JP2014009947A - Interference compensation support device - Google Patents
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本発明は、レーダ装置において、周辺に位置する他のレーダから到来する干渉波に起因する干渉の補償を支援する干渉補償支援装置に関する。 The present invention relates to an interference compensation support device that supports compensation of interference caused by interference waves coming from other radars located in the vicinity of a radar device.
船舶等の移動体に搭載され、かつ空中線系の主ローブの方向に応じたスキャンの下で物標を検知するレーダ装置では、その移動体の周囲に位置するレーダ装置から放射された送信波によって、干渉を被る。 In a radar device that is mounted on a moving body such as a ship and detects a target under a scan according to the direction of the main lobe of the antenna system, a transmission wave emitted from a radar device located around the moving body is used. Suffer from interference.
なお、このような干渉は、例えば、図５（ａ），（ｂ）にそれぞれに示すように、スイープ間でランダム（ｔ１≠ｔ２≠ｔ３）に発生する「非同期性干渉」と、送信波の送信繰り返し周期（PRI）にほぼ等しい一定の周期で発生する「同期性干渉」とがある。 Such interference is caused by, for example, “asynchronous interference” that occurs randomly between sweeps (t1 ≠ t2 ≠ t3) and transmission wave as shown in FIGS. There is “synchronous interference” that occurs at a fixed period substantially equal to the transmission repetition period (PRI).
従来、これらの干渉の除去を実現する先行技術としては、例えば、後述する特許文献１ないし特許文献２があった。 Conventionally, as a prior art for realizing the removal of these interferences, for example, there are Patent Documents 1 and 2 described later.
(1)「受信信号に含まれる干渉信号の特徴量を保存するための方法であって、前記受信信号の特徴量を求める特徴量算出ステップと、前記受信信号に希望信号が含まれる可能性を判定し、前記受信信号に希望信号が含まれる可能性がないと判断した場合に前記受信信号が干渉信号であると判定する受信信号判定ステップと、前記受信信号判定ステップにおいて前記受信信号に希望信号が含まれる可能性がないと判定された場合に、前記受信信号の特徴量を干渉信号特徴量として保存する干渉信号特徴量保存ステップとを備える」ことによって、「ランダムなタイミングで異なる無線局から到来する干渉信号を判別する」点に特徴がある干渉信号特徴量保存方法…特許文献１ (1) “A method for preserving a feature value of an interference signal included in a received signal, a feature value calculating step for obtaining a feature value of the received signal; and a possibility that a desired signal is included in the received signal. A received signal determining step for determining that the received signal is an interference signal when it is determined that the received signal is not likely to include the desired signal; and the received signal in the received signal determining step An interference signal feature value storage step that stores the feature value of the received signal as an interference signal feature value when it is determined that there is no possibility of being included, ”by“ from different radio stations at random timing ” Interference signal feature value storage method characterized by “discriminating incoming interference signal”. Patent Document 1
(2) 「１スイープにより得られるスイープデータから所定時間以上継続するデータを検出する除去候補検出手段と、データの到来時刻を送信時刻を基準として計数する計数手段と、連続する複数のスイープについて、除去候補検出手段により検出されたデータの到来時刻を計数手段から入力し記憶する記憶手段と、記憶手段上に連続する複数のスイープについて記憶されている到来時刻がスイープ数対到来時刻空間上で直線性を有するか否かを判定する直線性判定手段と、判定の結果直線性を有するとされた場合に、除去候補検出手段により検出されたデータを除去する除去手段とを備える」ことにより、「レーダ干渉のように比較的長い時間幅を有するノイズであっても好適に除去可能にする」点に特徴があるレーダ干渉除去回路…特許文献２ (2) “Removal candidate detection means for detecting data that continues for a predetermined time or more from sweep data obtained by one sweep, counting means for counting the arrival time of data on the basis of transmission time, and a plurality of continuous sweeps. Storage means for inputting and storing the arrival time of data detected by the removal candidate detection means from the counting means, and arrival times stored for a plurality of consecutive sweeps on the storage means are linear in the number of sweeps versus arrival time space By providing a linearity determination unit that determines whether or not the image has a linearity, and a removal unit that removes data detected by the removal candidate detection unit when it is determined to have linearity as a result of the determination. Radar interference removal circuit characterized in that it can suitably remove even noise having a relatively long time width such as radar interference ... Patent Document 2
ところで、従来のレーダ装置の多くでは、レーダ装置において干渉の補償や除去を実現する処理の形態は、操作者が適宜行う判断および操作によって選択されていた。 By the way, in many of the conventional radar apparatuses, the form of processing for realizing the compensation and removal of interference in the radar apparatus is selected by the judgment and operation appropriately performed by the operator.
しかし、これらの判断および操作は、上記選択の対象となり得る干渉除去処理の数が多いほど煩雑となり、特に、干渉の形態が複合的である場合には、操作者にとって大きな負担となる場合が多かった。 However, these determinations and operations become more complicated as the number of interference removal processes that can be selected are increased. In particular, when the interference forms are complex, it is often a heavy burden on the operator. It was.
