation target / transmission / reception position setting unit 161d sets the observation target, the transmission / reception position, and the transmission time. The observation target and transmission / reception position setter 161d set by the observation target / transmission / reception position setting unit 161d output data indicating the transmission time and the reception time setting circuit 164d.

  The self-position movement measuring circuit 162d measures its own position and movement. The data indicating the position and movement of the self measured by the self-position movement measuring circuit 162d is output to each time self-position prediction circuit 163d.

  Each time self-position prediction circuit 163d predicts a self-position at each future time based on the position and motion of the self measured by the self-position movement measurement circuit 162d. Data indicating its own position at each time predicted by each time self-position prediction circuit 163d is output to the reception time setting circuit 164d.

  The reception time setting circuit 164d includes the observation target and transmission / reception position set by the observation target / transmission / reception position setter 161d, the transmission time, and the own position at each time predicted by the self-position movement measurement circuit 162d. Based on this, a provisional reception time (event execution designation time) suitable for receiving a reflected wave irradiated from the transmission station and reflected from the observation object is set. Data indicating the reception time set by the reception time setting circuit 164d is output to the reception time output circuit 165d.

  The reception time output circuit 165d outputs data indicating the provisional reception time set by the reception time setting circuit 164d to the reception event execution instruction / time difference generation circuit 1d.

Next, the processing content of this Embodiment is demonstrated using FIGS.
Here, as a typical observation method for a radar device in which the radar platform moves and observes the observation target, the resolution is increased by using the change in the angle of view generated by the relative motion between the observation target and the radar device. Synthetic Aperture Radar (SAR) that aims to achieve the above. In particular, when the position and movement of the transmitting station and the receiving station are different, it is called a bistatic SAR. The method of the present embodiment is useful for such a bistatic SAR.

  Further, the radar apparatus is not limited to a radar apparatus that obtains a target image, such as a synthetic aperture radar, and there are various radar apparatuses that can be mounted on a moving body (for example, an aircraft) such as for detection and tracking. . The method of this embodiment is also useful when bistatic operation is performed in these radar apparatuses.

  In the operation by this radar apparatus, as shown in FIG. 13, first, the overall event adjustment circuit 15 sets an observation area, a rough transmission / reception position, etc. as overall event adjustment, and sends this to the transmission event adjustment circuit 16c. Distribute (step ST1301).

  Next, the transmission event adjustment circuit 16c sets a temporary transmission time (event execution designation time) based on the information from the overall event adjustment circuit 15, and outputs it to the transmission event execution instruction / time difference generation circuit 1c (step). ST1302). Here, in the transmission event adjustment circuit 16 c, first, the observation target / transmission / reception position setting unit 161 c sets the observation target and the transmission / reception position based on the information from the overall event adjustment circuit 15.

The self-position movement measuring circuit 162c measures the position and movement of the self (transmitting station) at each time. As this measurement method, a GPS or acceleration sensor, a combination thereof, or other sensors capable of measuring position and motion may be used.
Then, each time self-position prediction circuit 163c predicts a self-position at each future time based on the self-position and movement measured by the self-position movement measurement circuit 162c.

Then, in the transmission time setting circuit 164c, based on the observation target and transmission / reception position set by the observation target / transmission / reception position setter 161c and the self-position at each time predicted by each time self-position prediction circuit 163c, Set a temporary transmission time.
Then, the transmission time output circuit 165c outputs the temporary transmission time set by the transmission time setting circuit 164c to the transmission event execution instruction / time difference generation circuit 1c.

  Next, the transmission event execution instruction / time difference generation circuit 1c performs an event based on the temporary transmission time (event execution designation time) set by the transmission event adjustment circuit 16c by the method described in the above embodiments. An execution instruction is given (step ST1303). Further, the transmission event execution instruction / time difference generation circuit 1c obtains the actual transmission time (event execution clock number) and the difference between the event execution designation time and the event execution clock number time by the method of the first embodiment or the like. . When the method of the second embodiment is used, the event execution designated time is finely adjusted so as to reduce the difference time according to the clock state. Then, the transmission event execution instruction / time difference generation circuit 1c outputs data indicating the actual transmission time to the transmission event adjustment circuit 16c. Thereafter, the transmission event adjustment circuit 16c (transmission time output circuit 165c) outputs the actual transmission time to the overall event adjustment circuit 15 (step ST1304).

