JP2014153141A - Radar device - Google Patents
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Abstract
Description
この発明は、ＳＴＣ（Ｓｅｎｓｉｔｉｖｉｔｙ Ｔｉｍｅ Ｃｏｎｔｒｏｌ、感度時間制御）機能を備えたレーダ装置に関する。 The present invention relates to a radar apparatus having an STC (Sensitivity Time Control) function.
船舶用や海上監視用のレーダ装置では、目標からの反射波・受信波を増幅する際の近距離目標の飽和を防止して、目標の視認性を向上させるために、ＳＴＣパターン（ＳＴＣ特性）に基づいて受信波映像を補正制御するＳＴＣ機能が備えられている。このＳＴＣパターンは、送信波に対する受信波の減衰量が、目標までの距離の４乗に比例するという基本的原理に基づいて、送信から受信までの時間に従ってレーダ感度が増加するように設定されている。 In a radar device for marine or marine surveillance, an STC pattern (STC characteristic) is used to prevent the saturation of a short-range target when amplifying a reflected wave / received wave from the target and to improve target visibility. Is provided with an STC function for correcting and controlling the received wave image. This STC pattern is set so that the radar sensitivity increases according to the time from transmission to reception based on the basic principle that the attenuation of the reception wave with respect to the transmission wave is proportional to the fourth power of the distance to the target. Yes.
しかし実際には、目標までの距離のみではなく、アンテナ・空中線の設置高さや周囲環境（天候、温度、海面状況等）などの要因によっても減衰量が変化する。このため、現地においてオペレータが、適宜ＳＴＣパターンを調整、変更しながら、運用するのが実情であった（例えば、特許文献１等参照。）。 However, in actuality, the amount of attenuation varies depending not only on the distance to the target but also on factors such as the installation height of the antenna / aerial and the surrounding environment (weather, temperature, sea level, etc.). For this reason, the actual situation is that an operator operates the site while adjusting and changing the STC pattern as appropriate (see, for example, Patent Document 1).
しかしながら、ＳＴＣパターンの調整には、技術的な知識と経験とを要し、適正な調整が困難であるばかりでなく、オペレータによってバラツキが生じる。しかも、装置の調整可能な範囲内では、適正な調整が行えない場合もあり、さらには、一時的に調整を行ったとしても、時々刻々と変化する周囲環境に追従して調整を行うことは困難である。 However, adjustment of the STC pattern requires technical knowledge and experience, and is not only difficult to adjust properly, but also varies depending on the operator. In addition, proper adjustment may not be possible within the adjustable range of the device.Furthermore, even if temporary adjustment is performed, it is not possible to adjust following the surrounding environment that changes every moment. Have difficulty.
そこでこの発明は、適正なＳＴＣパターンを生成可能なレーダ装置を提供することを目的とする。 Therefore, an object of the present invention is to provide a radar apparatus that can generate an appropriate STC pattern.
上記目的を達成するために請求項１に記載の発明は、全周方向に送信波を送信するとともに、目標からの反射波を受信する送受信手段と、所定の方位ごとに、前記反射波を所定の時間分積分してＳＴＣパターンを生成するＳＴＣ生成手段と、前記ＳＴＣ生成手段で生成された各方位のＳＴＣパターンに基づいて、対応する各方位の反射波を補正する制御手段と、を備えることを特徴とするレーダ装置である。 In order to achieve the above object, the invention described in claim 1 is characterized in that a transmission wave is transmitted in the entire circumferential direction, a transmission / reception means for receiving a reflected wave from a target, and the reflected wave for each predetermined direction. STC generation means for generating an STC pattern by integrating the time for the following, and control means for correcting the reflected wave of each corresponding direction based on the STC pattern of each direction generated by the STC generation means A radar apparatus characterized by
この発明によれば、送受信手段によって、全周方向・全方位の目標からの反射波が受信され、ＳＴＣ生成手段によって、所定の方位ごとに、反射波を所定の時間分積分してＳＴＣパターンが生成される。そして、制御手段によって、各方位のＳＴＣパターンに基づいて、対応する各方位の反射波が補正される。 According to this invention, the reflected wave from the target in all directions and directions is received by the transmission / reception means, and the STC pattern is obtained by integrating the reflected wave for a predetermined time for each predetermined direction by the STC generation means. Generated. The control unit corrects the reflected wave in each corresponding direction based on the STC pattern in each direction.