また、特に、船舶に搭載されるレーダでは、周囲に多数の干渉源となる船舶が存在し、しかも、これらの干渉源から到来する干渉波の波形が類似する可能性がある。 In particular, in a radar mounted on a ship, there are a number of ships serving as interference sources in the vicinity, and the waveforms of interference waves coming from these interference sources may be similar.
このような場合には、個々の干渉源との相対位置も刻々と変化し得るため、干渉源毎に干渉波の特徴の識別と除去とを図ることは容易には実現できなかった。 In such a case, since the relative position with each interference source can also change every moment, it has not been easy to identify and remove the characteristics of the interference wave for each interference source.
本発明は、構成が大幅に複雑化することなく、多様な形態の干渉波の補償および抑圧を精度よく実現できる干渉補償支援装置を提供することを目的とする。 An object of the present invention is to provide an interference compensation support apparatus capable of accurately realizing compensation and suppression of various forms of interference waves without greatly complicating the configuration.
請求項１に記載の発明では、干渉評価手段は、レーダ装置が送信したパルス波に応じて所定のレンジ内に位置する物標からレーダ信号が到来し得る期間外に前記レーダ装置に到来した到来波について、電力と、前記電力の分布と、前記パルス波に対する相関との全てまたは一部の履歴として、前記レーダ信号に生じ得る干渉の程度または形態を評価する。干渉適応手段は、前記レーダ信号と、前記パルス波に後続して前記レーダ装置によって送信されたパルス波に応じて前記物標から到来したレーダ信号との何れか一方の干渉の補償に、前記干渉の程度または形態に適した干渉補償処理を適用する。 According to the first aspect of the present invention, the interference evaluation means arrives at the radar device outside a period during which a radar signal can arrive from a target located within a predetermined range in accordance with the pulse wave transmitted by the radar device. For a wave, the degree or form of interference that can occur in the radar signal is evaluated as a history of all or part of the power, the distribution of the power, and the correlation with the pulse wave. The interference adaptation means compensates for the interference of one of the radar signal and the radar signal arriving from the target in response to the pulse wave transmitted by the radar apparatus following the pulse wave. Apply an interference compensation process suitable for the degree or form.
すなわち、物標からレーダ信号が到来し得る期間外に到来した到来波の特徴として干渉の可能性に併せて程度および形態が評価され、既知の干渉補償技術の内、その評価の結果に適した技術が適用される。 In other words, the degree and form of the arrival wave that arrived outside the period in which the radar signal can arrive from the target is evaluated along with the possibility of interference, and is suitable for the result of the evaluation among known interference compensation techniques. Technology is applied.
請求項２に記載の発明では、干渉評価手段は、レーダ装置によって送信され、かつ占有帯域が異なるパルス波毎に、所定のレンジ内に位置する物標からレーダ信号が到来し得る期間外に前記レーダ装置に到来した到来波の電力と、前記電力の分布と、前記パルス波に対する相関との全てまたは一部の履歴に基づいて、前記レーダ信号に生じ得る干渉の程度を評価する。干渉適応手段は、前記レーダ装置が後続して送信するパルス波の占有帯域として、前記干渉の程度が所定の限度内であった占有帯域を適用する。 In the invention according to claim 2, the interference evaluating means transmits the pulse signal transmitted from the radar apparatus and for each pulse wave having a different occupied band outside the period in which the radar signal can arrive from a target located within a predetermined range. The degree of interference that can occur in the radar signal is evaluated based on the history of all or part of the power of the incoming wave that has arrived at the radar device, the distribution of the power, and the correlation with the pulse wave. The interference adaptation means applies an occupied band in which the degree of interference is within a predetermined limit as an occupied band of a pulse wave transmitted subsequently by the radar apparatus.
すなわち、物標からレーダ信号が到来し得る期間外に到来した到来波の特徴として干渉の可能性や程度が評価され、これらの可能性、程度が低い占有帯域に、レーダ装置によって後続して送信されるパルス波の占有帯域が設定される。 In other words, the possibility and degree of interference is evaluated as a feature of the incoming wave that arrived outside the period in which the radar signal can arrive from the target. An occupied band of the pulse wave to be set is set.
請求項３に記載の発明では、干渉評価手段は、レーダ装置によって反復して送信されるパルス波毎に、所定のレンジ内に位置する物標からレーダ信号が到来し得る期間外に前記レーダ装置に到来した到来波の前記パルス波に対する相関の履歴に基づいて、前記レーダ信号に生じ得る干渉の形態を評価する。干渉適応手段は、前記履歴が示す相関が所定の限度を上回るときに、前記パルス波が前記レーダ装置によって送信されるインターバルを変更する。 According to a third aspect of the present invention, the interference evaluation means is provided for each pulse wave repeatedly transmitted by the radar apparatus outside the period during which a radar signal can arrive from a target located within a predetermined range. The form of interference that can occur in the radar signal is evaluated on the basis of the history of correlation of the incoming wave that arrived at 1 with the pulse wave. The interference adaptation means changes the interval at which the pulse wave is transmitted by the radar device when the correlation indicated by the history exceeds a predetermined limit.