  Next, the overall event adjustment circuit 15 outputs information indicating the observation area, transmission / reception position, and the like and information indicating the actual transmission time on the transmission side to the reception event adjustment circuit 16d (step ST1305).

  Next, the reception event adjustment circuit 16d sets a temporary reception time (event execution designation time) based on the information from the overall event adjustment circuit 15, and outputs it to the reception event execution instruction / time difference generation circuit 1d (step). ST1306). Here, in the reception event adjustment circuit 16 d, first, the observation target / transmission / reception position setting unit 161 d sets the observation target, the transmission / reception position, and the transmission time based on the information from the overall event adjustment circuit 15.

Further, the self-position movement measuring circuit 162d measures the position and movement of the self (receiving station) at each time. As this measurement method, a GPS or acceleration sensor, a combination thereof, or other sensors capable of measuring position and motion may be used.
Then, each time self-position prediction circuit 163d predicts a self-position at each future time based on the self-position and movement measured by the self-position movement measurement circuit 162d.

  In the transmission time setting circuit 164d, the observation target and transmission / reception position set by the observation target / transmission / reception position setter 161d, the transmission time, and the self-position at each time predicted by each time self-position prediction circuit 163d Based on the above, a provisional reception time is set. Here, it is desirable that the reception time is in the vicinity of a value obtained by adding a delay time while radio waves travel along the route of “transmission station → observation area → reception station” to the transmission time. Although the general position of the receiving station is instructed by the overall event adjustment circuit 15, there is a possibility that the predetermined position cannot be reached at a predetermined time depending on the current position or movement of the receiving station. In this case, if the reception time is set based on the positional relationship instructed by the overall event adjustment circuit 15, there is a possibility that the signal of the area of interest is lost. Therefore, this problem is avoided by setting the reception time based on its own predicted position at the transmission time.

  Note that the reception time can also be set based on the premise that the positional relationship instructed by the overall event adjustment circuit 15 can be realized. In this case, there is an advantage that the processing load is reduced because the transmission of information from each time self-position prediction circuit 163d to the reception time setting circuit 164d becomes unnecessary.

  Next, the reception event execution instruction / time difference generation circuit 1d uses the method described in the above embodiments to determine the event based on the provisional reception time (event execution designation time) set by the reception event adjustment circuit 16d. An execution instruction is given (step ST1307). Further, the reception event execution instruction / time difference generation circuit 1d obtains the actual reception time (event execution clock number) and the difference between the event execution designation time and the event execution clock number time by the method of the first embodiment or the like. . When the method of the second embodiment is used, the event execution designated time is finely adjusted so as to reduce the difference time according to the clock state.

  Next, the transmission event implementer 2c implements the event according to the event implementation instruction from the transmission event execution instruction / time difference generation circuit 1c by the method described in the above embodiments (step ST1308). The event here is a process of irradiating the observation area method with the transmission signal generated by the transmitter 21c via the transmission antenna 22c.

  Next, the reception event executor 2d performs the event according to the event execution instruction from the reception event execution instruction / time difference generation circuit 1d by the method described in the above embodiments (step ST1309). The event here is a process of receiving a scattered wave from the observation area by the receiver 22d via the receiving antenna 21d.

  Next, the signal processing circuit 17 performs processing required for the radar, such as radar image reproduction, detection, and tracking, on the reception signal corrected by the reception signal corrector 3c (step ST1311). At this time, if necessary, a position / motion measurement circuit (not shown) may be used to measure the position and motion when the event (transmission or reception) is performed, and the result may be used for processing.

  As described above, this method can be used when the transmitting station and the receiving station move. However, it is not essential that both the transmitting station and the receiving station are moving. When moving, it can also be used when only the receiving station moves. Further, the present invention can be applied when both the transmitting station and the receiving station are fixed.