請求項２に記載の発明は、請求項１に記載のレーダ装置において、前記ＳＴＣ生成手段は、所定のタイミングで連続的に前記ＳＴＣパターンを生成する、ことを特徴とする。 According to a second aspect of the present invention, in the radar apparatus according to the first aspect, the STC generation means continuously generates the STC pattern at a predetermined timing.
請求項１に記載の発明によれば、実際の目標からの反射波に基づいてＳＴＣパターンを生成するため、アンテナの設置高さや周囲環境などに応じた適正なＳＴＣパターンを生成することが可能となる。しかも、ＳＴＣパターンは方位・方角によって異なるが、所定の方位ごとに反射波を積分してＳＴＣパターンを生成するため、各方位に適合したより適正なＳＴＣパターンを生成することが可能となる。そして、このようなＳＴＣパターンが自動で生成され、各方位のＳＴＣパターンで各方位の反射波が補正されるため、方位ごとに反射波が適正に補正されるとともに、オペレータの負担や補正のバラツキを削減することができる。 According to the first aspect of the present invention, since the STC pattern is generated based on the reflected wave from the actual target, it is possible to generate an appropriate STC pattern according to the installation height of the antenna and the surrounding environment. Become. Moreover, although the STC pattern varies depending on the azimuth / direction, the reflected wave is integrated for each predetermined azimuth to generate the STC pattern, so that a more appropriate STC pattern suitable for each azimuth can be generated. Since such an STC pattern is automatically generated and the reflected wave in each direction is corrected by the STC pattern in each direction, the reflected wave is corrected appropriately for each direction, and the burden on the operator and variations in correction are also corrected. Can be reduced.
請求項２に記載の発明によれば、所定のタイミングで連続的にＳＴＣパターンを生成するため、周囲環境が変化しても、その変化に応じた適正なＳＴＣパターンを逐次生成することが可能となる。この結果、常に周囲環境に応じて適正に反射波を補正することが可能となる。 According to the second aspect of the present invention, since the STC pattern is continuously generated at a predetermined timing, even if the surrounding environment changes, it is possible to sequentially generate an appropriate STC pattern according to the change. Become. As a result, the reflected wave can always be corrected appropriately according to the surrounding environment.
以下、この発明を図示の実施の形態に基づいて説明する。 The present invention will be described below based on the illustrated embodiments.
図１は、この発明の実施の形態に係るレーダ装置１を示す概略構成ブロック図である。このレーダ装置１は、船舶用や海上監視用でＳＴＣ機能を備えたレーダ装置であり、主として、空中線部（送受信手段）２と、送受信部（送受信手段）３と、指示機処理部４と、表示部５と、操作部６とを備えている。ここで、ＳＴＣ機能以外については、従来のレーダ装置と同等の構成であるため、ＳＴＣ機能について以下に主として説明し、また、船舶に搭載する場合について説明する。 FIG. 1 is a schematic block diagram showing a radar apparatus 1 according to an embodiment of the present invention. The radar apparatus 1 is a radar apparatus having an STC function for marine and marine monitoring, and mainly includes an antenna unit (transmission / reception unit) 2, a transmission / reception unit (transmission / reception unit) 3, an indicator processing unit 4, A display unit 5 and an operation unit 6 are provided. Here, since the configuration other than the STC function is the same as that of the conventional radar apparatus, the STC function will be mainly described below, and the case where it is mounted on a ship will be described.