すなわち、物標からレーダ信号が到来し得る期間外に到来した到来波の特徴として干渉の可能性や程度が評価され、これらの可能性、程度が軽減される可能性がある値に、レーダ装置によって送信されるべきパルス波のインターバルが変更される。 That is, the possibility and degree of interference is evaluated as a feature of an incoming wave that has arrived outside the period in which a radar signal can arrive from the target, and the radar apparatus is set to a value that may reduce the possibility and degree of the possibility. The interval of the pulse wave to be transmitted is changed by.
請求項４に記載の発明では、請求項１または請求項３に記載の干渉補償支援装置において、前記レーダ装置は、所定の範囲の異なる方向に前記パルス波を反復して送信する。前記干渉評価手段および前記干渉適応手段は、前記パルス波に同期して前記方向毎に機能する。 According to a fourth aspect of the present invention, in the interference compensation support apparatus according to the first or third aspect, the radar apparatus repeatedly transmits the pulse wave in different directions within a predetermined range. The interference evaluation unit and the interference adaptation unit function in each direction in synchronization with the pulse wave.
すなわち、請求項１または請求項３に記載の発明は、レーダ装置の空中線系の主ローブの方向が可変される場合にも、同様に適用される。 That is, the invention according to claim 1 or claim 3 is similarly applied to the case where the direction of the main lobe of the antenna system of the radar apparatus is varied.
請求項５に記載の発明では、請求項２に記載の干渉補償支援装置において、前記レーダ装置は、前記占有帯域が異なる少なくとも複数のパルス波を並行して送信する。前記干渉評価手段および前記干渉適応手段は、前記複数のパルス波毎に並行して機能する。 According to a fifth aspect of the present invention, in the interference compensation support apparatus according to the second aspect, the radar apparatus transmits in parallel at least a plurality of pulse waves having different occupied bands. The interference evaluation unit and the interference adaptation unit function in parallel for each of the plurality of pulse waves.
すなわち、請求項２に記載の発明は、レーダ装置に備えられた空中線系や送受信系の稼働および連係に並行して適用される。 That is, the invention described in claim 2 is applied in parallel to the operation and linkage of the antenna system and the transmission / reception system provided in the radar apparatus.
本発明が適用されたレーダ装置では、操作の煩雑化や操作者の負担が軽減される。
また、本発明が適用されたレーダ装置では、複数の異なる程度や形態による干渉に個別に対応した形態で干渉補償処理が安定に行われる。
したがって、本発明が適用されたレーダ装置では、構成が複雑化することなく、好適な干渉補償が効率的に行われ、物標の検知が精度よく実現される。
In the radar apparatus to which the present invention is applied, the complexity of operation and the burden on the operator are reduced.
Further, in the radar apparatus to which the present invention is applied, the interference compensation process is stably performed in a form that individually corresponds to interferences according to a plurality of different degrees and forms.
Therefore, in the radar apparatus to which the present invention is applied, suitable interference compensation is efficiently performed without complicating the configuration, and target detection is realized with high accuracy.
以下、図面に基づいて本発明の実施形態について詳細に説明する。
図１は、本発明の一実施形態の構成を示す図である。
図において、空中線系１１の給電点は送受信部１２のアンテナ端子に接続され、その送受信部１２の変調入力および復調出力は信号処理部１３の対応するポートに接続される。信号処理部１３には、指示部１４が接続される。
Hereinafter, embodiments of the present invention will be described in detail with reference to the drawings.
FIG. 1 is a diagram showing a configuration of an embodiment of the present invention.
In the figure, the feeding point of the antenna system 11 is connected to the antenna terminal of the transmission / reception unit 12, and the modulation input and demodulation output of the transmission / reception unit 12 are connected to the corresponding ports of the signal processing unit 13. An instruction unit 14 is connected to the signal processing unit 13.
図２は、本実施形態において信号処理部１３によって行われる処理の手順を示すフローチャートである。
図３は、本実施形態における送信停止期間の態様を示す図である。
以下、図１〜図３を参照して本実施形態の動作を説明する。
FIG. 2 is a flowchart showing a procedure of processing performed by the signal processing unit 13 in the present embodiment.
FIG. 3 is a diagram illustrating an aspect of a transmission suspension period in the present embodiment.
The operation of this embodiment will be described below with reference to FIGS.
送受信部１２は、信号処理部１３によって生成され、かつ所望のレンジに適応した周期および振幅のパルス信号で変調された送信波を生成し、空中線系１１を介して目標が位置し得る覆域にその送信波を照射する。なお、空中線系１１は、例えば、主ローブの方向が所定の周期でサイクリックに変更されることにより、上記覆域の全域に対する送信波の照射に併せて、これらの覆域に位置する船舶等の目標から到来した反射波の受信に供される。 The transmission / reception unit 12 generates a transmission wave generated by the signal processing unit 13 and modulated with a pulse signal having a period and amplitude adapted to a desired range, and in the coverage area where the target can be located via the antenna system 11. Irradiate the transmitted wave. The aerial system 11 is, for example, a ship located in these covered areas in addition to the irradiation of the transmission wave to the entire covered areas by changing the direction of the main lobe cyclically at a predetermined cycle. It is used for the reception of the reflected wave coming from the target.