  In the overall event adjustment circuit 15, for the designated position of the fixed station, the position itself where the fixed station exists is designated. In this case, the event adjustment circuits 16c and 16d of each station do not require the predicted positions by the time self-position prediction circuits (163c and 163d), so the self-position motion measurement circuits (162c and 162d) that provide information to be input thereto. Is no longer necessary. Therefore, the configuration of each event adjustment circuit 16c, 16d is simplified.

  In the above description, the radar apparatus has been described as an example, but it goes without saying that the same effect can be obtained even in the case of a communication apparatus that performs transmission and reception in the same manner.

As described above, according to the sixth embodiment, observation is performed in cooperation between a transmitting station and a receiving station of a radar apparatus or a communication apparatus that allows disposing them at different positions and further allowing them to move with time. When an event is executed, an appropriate transmission time and reception time are determined based on a predetermined event scenario and the characteristics of the clock signal of each station, and the influence of the difference between the event execution specified time and the event execution clock number time In view of the above, since the influence of the received signal is corrected, adverse effects on the subsequent signal processing can be reduced. Here, for example, when an image to be observed is obtained based on a received signal, an adverse effect is an unexpected unnecessary blur, expansion / contraction, translation, etc. included in the image, and the target position or When speed is obtained, it is an estimation error.
In addition, when one or both of the transmitting station and the receiving station do not move or the amount of movement can be ignored, the self-position motion measurement circuit and each time self-position prediction circuit are omitted in the transmission or reception event adjustment circuit. As a result, the processing load is reduced.

Embodiment 7 FIG.
FIG. 14 is a diagram showing a configuration of a radar apparatus according to Embodiment 7 of the present invention.
The radar apparatus according to the seventh embodiment shown in FIG. 14 includes the event implementers 2a and 2b and the event output corrector 3a of the event execution apparatus according to the fourth embodiment shown in FIG. The event execution unit 2d and the reception signal correction unit 3c are changed to a signal processing circuit 17. Other configurations are the same, and the same reference numerals are given and description thereof is omitted.

  The operation as the event execution device is the same as that in the fourth embodiment, and the operations of the transmission event implementer 2c, the reception event implementer 2d, and the reception signal corrector 3c, which are detailed for the radar device, are described in the sixth embodiment. It is as follows.

  The signal processing circuit 17 performs processing required for the radar, such as radar image reproduction, detection, and tracking, on the reception signal corrected by the reception signal corrector 3c. At that time, if necessary, the position and motion at the time of the event (transmission and reception) are measured using a position / motion measurement circuit (not shown) separately, and the result may be used for processing.

  In the above description, the radar apparatus has been described as an example, but it goes without saying that the same effect can be obtained even in the case of a communication apparatus that performs transmission and reception in the same manner.

  As described above, according to the seventh embodiment, the event execution device that executes a plurality of events with one event execution instruction / time difference generation circuit 1 is applied to a radar device or a communication device. The effect similar to that of the fourth embodiment can be obtained also in the communication device.

  In the present invention, within the scope of the invention, any combination of the embodiments, or any modification of any component in each embodiment, or omission of any component in each embodiment is possible. .

  1, 1a, 1b Event execution instruction / time difference generation circuit, 1c transmission event execution instruction / time difference generation circuit, 1d reception event execution instruction / time difference generation circuit, 2, 2a, 2b event execution unit, 2c transmission event execution unit 2d reception event execution unit, 3, 3a, 3b event output correction unit, 3c reception signal correction unit, 4 clock number / time correspondence circuit, 5 designated time setting unit, 6 execution number / time estimator, 7 event execution instruction , 8 differential time calculator, 9 designated time / step candidate setter (rough time setter), 10 designated time extractor, 11 designated clock time generation circuit, 12 designated clock number setter, 13 designated clock time extractor, 14 event execution instruction delay unit, 15 overall event adjustment circuit, 16a, 16b individual event adjustment circuit, 16c transmission Vent adjustment circuit, 16d reception event adjustment circuit, 17 signal processing circuit, 21c transmitter, 22c transmission antenna, 21d reception antenna, 22d receiver, 41 reference clock generator, 42 clock number counter, 43 high precision time acquisition device, 44 clock number / time integrator, 45 clock number / time accumulator, 46 reading time range setting / indicator, 47 clock number / time reader, 48 clock number / time relation specifying device, 161c, 161d observation target / transmission / reception position Setter, 162c, 162d Self-position motion measurement circuit, 163c, 163d Time self-position prediction circuit, 164c Transmission time setting circuit, 164d Reception time setting circuit, 165c Transmission time output circuit, 165d Reception time output circuit, 431 GPS receiver 432 GPS time acquisition unit, 81 clock number bias correction unit, 482 time bias correction unit, 483 clock number and time smoother.