空中線部２と送受信部３とは、全周方向に送信波・電波を送信するとともに、目標からの反射波を受信する装置であり、空中線部２は、船舶の見晴らしの良い場所に設置されるアンテナを備え、ビーム方向が水平面内において所定の一定速度で回転するようになっている。すなわち、アンテナを回転させる空中線部２のモータが送受信部３の空中線制御回路によって制御されるとともに、送受信部３から空中線部２に送信波が供給されることで、アンテナが一定速度で回転しながら全方位に送信波を送信する。また、送信波が船舶の周囲に存在する目標（例えば、他の船舶や海面反射、雨滴など）に当たって反射すると、その反射波・受信波が空中線部２を介して送受信部３で受信される。 The antenna unit 2 and the transmission / reception unit 3 are devices that transmit transmission waves and radio waves in the entire circumferential direction and receive reflected waves from the target. The antenna unit 2 is installed in a place with a good view of the ship. An antenna is provided, and the beam direction rotates at a predetermined constant speed in a horizontal plane. In other words, the antenna of the antenna unit 2 that rotates the antenna is controlled by the antenna control circuit of the transmission / reception unit 3, and the transmission wave is supplied from the transmission / reception unit 3 to the antenna unit 2, so that the antenna rotates at a constant speed. Transmits transmission waves in all directions. Further, when the transmitted wave is reflected by a target (for example, another ship, sea surface reflection, raindrop, etc.) existing around the ship, the reflected wave / received wave is received by the transmitting / receiving unit 3 via the antenna unit 2.
そして、指示機処理部４によって、受信した反射波を映像処理して表示部５に映像を表示するものである。また、操作部６は、オペレータによって操作され、表示に関する各種パラメータを設定するものである。 Then, the indicator processing unit 4 performs image processing on the received reflected wave and displays the image on the display unit 5. The operation unit 6 is operated by an operator and sets various parameters related to display.
さらに、指示機処理部４は、ＳＴＣ演算回路（ＳＴＣ生成手段）４１とＳＴＣ自動制御部（制御手段）４４とを備えている。ＳＴＣ演算回路４１は、所定の方位・方角ごとに、反射波を所定の時間分積分してＳＴＣパターンを生成する回路である。すなわち、送受信部３の空中線制御回路からアンテナの回転角度を示す回転信号が伝送され、送受信部３からの反射波データがアナログ／デジタル変換器（ＡＤＣ）４２を介して伝送されるとともに、指示機制御回路４３から船舶の方位を示すジャイロ信号が伝送される。そして、回転信号の回転角度とジャイロ信号の方位と複数の反射波データに基づいて、所定の方位ごとに、反射波を所定の時間分積分し、その積分値を平均化（相関）してＳＴＣパターンを生成する。ここで、ジャイロ信号を用いるのは、次のように各絶対方位のＳＴＣパターンを生成するためである。 Further, the indicator processing unit 4 includes an STC arithmetic circuit (STC generation unit) 41 and an STC automatic control unit (control unit) 44. The STC arithmetic circuit 41 is a circuit that generates an STC pattern by integrating the reflected wave for a predetermined time for each predetermined direction and direction. That is, a rotation signal indicating the rotation angle of the antenna is transmitted from the antenna control circuit of the transmission / reception unit 3, and reflected wave data from the transmission / reception unit 3 is transmitted via the analog / digital converter (ADC) 42, and the indicator A gyro signal indicating the direction of the ship is transmitted from the control circuit 43. Then, based on the rotation angle of the rotation signal, the azimuth of the gyro signal, and a plurality of reflected wave data, the reflected wave is integrated for a predetermined time for each predetermined azimuth, and the integrated value is averaged (correlated) and STC. Generate a pattern. Here, the gyro signal is used in order to generate an STC pattern in each absolute direction as follows.