送受信部１２は、このようにして空中線系１１に到来した反射波を復調することによって復調信号を生成し、信号処理部１３に引き渡す。 The transceiver 12 generates a demodulated signal by demodulating the reflected wave that has arrived at the antenna system 11 in this way, and passes it to the signal processor 13.
信号処理部１３は、上記復調信号にＣＡＦＲ処理その他のノイズ抑圧処理を施すことによって所望の指示方式（ＰＰＩ(Plan Position Indicator)スコープ等）の画像を生成し、指示部１４に引き渡す。 The signal processing unit 13 generates an image of a desired instruction method (such as a PPI (Plan Position Indicator) scope) by performing CAFR processing or other noise suppression processing on the demodulated signal, and delivers the image to the instruction unit 14.
本発明の特徴は、本実施形態では、後述するように、信号処理部１３が送受信部１２および空中線系１１と連係することによって干渉の補償および抑圧を行う処理の手順にある。 The feature of the present invention lies in the procedure of processing for compensating and suppressing interference by the signal processing unit 13 in cooperation with the transmission / reception unit 12 and the antenna system 11 as will be described later.
信号処理部１３は、既述のパルス信号の周期Ｔ（図３(a)(1)）毎に、検知されるべき最も遠い物標から反射波が到来し得る期間（以下、「反射波到来期間」という。）（図３(a)(2)）に後続する期間（以下、「送信停止期間」という。）（図３(a)(3)）には、空中線系１１に到来して送受信部１２によって復調された到来波を取り込み、以下の処理を行う。なお、このような到来波は、本実施形態に係るレーダ装置に対する干渉の要因となり得る。 The signal processing unit 13 performs a period during which the reflected wave can arrive from the farthest target to be detected (hereinafter referred to as “reflected wave arrival” for each period T of the pulse signal (FIG. 3 (a) (1)) described above. (Referred to as “period”) (following FIG. 3 (a) (2)) (hereinafter referred to as “transmission stop period”) (FIG. 3 (a) (3)) The incoming wave demodulated by the transmission / reception unit 12 is captured and the following processing is performed. Such an incoming wave can be a cause of interference with the radar apparatus according to the present embodiment.
(1) 上記到来波を時系列の順に解析することにより、個々の到来波について、以下の３つの項目(1-1)〜(1-3)からなる特徴量を取得する（図２ステップＳ１）。
(1-1) レベルの平均値（以下、「干渉電力」という。）
(1-2) これらのレベルが所定の閾値を超える頻度（以下、「干渉占有率」という。）
(1-3) 既述の「同期性干渉」が送信波の送信繰り返し周期（PRI）で連続して発生した回数を示す「時間連続数」
(1) By analyzing the arriving waves in order of time series, the feature amount including the following three items (1-1) to (1-3) is acquired for each arriving wave (step S1 in FIG. 2). ).
(1-1) Average level (hereinafter referred to as “interference power”)
(1-2) Frequency at which these levels exceed a predetermined threshold (hereinafter referred to as “interference occupancy rate”)
(1-3) “Number of consecutive times” indicating the number of times the above-mentioned “synchronous interference” has occurred continuously in the transmission repetition period (PRI) of the transmitted wave
(2) 上記特徴量の実績を時系列の順に履歴として蓄積する（図２ステップＳ２）。
(3) この履歴における上記「干渉電力」、「干渉占有率」、「時間連続数」の時系列の順における最大値を統計量として求める（図２ステップＳ３）。
(2) The results of the above feature quantities are accumulated as a history in chronological order (step S2 in FIG. 2).
(3) The maximum value in the order of the time series of the “interference power”, “interference occupancy”, and “number of consecutive times” in this history is obtained as a statistic (step S3 in FIG. 2).
(4) 上述した特徴量および統計量を参照することにより、以下の処理を行う。
(4-1) 所定の回数に亘って先行して行われたスイープの過程で到来した反射波の平均電力（以下、「電力基準値Ｐｓ」という。）を算出し（図２ステップＳ４）、その電力基準値Ｐｓを上回る電力の到来波の有無を判別する（図２ステップＳ５）。このような到来波については、送信波に対して非同期に到来する非同期性の干渉波である可能性が高いので、抑圧（除去）を図る（図２ステップＳ６）。なお、以下では、このような抑圧（除去）を実現する処理については、「振幅異常波除去処理」という。
(4) The following processing is performed by referring to the above-described feature values and statistics.
(4-1) Calculate the average power (hereinafter referred to as “power reference value Ps”) of the reflected wave that arrived in the course of the sweep performed in advance for a predetermined number of times (step S4 in FIG. 2); The presence / absence of an incoming wave with power exceeding the power reference value Ps is determined (step S5 in FIG. 2). Since such an incoming wave is likely to be an asynchronous interference wave that arrives asynchronously with respect to the transmission wave, suppression (removal) is attempted (step S6 in FIG. 2). Hereinafter, the processing for realizing such suppression (removal) is referred to as “amplitude abnormal wave removal processing”.