Claims (50)

A clock number counter that counts the input clock and outputs a clock number;
A high-accuracy time acquisition unit that acquires a higher-accuracy time than the clock;
A clock number / time integrator that generates time / number pair data in which the clock number output by the clock number counter is associated with the time acquired by the high-accuracy time acquirer;
A clock number / time relationship specifying unit that acquires time / number pair relationship information indicating a relationship between the clock number and the time based on the time / number pair data generated by the clock number / time integrator. Circuit with clock number / time correspondence. A clock number / time accumulator for accumulating the time / number pair data generated by the clock number / time integrator;
Among the time / number pair data stored by the clock number / time accumulator, a clock number / time reader that reads data in a predetermined time range or number range is provided.
The time / number pair data read by the clock number / time reader is used in place of the clock number / time integrator in the clock number / time relation specifying unit. Circuit with clock number / time correspondence. A read time range setting / indicator for setting the time range or the number range and instructing the clock number / time reader to read the time / number pair data in the range is provided. The clock number / time correspondence circuit according to claim 2. 4. The clock number / time correspondence according to claim 3, wherein the read time range setting / indicator sets the time range or the number range so as to reduce the influence due to the variation of the time / number versus data. Attached circuit. 4. The clock number / time correspondence circuit according to claim 3, wherein the read time range setting / indicator sets the time range or the number range so as to reduce an influence due to a change in its own characteristics. The reading time range setting / indicator sets the time range or the number range so as to reduce the influence of variations in the time / number versus data and to reduce the influence due to a change in its own characteristics. 4. The circuit with clock number / time correspondence according to claim 3. The high-accuracy time acquisition unit is
A GPS receiver for receiving GPS signals;
A GPS time acquisition unit that acquires GPS time from a GPS signal received by the GPS receiver;
7. The clock number / time correspondence circuit according to claim 1, wherein the GPS time acquired by the GPS time acquisition device is set to the high-accuracy time. 8. The high-accuracy time acquisition unit is
A standard radio receiver that receives the standard radio wave of the radio clock,
A standard time acquisition unit for acquiring a standard time from a standard radio wave received by the standard radio wave receiver,
The clock number / time correspondence circuit according to any one of claims 1 to 6, wherein the standard time acquired by the standard radio time acquisition unit is the high-accuracy time. The high-accuracy time acquisition unit is
An NTP time acquisition unit for acquiring the NTP time;
The clock number / time correspondence circuit according to any one of claims 1 to 6, wherein the NTP time acquired by the NTP time acquisition unit is set as the highly accurate time. The high-accuracy time acquisition unit is
A function for obtaining the high precision time by receiving a GPS signal and obtaining the GPS time, a function for obtaining the high precision time by receiving a standard radio wave and obtaining the standard time, and obtaining an NTP time The function of obtaining the high-accuracy time is provided with two or more functions including duplication, and the high-accuracy time obtained by each function is integrated into the final high-accuracy time. The clock number / time correspondence circuit according to any one of claims 1 to 6. The clock number / time relation specifying device is:
The clock number / time smoother for smoothing the time / number pair data to obtain the time / number pair relation information is provided. 11. Circuit with clock number / time correspondence. The clock number / time relation specifying device is:
The clock number / time correspondence circuit according to claim 11, further comprising a clock number bias corrector that corrects a bias component included in a clock number of the time / number pair data. 13. The clock number / time correspondence circuit according to claim 12, wherein the clock number bias corrector corrects the bias value of the clock number as 1/2. The clock number / time relation specifying device is:
The clock number / time correspondence circuit according to claim 11, further comprising a time bias corrector that corrects a bias component included in the time of the time / number pair data. 15. The clock number / time smoother acquires the time / number pair relation information by applying a least square method to the time / number pair data. The clock number / time correspondence circuit according to any one of the above. 12. The clock number / time smoother acquires the time / number pair relationship information by applying a first-order least square method to the time / number pair data. 15. The clock number / time correspondence circuit according to any one of items 14. The clock number / time smoother obtains the time / number pair relation information by applying spline interpolation to the time / number pair data. The clock number / time correspondence circuit according to any one of the above. 18. The clock number / time smoother acquires the time / number pair relation information by using a function that gives the clock number with respect to the time. Circuit with clock number / time correspondence described in item 1. The clock number / time smoother acquires the time / number pair relation information by using a function that gives the clock number for the time and a function that gives the time for the clock number obtained from the function. 