具体的には、全方位３６０°を所定数の方位（例えば、方位分解度である３６０°÷２１２）に分け、絶対方位（例えば、真北を０°する方位座標）である各方位θ０〜θ３６０に対して、ｎ回分（所定の時間分）の反射波を積分し、その積分値を平均化する。例えば、絶対方位０°に対して、図２に示すような受信レベルの第１の反射波Ｒ１〜第ｎの反射波Ｒｎが得られた場合、これらの反射波Ｒ１〜Ｒｎを積分し、その積分値を平均化することで平均的な反射波Ｒｃを生成する。同様にして、各絶対方位θ０〜θ３６０に対して、平均的な反射波Ｒｃを生成する。ここで、反射波ＲＸは、アンテナが１回転することで得られる反射波であり、回転数「ｎ」は、各反射波Ｒ１〜Ｒｎのバラツキを平準化して適正なＳＴＣパターンＳが得られるような数に設定されている。 Specifically, the orientation of the predetermined number of omnidirectional 360 ° (e.g., 360 ° ÷ 2 12 is the azimuthal resolution) divided into an absolute orientation (e.g., azimuth coordinates 0 ° to true north) each orientation is θ For 0 to θ 360 , the reflected waves for n times (for a predetermined time) are integrated, and the integrated values are averaged. For example, when the first reflected wave R 1 to the n-th reflected wave R n having the reception level as shown in FIG. 2 are obtained with respect to the absolute azimuth of 0 °, these reflected waves R 1 to R n are changed. By integrating and averaging the integrated values, an average reflected wave R c is generated. Similarly, an average reflected wave R c is generated for each of the absolute directions θ 0 to θ 360 . Here, the reflected wave RX is a reflected wave obtained by one rotation of the antenna, and the rotation speed “n” is obtained by leveling the variations of the reflected waves R 1 to R n to obtain an appropriate STC pattern S. It is set to a number that can be obtained.
次に、このようにして生成した平均的な反射波Ｒｃから低域通過フィルタなどを用いて反射波Ｒｃの包絡線Ｒｐを生成する。この包絡線Ｒｐに基づいて、各絶対方位θ０〜θ３６０に対してＳＴＣパターンＳを生成する。すなわち、図２に示すように、平均的な反射波Ｒｃから求められた包絡線ＲｐをＳＴＣパターンＳで補正した場合に、全距離にわたって受信レベルＲが均等になるように（包絡線Ｒｐと逆カーブになるような）ＳＴＣパターンＳを生成する。 Next, an envelope R p of the reflected wave R c is generated from the average reflected wave R c thus generated using a low-pass filter or the like. Based on this envelope R p, and generates a STC pattern S for each absolute direction theta 0 through? 360. That is, as shown in FIG. 2, when the corrected envelope R p obtained from the average reflected wave R c in STC pattern S, so that the reception level R is equalized over the entire length (envelope R An STC pattern S (which has an inverse curve to p ) is generated.
そして、このようにして生成したＳＴＣパターンＳを、図３に示すように、絶対方位θ０〜θ３６０ごとにメモリに記憶する。さらに、このようなＳＴＣパターンＳの生成、記憶を所定のタイミングで連続的に行うようになっている。すなわち、定期的に、あるいは、天候や温度、海面状況などの周囲環境が変化する度に、ＳＴＣパターンＳを生成し、更新記憶するものである。 Then, the STC pattern S generated in this way is stored in the memory for each of the absolute directions θ 0 to θ 360 as shown in FIG. Further, such generation and storage of the STC pattern S are continuously performed at a predetermined timing. That is, the STC pattern S is generated and updated and stored periodically or whenever the surrounding environment such as weather, temperature, and sea level changes.