(4-2) 「反射波到来期間」毎に、直近の「送信停止期間」における「干渉占有率」または「干渉電力」の平均値が所定の閾値以上である場合には、スイープ周期より十分に長い時間に亘って到来した反射波の電力の平均値（以下、「電力基準値ＰＬ」という。）を算出し（図２ステップＳ７）、その電力基準値ＰＬを上回る電力の到来波の有無を判別する（図２ステップＳ８）。このような到来波については、所定のレンジ内に位置する船舶等の目標が長時間に亘って静止している場合にも、干渉波である可能性が高いので、抑圧（除去）を図る（図２ステップＳ９）。なお、以下では、このような抑圧（除去）を実現する処理については、「スキャン間異常値除去処理」という。 (4-2) For each “reflected wave arrival period”, if the average value of “interference occupancy ratio” or “interference power” in the most recent “transmission stop period” is equal to or greater than a predetermined threshold, it is sufficiently greater than the sweep period. An average value (hereinafter referred to as “power reference value PL”) of the reflected wave that has arrived over a long period of time is calculated (step S7 in FIG. 2), and whether or not there is an incoming wave of power exceeding the power reference value PL Is discriminated (step S8 in FIG. 2). Such incoming waves are suppressed (removed) because there is a high possibility that they are interference waves even when a target such as a ship located within a predetermined range is stationary for a long time. FIG. 2 step S9). In the following, the processing for realizing such suppression (removal) is referred to as “inter-scan abnormal value removal processing”.
(5) 上記「振幅異常波除去処理」、「スキャン間異常値除去処理」に並行して、あるいはこれらの処理が行われるか否かにかかわらず、以下の処理を所定の頻度で行う。 (5) The following processing is performed at a predetermined frequency in parallel with the above “amplitude abnormal wave removal processing” and “inter-scan abnormal value removal processing” or regardless of whether these processing are performed.
(5-1) 送信停止期間毎に周波数チャネルを切り替えつつ「干渉占有率」を計測し（図２ステップＳ１０）、これらの周波数チャネルの内、計測された「干渉占有率」が最小である（あるいは所定の上限値を下回る）周波数チャネルを選択して後続する反射波到来期間に適用する（図２ステップＳ１１）。なお、以下では、このような処理を、「周波数チャネル選択処理」という。 (5-1) The “interference occupancy” is measured while switching the frequency channel for each transmission stop period (step S10 in FIG. 2), and among these frequency channels, the measured “interference occupancy” is minimum ( Alternatively, a frequency channel lower than a predetermined upper limit value is selected and applied to the subsequent reflected wave arrival period (step S11 in FIG. 2). Hereinafter, such processing is referred to as “frequency channel selection processing”.
(5-2) 反射波到来期間に適用されている周波数チャネルについて所定の先行する期間に亘って得られた統計量の内、「時間連続数」の時系列の順における最大値の全てが既定の閾値以上であるか否か判別する（図２ステップＳ１２）。この判別の結果が「真」である場合には、所定のアルゴリズムおよび形態で送信繰り返し周期（ＰＲＩ）を微調整し（図２ステップＳ１３）、本実施形態に係るレーダ装置と干渉源とによって送信波が送信される時点（期間）をずらすことによって、既述の「振幅異常波除去処理」では抑圧（除去）しきれない同期性干渉の発生を防止する。なお、以下では、このような抑圧（除去）を実現する処理については、「ＰＲＩ制御処理」という。 (5-2) Among the statistics obtained over a predetermined preceding period for the frequency channel applied in the reflected wave arrival period, all of the maximum values in the chronological order of the `` number of time continuations '' are all predetermined. It is determined whether or not the threshold is equal to or greater than (step S12 in FIG. 2). When the determination result is “true”, the transmission repetition period (PRI) is finely adjusted with a predetermined algorithm and form (step S13 in FIG. 2), and transmission is performed by the radar apparatus and the interference source according to the present embodiment. By shifting the time point (period) at which the wave is transmitted, the occurrence of synchronous interference that cannot be completely suppressed (removed) by the “abnormal amplitude wave removal process” described above is prevented. In the following, processing for realizing such suppression (removal) is referred to as “PRI control processing”.
すなわち、本実施形態では、干渉の形態の識別を行う処理が従来例に付加され、かつ既存の多様な干渉の補償、抑圧（除去）を実現する処理の内、その識別の結果に適した処理が適用される。 That is, in the present embodiment, a process for identifying the form of interference is added to the conventional example, and a process suitable for the result of the identification among existing processes for compensating and suppressing (removing) various interferences. Applies.
したがって、本実施形態によれば、操作者に煩雑な操作や判断が強いられることなく、精度よく安定に所望のレンジ内にある目標の検知が実現される。 Therefore, according to the present embodiment, it is possible to detect a target within a desired range with high accuracy and stability without being forced to perform complicated operations and judgments by the operator.