18. The clock number / time correspondence circuit according to claim 15, wherein the circuit is associated with a clock number / time. The clock number / time smoother obtains the time / number pair relation information by using a function that gives the time with respect to the clock number. 18. Circuit with clock number / time correspondence described in item 1. The clock number / time smoother acquires the time / number pair relationship information by using a function that gives the time for the clock number and a function that gives the clock number for the time obtained from the function. 18. The clock number / time correspondence circuit according to claim 15, wherein the circuit is associated with a clock number / time. The clock number / time smoother uses a function that gives the time with respect to the clock number in the first smoothing, and uses a function that gives the clock number with respect to the time in the second smoothing. 18. The clock number / time correspondence circuit according to claim 15, wherein the number pair relation information is acquired. The clock number / time correspondence circuit according to any one of claims 1 to 22,
A designated clock number generator for designating a predetermined clock number;
A designated clock time extractor for extracting a time corresponding to the clock number designated by the designated clock number generator based on the time / number pair relation information acquired by the clock number / time correspondence circuit; Designated clock time generation circuit. The clock number / time correspondence circuit according to any one of claims 1 to 22,
A designated time setting device for setting an event implementation designated time which is a time at which an event is to be implemented;
Event execution that is a clock number for executing the event based on the time / number pair relation information acquired by the clock number / time association circuit and the event execution specified time set by the specified time setting device An event execution instruction / time difference generation circuit comprising: an execution number estimator for estimating a clock number. Instead of the specified time setter,
An approximate time setting device for setting an approximate event execution time that is an approximate time for executing the event;
A designated time extractor for extracting the event execution time based on the time / number pair relation information acquired by the clock number / time association circuit and the event execution approximate time set by the approximate time setter The event execution instruction / time difference generation circuit according to claim 24, comprising: The approximate time setter sets a predetermined one time and a time step candidate for executing the event as the event execution approximate time,
26. The specified time extractor extracts the event execution specified time with a small deviation from the time corresponding to the clock number and a cycle of the clock number close to the time increment. Event execution instruction / time difference generation circuit. Instead of the execution number estimator, based on the time / number pair relation information acquired by the clock number / time correspondence circuit and the event execution specified time set by the specified time setting device, the event The event execution instruction / time estimator according to claim 24, further comprising an execution number / time estimator that estimates an execution clock number and estimates an event execution clock number time that is a time corresponding to the event execution clock number. Time difference generation circuit. A difference time calculator for calculating a difference between an event execution specified time set by the specified time setter and an event execution clock number time estimated by the execution number / time estimator. Item 27. An event execution instruction / time difference generation circuit according to Item 27. The event execution clock number estimated by the execution number estimator is compared with the clock number output by the clock number / time correspondence circuit, and when the clock number matches the event execution clock number, The event execution instruction / time difference generation circuit according to claim 24, further comprising an event execution instruction unit that outputs an event execution instruction indicating an event execution instruction. When the event execution clock number estimated by the execution number / time estimator is compared with the clock number output by the clock number / time association circuit, and the clock number matches the event execution clock number 28. The event execution instruction / time difference generation circuit according to claim 27, further comprising: an event execution instruction unit that outputs an event execution instruction indicating the execution instruction of the event. An event execution instruction / time difference generation circuit according to claim 29;
An event execution device comprising: an event execution unit that executes the event in accordance with an event execution instruction from the event execution instruction / time difference generation circuit. An event execution instruction / time difference generation circuit according to claim 30;
An event execution device comprising: an event execution unit that executes the event in accordance with an event execution instruction from the event execution instruction / time difference generation circuit. An event output corrector that corrects an execution result by the event implementer based on a difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit and the event execution clock number time; 33. The event execution device according to claim 32. An event execution instruction delay unit for delaying the event execution instruction output by the event execution instruction / time difference generation circuit by a predetermined delay time;