ＳＴＣ自動制御部４４は、ＳＴＣ演算回路４１で生成、記憶された各絶対方位θ０〜θ３６０のＳＴＣパターンＳに基づいて、対応する各方位θ０〜θ３６０の反射波を補正するものである。具体的には、メモリに記憶された絶対方位０°のＳＴＣパターンＳによって、不要波抑圧部４５で不要波が抑圧された絶対方位０°の反射波を補正する。同様に、次の絶対方位Ｘ°のＳＴＣパターンＳによって、不要波抑圧部４５で不要波が抑圧された絶対方位Ｘ°の反射波を補正し、このような補正を全方位に対して行うものである。その後は、通常の映像処理・指示機処理を行う。 The STC automatic control unit 44 corrects the reflected wave of each corresponding direction θ 0 to θ 360 based on the STC pattern S of each absolute direction θ 0 to θ 360 generated and stored by the STC arithmetic circuit 41. is there. Specifically, the reflected wave with the absolute azimuth of 0 ° in which the unnecessary wave is suppressed by the unnecessary wave suppression unit 45 is corrected by the STC pattern S with the absolute azimuth of 0 ° stored in the memory. Similarly, the reflected wave of the absolute azimuth X ° in which the unnecessary wave is suppressed by the unnecessary wave suppression unit 45 is corrected by the STC pattern S of the next absolute azimuth X °, and such correction is performed for all directions. It is. Thereafter, normal video processing / instruction machine processing is performed.
このような構成のレーダ装置１によれば、まず、ＳＴＣ演算回路４１によって各絶対方位θ０〜θ３６０に対するＳＴＣパターンＳが生成され、メモリに記憶される。その後、このＳＴＣパターンＳを用いてＳＴＣ自動制御部４４によって、受信された各方位θ０〜θ３６０の反射波が補正され、映像処理されて表示部５に映像が順次表示される。続いて、ＳＴＣ演算回路４１によって各絶対方位θ０〜θ３６０に対するＳＴＣパターンＳが生成、更新されると、更新されたＳＴＣパターンＳを用いて、ＳＴＣ自動制御部４４によって反射波が順次補正されて表示部５に映像表示される。そして、このような処理が繰り返されるものである。 According to the radar apparatus 1 having such a configuration, first, the STC calculation circuit 41 generates the STC patterns S for the absolute directions θ 0 to θ 360 and stores them in the memory. Thereafter, the STC automatic control unit 44 uses the STC pattern S to correct the received reflected waves in the respective directions θ 0 to θ 360 , perform image processing, and sequentially display images on the display unit 5. Subsequently, when the STC pattern S for each of the absolute directions θ 0 to θ 360 is generated and updated by the STC calculation circuit 41, the reflected wave is sequentially corrected by the STC automatic control unit 44 using the updated STC pattern S. The video is displayed on the display unit 5. Such a process is repeated.
このように、このレーダ装置１によれば、実際の現場における目標からの反射波Ｒ１〜Ｒｎに基づいてＳＴＣパターンＳを生成するため、アンテナの設置高さや周囲環境などに応じた適正なＳＴＣパターンＳを生成することが可能となる。しかも、ＳＴＣパターンＳは方位θ０〜θ３６０によって異なるが、方位θ０〜θ３６０ごとにｎ回分の反射波Ｒ１〜Ｒｎを積分してＳＴＣパターンＳを生成するため、各方位θ０〜θ３６０に適合したより適正なＳＴＣパターンＳを生成することが可能となる。 As described above, according to the radar apparatus 1, since the STC pattern S is generated based on the reflected waves R 1 to R n from the target in the actual site, an appropriate value according to the installation height of the antenna, the surrounding environment, and the like. The STC pattern S can be generated. Moreover, STC pattern S is different depending orientation theta 0 through? 360, for generating a STC pattern S by integrating the reflected wave R 1 to R n of n times for each direction theta 0 through? 360, each orientation theta 0 it becomes possible to generate a proper STC pattern S than conforming to through? 360.