なお、本実施形態では、「送信停止期間」は、個々の「反射波到来期間」に後続する期間となっている。
しかし、本発明はこのような構成に限定されず、「送信停止期間」は、例えば、図３（ｂ）に示すように、時間軸上で隣接する複数ｐ（例えば、「２」）の「反射波到来期間」毎に後続する所定の長さや数（≦ｐ）の期間に設定されてもよい。
In the present embodiment, the “transmission stop period” is a period subsequent to each “reflected wave arrival period”.
However, the present invention is not limited to such a configuration. For example, as shown in FIG. 3B, the “transmission stop period” includes a plurality of “p” (for example, “2”) adjacent to each other on the time axis. It may be set to a predetermined length or number (≦ p) period that follows every “reflected wave arrival period”.
また、本実施形態では、「送信停止期間」と「反射波到来期間」とにそれぞれ適用される周波数チャネルは、本発明に係るレーダ装置の性能や仕様および関連する法令の制限内において許容され、かつ本発明の作用効果が所望の精度および形態で達成されるならば、例えば、図３(ａ)〜(ｃ)に「ｆ１」や「ｆ２」と表記されるように、如何なる組み合わせや順列として設定されてもよい。 In the present embodiment, the frequency channels applied to the “transmission stop period” and the “reflected wave arrival period” are allowed within the limits of the performance and specifications of the radar apparatus according to the present invention and related laws and regulations, If the operational effects of the present invention are achieved with a desired accuracy and form, for example, any combination or permutation can be used as shown in FIGS. 3A to 3C as “f1” and “f2”. It may be set.
さらに、本実施形態では、図１に点線で示すように空中線系１１が複数（例えば、「２」）備えられる場合には、図４に示すように、個々の空中線系によって異なる周波数で「反射波到来期間」と「送信停止期間」とが並行して形成され、これらの周波数における干渉の評価と物標の検知とが並行して（あるいは交互に）実現されてもよい。 Further, in the present embodiment, when a plurality of antenna systems 11 (for example, “2”) are provided as shown by dotted lines in FIG. 1, “reflection” is performed at a different frequency depending on each antenna system as shown in FIG. The “wave arrival period” and the “transmission stop period” may be formed in parallel, and interference evaluation and target detection at these frequencies may be realized in parallel (or alternately).
また、本実施形態では、「反射波到来期間」の長さとして設定されたレンジを超える遠方に位置する目標から到来する反射波による干渉の回避や抑圧が図られてもよい。 Further, in the present embodiment, it is possible to avoid or suppress interference due to a reflected wave arriving from a target located far away from the range set as the length of the “reflected wave arrival period”.
さらに、本実施形態では、「送信停止期間」の長さは、例えば、検知されるべき目標が位置し得るレンジの範囲と、このような目標が移動し得る速度（ＭＴＩ等によって計測されてもよい。）と、既述の送信繰り返し周期（ＰＲＩ）とに適するならば、如何なる値に設定され、あるいは変更されてもよい。 Furthermore, in the present embodiment, the length of the “transmission stop period” is, for example, a range of a range in which a target to be detected can be located and a speed (MTI or the like) at which such a target can move. May be set or changed as long as it is suitable for the transmission repetition period (PRI) described above.
また、本実施形態は、以下の項目の何れも、自動だけではなく、操作者の指示に応じて適宜設定可能に構成されてもよい。 Further, the present embodiment may be configured so that any of the following items can be set as appropriate in accordance with an instruction from the operator, not only automatically.
(1) 干渉の抑圧（除去）のために行われ得る「振幅異常波除去処理」、「スキャン間異常値除去処理」、「周波数チャネル選択処理」、「ＰＲＩ制御処理」）等のような処理の内、既述の識別の結果に応じて選択されて適用されるべき個々の処理の採否 (1) Processing such as “amplitude abnormal wave removal processing”, “inter-scan abnormal value removal processing”, “frequency channel selection processing”, “PRI control processing”) that can be performed for interference suppression (removal) Of these, the adoption of individual treatments that should be selected and applied according to the results of the above-mentioned identification
(2) これらの処理の選択の基準として採用されるべき「干渉電力」、「干渉占有率」および「時間連続数」を求める処理の形態および要否 (2) The form and necessity of the process for obtaining "interference power", "interference occupancy", and "number of continuous hours" to be adopted as the criteria for selecting these processes
さらに、本実施形態では、追尾処理の対象として速度が早い目標が存在せず、かつ干渉占有率が所定の閾値以上である場合には、スキャン間異常値除去処理が優先的に適用されてもよい。 Furthermore, in the present embodiment, when there is no target with high speed as the target of the tracking process and the interference occupancy is equal to or higher than a predetermined threshold, the abnormal value removal process between scans may be preferentially applied. Good.
また、本実施形態では、操作者が手動により干渉の除去処理を選択するための基準として、指示画面等を介して操作者に以下の項目の全てまたは一部を通知する手段が備えられてもよい。
(1) 「干渉電力」
(2) 「干渉占有率」
(3) 「時間連続数」
In this embodiment, as a reference for the operator to manually select the interference removal process, means for notifying the operator of all or part of the following items via an instruction screen or the like may be provided. Good.