The event execution device according to claim 32, further comprising at least one second event implementer that implements the event according to the event implementation instruction delayed by the event execution instruction delay unit. Based on the difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit and the event execution clock number time, and the delay time by the event execution instruction delay unit, the second event execution is performed. 35. The event execution device according to claim 34, further comprising a second event output correction unit that corrects an execution result by the unit. An overall event coordinator for coordinating a plurality of said events;
A first event execution instruction / time difference generation circuit according to claim 29;
In accordance with an event execution instruction by the first event execution instruction / time difference generation circuit, a first event implementer that executes the event;
30. At least one second event execution instruction / time difference generation circuit according to claim 29;
A second event implementer that implements the event in accordance with an event implementation instruction by the second event execution instruction / time difference generation circuit;
An event execution device characterized by comprising: An overall event coordinator for coordinating a plurality of said events;
A first event execution instruction / time difference generation circuit according to claim 30;
In accordance with an event execution instruction by the first event execution instruction / time difference generation circuit, a first event implementer that executes the event;
At least one second event execution instruction / time difference generation circuit according to claim 30;
A second event implementer that implements the event in accordance with an event implementation instruction by the second event execution instruction / time difference generation circuit;
An event execution device characterized by comprising: The difference between the event execution designation time calculated by the first event execution instruction / time difference generation circuit and the event execution clock number time, and the second event execution instruction / time difference generation circuit. 38. A second event output corrector that corrects an execution result by the second event implementer based on a difference between the event implementation designation time and the event implementation clock number time. The event execution device described. A first correction of the execution result by the first event implementer based on the difference between the event execution designation time calculated by the first event execution instruction / time difference generation circuit and the event execution clock number time. The event execution device according to claim 37 or 38, further comprising: The event implementer is:
A transmitter that generates a high-frequency signal;
The event execution device according to any one of claims 31 to 33, further comprising: a transmission antenna that radiates high-frequency signals generated by the transmitter to space. The event implementer is:
A receiving antenna that captures high-frequency signals flying into space;
The event execution device according to any one of claims 31 to 33, further comprising: a receiver that performs reception processing on a high-frequency signal captured by the reception antenna. One of the first and second event implementers is:
A transmitter that generates a high-frequency signal;
A transmission antenna that radiates high-frequency signals generated by the transmitter into space;
The other event implementer is
A receiving antenna that captures high-frequency signals flying into space;
40. The event execution device according to any one of claims 34 to 39, further comprising: a receiver that receives and processes a high-frequency signal captured by the reception antenna. An overall event coordination circuit for coordinating multiple events,
A transmission event adjustment circuit that adjusts events individually based on the adjustment result by the overall event adjustment circuit and sets an event execution designated time;
The event execution instruction / time difference generation circuit on the transmission side according to claim 30, which operates based on an event execution designation time set by the transmission event adjustment circuit;
In accordance with the event execution instruction by the transmission side event execution instruction and the time difference generation circuit, the transmission side event implementer for executing the transmission event;
Based on the adjustment result by the whole event adjustment circuit, the reception event adjustment circuit for adjusting the event individually and setting the event execution designated time,
The event execution instruction / time difference generation circuit on the reception side according to claim 30, which operates based on the event execution designation time set by the reception event adjustment circuit;
In accordance with the event execution instruction by the reception side event execution instruction and time difference generation circuit, the reception side event implementer for executing the reception event;
The difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit on the transmission side and the event execution clock time, and the event execution calculated by the event execution instruction / time difference generation circuit on the reception side A radar apparatus, comprising: a reception signal corrector that corrects an execution result by the event execution unit on the reception side based on a difference between a designated time and an event execution clock time. The transmission event adjustment circuit includes:
44. The radar apparatus according to claim 43, further comprising a transmission time setting circuit that sets an event execution designation time based on an observation target and a transmission / reception position. The transmission event adjustment circuit includes:
A self-position movement measuring circuit for measuring self position and movement;
Each time self-position prediction circuit for predicting the position of the self at each time in the future based on the position and movement of the self measured by the self-position movement measurement circuit,
45. The radar apparatus according to claim 44, wherein the transmission time setting circuit sets the event execution designation time in consideration of the position of each time predicted by the time self-position prediction circuit. The reception event adjustment circuit includes:
45. A reception time setting circuit for setting an event execution specified time based on an observation target and a transmission / reception position and an event execution specified time set by the transmission event adjustment circuit. Item 46. The radar device according to Item 45. The reception event adjustment circuit includes:
A self-position movement measuring circuit for measuring self position and movement;
Each time self-position prediction circuit for predicting the position of the self at each time in the future based on the position and movement of the self measured by the self-position movement measurement circuit,
47. The radar apparatus according to claim 46, wherein the reception time setting circuit sets an event execution designated time in consideration of the position of the terminal at each time predicted by the time self-position prediction circuit. An event execution instruction / time difference generation circuit according to claim 30;
In accordance with an event execution instruction from the event execution instruction / time difference generation circuit, an event implementer on the transmission side for executing a transmission event;
An event execution instruction delay unit for delaying the event execution instruction output by the event execution instruction / time difference generation circuit by a predetermined delay time;
In accordance with the event execution instruction delayed by the event execution instruction delay unit, a receiving side event implementer that implements a reception event;
Based on the difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit and the event execution clock number time, and the delay time by the event execution instruction delay unit, the event execution on the receiving side A radar apparatus comprising: a received signal corrector that corrects an implementation result by the detector. An overall event coordination circuit for coordinating multiple events,
A transmission event adjustment circuit that adjusts events individually based on the adjustment result by the overall event adjustment circuit and sets an event execution designated time;
The event execution instruction / time difference generation circuit on the transmission side according to claim 30, which operates based on an event execution designation time set by the transmission event adjustment circuit;
In accordance with the event execution instruction by the transmission side event execution instruction and the time difference generation circuit, the transmission side event implementer for executing the transmission event;
Based on the adjustment result by the whole event adjustment circuit, the reception event adjustment circuit for adjusting the event individually and setting the event execution designated time,
The event execution instruction / time difference generation circuit on the reception side according to claim 30, which operates based on the event execution designation time set by the reception event adjustment circuit;
In accordance with the event execution instruction by the reception side event execution instruction and time difference generation circuit, the reception side event implementer for executing the reception event;
The difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit on the transmission side and the event execution clock time, and the event execution calculated by the event execution instruction / time difference generation circuit on the reception side A communication apparatus comprising: a reception signal corrector that corrects an execution result by the event execution device on the reception side based on a difference between a designated time and an event execution clock time. An event execution instruction / time difference generation circuit according to claim 30;
In accordance with an event execution instruction from the event execution instruction / time difference generation circuit, an event implementer on the transmission side for executing a transmission event;
An event execution instruction delay unit for delaying the event execution instruction output by the event execution instruction / time difference generation circuit by a predetermined delay time;
In accordance with the event execution instruction delayed by the event execution instruction delay unit, a receiving side event implementer that implements a reception event;
Based on the difference between the event execution designation time calculated by the event execution instruction / time difference generation circuit and the event execution clock number time, and the delay time by the event execution instruction delay unit, the event execution on the receiving side A communication apparatus comprising: a received signal corrector that corrects an implementation result by the receiver.

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