そして、このようなＳＴＣパターンＳが自動で生成されるため、オペレータがＳＴＣパターンを調整する必要がなく、オペレータの負担や調整のバラツキを削減することができる。しかも、各絶対方位θ０〜θ３６０のＳＴＣパターンで対応・該当する各方位θ０〜θ３６０の反射波が補正されるため、全方位にわたって適正に反射波を補正して、常に目標信号とノイズレベルの比（Ｓ／Ｎ比）を最適に保ちながら表示部５に、適正・良好な映像を表示することができるとともに、オペレータの負担や補正のバラツキを削減することができる。 Since such an STC pattern S is automatically generated, it is not necessary for the operator to adjust the STC pattern, and the burden on the operator and variations in adjustment can be reduced. Moreover, since the reflected wave of each orientation theta 0 through? 360 corresponding, relevant in STC patterns of absolute direction theta 0 through? 360 is corrected, by correcting the properly reflected wave all directions, and constantly target signal While maintaining an optimum noise level ratio (S / N ratio), it is possible to display an appropriate and good image on the display unit 5 and to reduce the burden on the operator and variations in correction.
さらには、定期的に、あるいは、天候や温度、海面状況などの周囲環境が変化する度に、ＳＴＣパターンＳを生成、更新記憶するため、周囲環境が変化しても、その変化に応じた適正なＳＴＣパターンＳが逐次生成、記憶される。この結果、常に周囲環境に応じて適正に反射波を補正して、適正・良好な映像を表示することができる。 Furthermore, since the STC pattern S is generated and updated and stored periodically or whenever the surrounding environment such as weather, temperature, and sea level changes, even if the surrounding environment changes, the appropriateness according to the change STC patterns S are sequentially generated and stored. As a result, it is possible to always correct the reflected wave appropriately according to the surrounding environment and display an appropriate and good image.
以上、この発明の実施の形態について説明したが、具体的な構成は、上記の実施の形態に限られるものではなく、この発明の要旨を逸脱しない範囲の設計の変更等があっても、この発明に含まれる。例えば、上記の実施の形態では、レーダ装置１を船舶に搭載する場合について説明したが、海上監視設備などに搭載してもよいことは勿論である。 Although the embodiment of the present invention has been described above, the specific configuration is not limited to the above embodiment, and even if there is a design change or the like without departing from the gist of the present invention, Included in the invention. For example, in the above embodiment, the case where the radar apparatus 1 is mounted on a ship has been described, but it is needless to say that the radar apparatus 1 may be mounted on a marine monitoring facility or the like.
１ レーダ装置
２ 空中線部（送受信手段）
３ 送受信部（送受信手段）
４ 指示機処理部
４１ ＳＴＣ演算回路（ＳＴＣ生成手段）
４２ アナログ／デジタル変換器（ＡＤＣ）
４３ 指示機制御回路
４４ ＳＴＣ自動制御部（制御手段）
４５ 不要波抑圧部
５ 表示部
６ 操作部
Ｒ 受信レベル
Ｓ ＳＴＣパターン（映像感度）
θ 方位
1 Radar device 2 Aerial part (transmission / reception means)
3 Transmission / reception unit (transmission / reception means)
4 Indicator processing unit 41 STC arithmetic circuit (STC generation means)
42 Analog / Digital Converter (ADC)
43 Indicator control circuit 44 STC automatic control unit (control means)
45 Unwanted Wave Suppression Unit 5 Display Unit 6 Operation Unit R Reception Level S STC Pattern (Video Sensitivity)
θ direction
Claims (2)
所定の方位ごとに、前記反射波を所定の時間分積分してＳＴＣパターンを生成するＳＴＣ生成手段と、
前記ＳＴＣ生成手段で生成された各方位のＳＴＣパターンに基づいて、対応する各方位の反射波を補正する制御手段と、
を備えることを特徴とするレーダ装置。 A transmission / reception means for transmitting a transmission wave in the entire circumferential direction and receiving a reflected wave from the target;
STC generation means for generating an STC pattern by integrating the reflected wave for a predetermined time for each predetermined direction;
Control means for correcting the reflected wave in each corresponding direction based on the STC pattern in each direction generated by the STC generating means;
A radar apparatus comprising:
ことを特徴とする請求項１に記載のレーダ装置。
The STC generation means generates the STC pattern continuously at a predetermined timing.
The radar apparatus according to claim 1.
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