(1) Interference power
(2) "Interference occupancy"
(3) Number of continuous hours
さらに、本実施形態では、既述の「干渉電力」は、例えば、「送信停止期間」に空中線系１１に到来した到来波のＢスコープ上における電力（パルス圧縮レーダ方式が適用されている場合には、既知の送信波との相互相関が低い成分の電力）として算出されてもよい。 Furthermore, in the present embodiment, the “interference power” described above is, for example, the power on the B scope of an incoming wave that has arrived at the antenna system 11 during the “transmission stop period” (when the pulse compression radar system is applied). May be calculated as the power of a component having a low cross-correlation with a known transmission wave.
また、本実施形態では、既述の「干渉占有率」は、例えば、「送信停止期間」に空中線系１１に到来した到来波のＢスコープ上において、電力が所定の閾値を上回る成分（パルス圧縮レーダ方式が適用されている場合には、既知の送信波との相互相関が低い成分）が示す比率として求められてもよい。 Further, in the present embodiment, the “interference occupancy ratio” described above is a component (pulse compression) whose power exceeds a predetermined threshold on the B-scope of the incoming wave that has arrived at the antenna system 11 during the “transmission stop period”, for example. When the radar system is applied, it may be obtained as a ratio indicated by a component having a low cross-correlation with a known transmission wave.
さらに、本実施形態では、既述の「時間連続数」は、例えば、「送信停止期間」に空中線系１１に到来した到来波のＢスコープ上において、時系列の順に連なるスキャン毎に、同じ方向および距離の点に対応する成分として連続して検知された回数として求められてもよい。 Furthermore, in the present embodiment, the “time continuation number” described above is the same direction for each scan that is continuous in time series on the B-scope of the incoming wave that has arrived at the antenna system 11 during the “transmission stop period”, for example. Alternatively, it may be obtained as the number of times of being detected continuously as a component corresponding to the point of distance.
また、これらの「干渉電力」、「干渉占有率」、「時間連続数」を求めるために行われる演算は、複数の異なる周波数チャネルについて、必ずしも共通のアルゴリズムに基づいて行われなくてもよい。 In addition, the calculation performed to obtain these “interference power”, “interference occupancy”, and “number of consecutive times” does not necessarily have to be performed based on a common algorithm for a plurality of different frequency channels.
さらに、本実施形態では、反射波到来期間に適用されるべき周波数チャネルの選択の基準は、既述の「干渉占有率」に限定されず、「反射波到来期間」または「送信停止期間」に評価された干渉の程度や可能性が所定の限度内にあることを意味するならば、如何なるものであってもよい。 Furthermore, in the present embodiment, the selection criteria of the frequency channel to be applied to the reflected wave arrival period are not limited to the above-described “interference occupancy”, but to “reflected wave arrival period” or “transmission stop period”. Any means may be used as long as it means that the degree and possibility of interference evaluated are within predetermined limits.
また、本実施形態では、周波数チャネルは、送信波の搬送波周波数だけではなく、その送信波の生成のために適用された変調方式やベースバンド信号の波形（占有帯域）に応じた「占有帯域」として設定されてもよい。 In the present embodiment, the frequency channel is not only the carrier frequency of the transmission wave, but also the “occupation band” corresponding to the modulation scheme applied for generating the transmission wave and the waveform (occupied band) of the baseband signal. May be set as
さらに、本実施形態では、「送信停止期間」は、送受信部１２による送信波の生成が意図的に見合わせられる期間とは限らず、その送信波が送信される周期や頻度に応じて後続する送信波が送信される時点に先行する期間として設定されてもよい。 Furthermore, in this embodiment, the “transmission stop period” is not necessarily a period in which the generation of the transmission wave by the transmission / reception unit 12 is intentionally negotiated, and subsequent transmissions according to the cycle and frequency of transmission of the transmission wave. It may be set as a period preceding the time when the wave is transmitted.
また、本実施形態では、既述の「干渉電力」、「干渉占有率」、「時間連続数」を求めるために参照される到来波は、送信波の送信に供された空中線系１１とは異なる専用のアンテナを介して受信されてもよく、そのアンテナの指向性および利得は如何なるものであってもよい。 Further, in the present embodiment, the incoming wave referred to in order to obtain the aforementioned “interference power”, “interference occupancy”, and “continuous number of times” is the antenna system 11 used for transmitting the transmission wave. It may be received via a different dedicated antenna, and the directivity and gain of that antenna may be anything.
さらに、本実施形態では、既述の「振幅異常波除去処理」や「スキャン間異常値除去処理」が施されるべき到来波と、「周波数チャネル選択処理」や「ＰＲＩ制御処理」が施されるべききっかけ（タイミング）とは、到来波にかかわる以下の事項の如何なる組み合わせに基づいて識別されてもよい。
(1)
到来する頻度や周期
(2)
波形
Further, in the present embodiment, an incoming wave to be subjected to the above-described “amplitude abnormal wave removal process” or “inter-scan abnormal value removal process”, and “frequency channel selection process” or “PRI control process” are applied. The trigger (timing) to be identified may be identified based on any combination of the following items related to the incoming wave.
(1)
Frequency and period of arrival
(2)
Waveform
また、本発明は、パルスレーダ方式やパルス圧縮レーダ方式が適用された一次レーダに限定されず、二次レーダにも同様に適用可能である。 Further, the present invention is not limited to the primary radar to which the pulse radar system or the pulse compression radar system is applied, and can be similarly applied to the secondary radar.
さらに、本発明は、上述した実施形態に限定されず、本発明の範囲において多様な実施形態の構成が可能であり、構成要素の全てまたは一部に如何なる改良が施されてもよい。 Further, the present invention is not limited to the above-described embodiments, and various configurations can be made within the scope of the present invention, and any improvement may be applied to all or some of the components.
１１ 空中線系
１２ 送受信部
１３ 信号処理部
１４ 指示部
11 Antenna 12 Transmission / Reception Unit 13 Signal Processing Unit 14 Instruction Unit
Claims (5)
前記レーダ信号と、前記パルス波に後続して前記レーダ装置によって送信されたパルス波に応じて前記物標から到来したレーダ信号との何れか一方の干渉の補償に、前記干渉の程度または形態に適した干渉補償処理を適用する干渉適応手段と
を備えたことを特徴とする干渉補償支援装置。 For an incoming wave that arrives at the radar device outside a period in which a radar signal can arrive from a target located within a predetermined range according to the pulse wave transmitted by the radar device, the power, the power distribution, and the pulse Interference assessment means for assessing the degree or form of interference that may occur in the radar signal as a history of all or part of the correlation with the wave;
To compensate for interference between the radar signal and the radar signal arriving from the target in response to the pulse wave transmitted by the radar apparatus following the pulse wave, the degree or form of the interference An interference compensation support apparatus comprising: an interference adaptation unit that applies a suitable interference compensation process.
前記レーダ装置が後続して送信するパルス波の占有帯域として、前記干渉の程度が所定の限度内であった占有帯域を適用する干渉適応手段と
を備えたことを特徴とする干渉補償支援装置。 For each pulse wave transmitted by the radar device and having a different occupation band, the power of the incoming wave that arrived at the radar device outside the period in which the radar signal can arrive from a target located within a predetermined range, and the power Interference evaluation means for evaluating the degree of interference that can occur in the radar signal based on a history of all or part of the distribution and the correlation with the pulse wave;
An interference compensation support apparatus comprising: an interference adaptation unit that applies an occupied band in which the degree of interference is within a predetermined limit as an occupied band of a pulse wave that is subsequently transmitted by the radar apparatus.
前記履歴が示す相関が所定の限度を上回るときに、前記パルス波が前記レーダ装置によって送信されるインターバルを変更する干渉適応手段と
を備えたことを特徴とする干渉補償支援装置。 For each pulse wave repeatedly transmitted by the radar device, the correlation history of the incoming wave that arrived at the radar device outside the period during which the radar signal can arrive from a target located within a predetermined range. An interference evaluation means for evaluating the form of interference that may occur in the radar signal,
An interference compensation support device, comprising: an interference adaptation unit that changes an interval at which the pulse wave is transmitted by the radar device when a correlation indicated by the history exceeds a predetermined limit.
前記レーダ装置は、
所定の範囲の異なる方向に前記パルス波を反復して送信し、
前記干渉評価手段および前記干渉適応手段は、
前記パルス波に同期して前記方向毎に機能する
ことを特徴とする干渉補償支援装置。 In the interference compensation assistance apparatus according to claim 1 or 3,
The radar device is
Repeatedly transmitting the pulse wave in different directions within a predetermined range;
The interference evaluation means and the interference adaptation means are:
An interference compensation support apparatus that functions in each direction in synchronization with the pulse wave.
前記レーダ装置は、
前記占有帯域が異なる少なくとも複数のパルス波を並行して送信し、
前記干渉評価手段および前記干渉適応手段は、
前記複数のパルス波毎に並行して機能する
ことを特徴とする干渉補償支援装置。 The interference compensation support apparatus according to claim 2,
The radar device is
Transmitting at least a plurality of pulse waves with different occupied bands in parallel;
The interference evaluation means and the interference adaptation means are:
An interference compensation support apparatus that functions in parallel for each of the plurality of pulse waves.
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| JP7093458B2 (en) | 2019-04-24 | 2022-06-29 | 京セラ株式会社 | Information processing equipment |
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| JP7198958B2 (en) | 2019-04-24 | 2023-01-04 | 京セラ株式会社 | Information processing device, control method, and control program |
| US11940523B2 (en) | 2019-04-24 | 2024-03-26 | Kyocera Corporation | Electronic device, information processing apparatus, method, program, and data structure |
| CN111474524A (en) * | 2020-04-22 | 2020-07-31 | 安徽华可智能科技有限公司 | Radar interference equipment interference effect monitoring and decision support system |
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